CN111901217B - A land-air integrated warning system for key areas based on micro-vibration perception - Google Patents
A land-air integrated warning system for key areas based on micro-vibration perception Download PDFInfo
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Abstract
一种基于微振感知的重点区域陆空一体警戒系统。属于陆空一体监控警戒技术领域。本发明包括：前置感知系统、陆空一体警戒控制终端系统、视频监控系统、警戒系统云端服务器、警戒态势显示系统和无人机系统，所述前置感知系统和陆空一体警戒控制终端系统双向连接，所述陆空一体警戒控制终端系统和视频监控系统双向连接，所述陆空一体警戒控制终端系统和警戒系统云端服务器双向连接，所述陆空一体警戒控制终端系统和警戒态势显示系统双向连接，所述警戒系统云端服务器与无人机系统双向连接。本发明本发明实现了重点区域全时段无间断的智能监测，降低了震动感知的误报率和漏报率，延长了无人状态下整个系统的有效工作时间，解决了入侵的定位问题。
A land-air integrated warning system for key areas based on micro-vibration perception. It belongs to the field of land-air integrated monitoring and warning technology. The present invention includes: a pre-perception system, a land-air integrated alert control terminal system, a video surveillance system, an alert system cloud server, an alert situation display system and an unmanned aerial vehicle system, the pre-awareness system and the land-air integrated alert control terminal system Two-way connection, the land-air integrated alert control terminal system and the video surveillance system are two-way connected, the land-air integrated alert control terminal system and the alert system cloud server are two-way connected, the land-air integrated alert control terminal system and the alert situation display system Bidirectional connection, the cloud server of the warning system and the UAV system are bidirectionally connected. The present invention realizes all-time uninterrupted intelligent monitoring in key areas, reduces the false alarm rate and missed alarm rate of vibration perception, prolongs the effective working time of the whole system in an unmanned state, and solves the problem of intrusion positioning.
Description
Technical Field
The invention relates to a land-air integrated warning system for a key area based on micro-vibration sensing, and belongs to the technical field of land-air integrated monitoring and warning.
Background
In recent years, with the development of politics, economy, culture and science and technology in China, important areas such as important material warehouses, nuclear power stations, high and new technology research and development bases and the like are subjected to an emergency situation of invasion, the occurrence of the events causes serious equipment, personnel and confidentiality to have potential safety hazards, and the traditional warning measures combining people's air defense security and video monitoring cannot meet the security requirements of the important areas at present. Meanwhile, key areas such as field scientific research camps, archaeological sites, military temporary residences and the like have the problem that a warning system cannot be quickly and effectively constructed to protect important materials and personnel safety.
The target detection device based on vibration perception has the advantages of small equipment size, low power consumption, strong concealment, convenience in installation and the like, and is widely applied to the safety field of perimeter and frontier defense. The single vibration perception warning system has the shortcoming that follow-up treatment measures are weak aiming at the invasion situation, and the unmanned aerial vehicle system can realize the all-round no-dead-angle three-dimensional monitoring of key areas, and close tracking and effective interference are implemented on the invasion target, but the real-time full-time monitoring can not be achieved due to the cruising problem.
In order to solve the problems, an intelligent warning system which is convenient to deploy and can simultaneously and accurately and effectively restrain intrusion events is developed and used for meeting the safety protection requirements of various key areas.
Disclosure of Invention
The invention provides a key area land-air integrated warning system based on micro-vibration perception according to key area security and protection warning requirements, which is not influenced by terrain, regions and space, fully considers threat coefficients and mobility of an invading target and response time of an unmanned aerial vehicle system by combining an ant colony algorithm to realize real-time optimization of a warning scheme, completes effective identification, tracking, driving and control of the invading target, prolongs effective working time of the whole system in an unmanned state, realizes uninterrupted intelligent monitoring of the key area in the whole period, can enhance monitoring capability of the key area by using an original wired video monitoring system, and saves a large amount of manpower, material resources and financial resources. Meanwhile, the method is also suitable for the security and protection warning of the temporary dynamic key area, and has good adaptability, accuracy and effectiveness.
The key area land-air integrated warning system based on the micro-vibration sensing has adaptability, accuracy and effectiveness, and can provide early warning, identification, driving-away, tracking and management and control integrated measures for the invasion of the key area.
The technical scheme adopted by the invention is as follows:
a key area land-air integrated warning system based on microvibration perception comprises: leading perception system, the integrative warning control terminal system in land and air, video monitoring system, warning system cloud server, warning situation display system and unmanned aerial vehicle system, leading perception system and the integrative warning control terminal system both way junction in land and air, the integrative warning control terminal system in land and air and video monitoring system both way junction, the integrative warning control terminal system in land and air and warning system cloud server both way junction, the integrative warning control terminal system in land and air and warning situation display system both way junction, warning system cloud server and unmanned aerial vehicle system both way junction.
The main advantages of the invention are: the invention realizes the full-time uninterrupted intelligent monitoring of the key area, reduces the false alarm rate and the false missing rate of vibration perception, prolongs the effective working time of the whole system in an unmanned state, solves the problem of intrusion positioning, realizes the organic fusion of normalized warning and accurate warning and the cloud real-time sharing of monitoring data, greatly enhances the monitoring capability of the key area, and saves a large amount of manpower, material resources and financial resources. Meanwhile, the system is also suitable for security and warning of dynamic key areas and has adaptability, effectiveness and accuracy.
Drawings
FIG. 1 is a general architecture diagram of a land-air integrated warning system for key areas based on microvibration sensing according to the present invention;
FIG. 2 is a schematic structural diagram of a land-air integrated warning system for a key area based on microvibration sensing according to the present invention;
FIG. 3 is a schematic deployment diagram of a land-air integrated warning system for a key area based on micro-vibration sensing according to the present invention;
FIG. 4 is a flow chart of the working process of the land-air integrated warning system for the key area based on the microvibration sensing of the present invention;
fig. 5 is a flow chart of a land-air integrated alert path planning algorithm based on an ant colony intelligent algorithm according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows: this embodiment discloses an integrative warning system of key region land and air based on microvibration perception, includes: leading perception system, the integrative warning control terminal system in land and air, video monitoring system, warning system cloud server, warning situation display system and unmanned aerial vehicle system, leading perception system and the integrative warning control terminal system both way junction in land and air, the integrative warning control terminal system in land and air and video monitoring system both way junction, the integrative warning control terminal system in land and air and warning system cloud server both way junction, the integrative warning control terminal system in land and air and warning situation display system both way junction, warning system cloud server and unmanned aerial vehicle system both way junction.
Specifically, except for the video monitoring system, the other components of the key area land-air integrated warning system based on micro-vibration sensing provided by the invention have portable modular attributes, when the key area does not have the condition of installing a wired video monitoring system, the warning strategy can be adjusted, as shown in fig. 4, secondary response is directly started, and the problem of endurance of the unmanned aerial vehicle is solved by deploying a plurality of unmanned aerial vehicle wireless charging and unloading platforms. The strategy is also suitable for dynamic key areas with complex ground environment, and can form high-level dynamic warning capability in a short time.
Further, the advanced sensing system of the embodiment comprises a plurality of high-sensitivity advanced sensing nodes and a plurality of common sensing nodes, wherein each high-sensitivity advanced sensing node is provided with a sensing node identification code which is different from each other and comprises a vibration sensor, a power supply module, a signal processing module, an attended module, a GPS module and an advanced sensing wireless communication module,
the power supply module is used for supplying power to the signal processing module, the watch module and the wireless communication module;
the vibration sensor is used for generating and sending a vibration signal to the signal processing module when the invasion occurs;
the signal processing module is used for judging the vibration signal, and informing the watch module to generate a wake-up signal when the intrusion is judged to occur;
the watching module is used for waking up the prepositive sensing wireless communication module through the wake-up signal;
the GPS module is used for positioning the position of the sensing node;
the preposed sensing wireless communication module is used for uploading an intrusion alarm signal with a sensing node identification code to the air-ground integrated warning control terminal system.
Specifically, the prepositive sensing system is vibration sensing signal acquisition and intrusion pre-judgment equipment, and consists of a plurality of groups of sensing nodes, including a high-sensitivity prepositive sensing node N1 and a common sensing node N2. The preposed sensing nodes N1 form a star-shaped topological structure ad hoc network by taking a land-air integrated warning control terminal system as a center, and each preposed sensing node in the network is provided with a self identification code. Every leading perception node is used for the vibration signal acquisition and the invasion of key region to predetermine, and the power module provides the power supply for signal processing module, on duty module and wireless communication module respectively, and vibration sensor, signal processing module, on duty module, wireless communication module carry out the information interaction through the serial ports, and wireless communication module standby under the usual state, wireless communication module can be awaken up to on duty module. When invasion happens, the vibration sensor transmits a vibration signal to the signal processing module, the signal processing module judges the vibration signal, the wireless communication module is awakened through the guarding module after the signal is judged to be an invasion signal, and the preposed sensing wireless communication module uploads an invasion alarm signal with a preposed sensing node identification code to the land-air integrated warning control terminal system. Under the non-invasive state, the prepositive sensing node watching module awakens the prepositive sensing wireless communication module once every 12 hours and sends system state confirmation information only with the sensing node identification code once.
In the preferred embodiment of this section, the front-end sensing system is a vibration sensing wireless network which forms a star-shaped topological structure through a LORA ad hoc network.
Specifically, the prepositive system forms a vibration perception wireless network with a star-shaped topological structure through an LORA ad hoc network, and can expand the network range by using a relay mode. The noise of the system is reduced by the design of a low-noise conditioning circuit and a low-noise power supply on hardware of the preposed sensing node, and the low noise of the environment collected on the spot in the key area is introduced into an intrusion detection model for optimization and updating by a machine learning method in the aspect of software, so that the accuracy of the pre-warning of the preposed sensing system is greatly improved, and the false alarm rate and the missing alarm rate are reduced. The high-sensitivity sensing node circuit is designed by adopting low power consumption and system watching, the front-end relay system is designed by adopting a solar power supply and system watching, the power consumption of the front-end system (the front-end sensing system and the front-end relay system) can be effectively reduced, and the effective working time of the front-end system is greatly prolonged. The front system and the air-ground integrated warning control terminal system realize the transmission of intrusion warning information and positioning information through the LORA; the land-air integrated warning control terminal system is connected with the video monitoring system through a data interaction unit, so that daily monitoring of key areas and primary confirmation of intrusion confirmation are realized; the land-air integrated warning control terminal system, the warning situation display system and the unmanned aerial vehicle system realize the over-distance interconnection and real-time sharing of data through the cloud server, realize the accurate confirmation of the intrusion event and form the intelligent warning of the early warning, identification, processing and tracking integration of the intrusion event. The land-air integrated warning control terminal system, the warning situation display system, the video monitoring system and the unmanned aerial vehicle system realize real-time information interaction, when warning information appears, the land-air integrated warning control terminal system transmits intrusion pre-judgment information to the video monitoring system, the warning situation display system and the unmanned aerial vehicle system, the video monitoring system firstly performs primary confirmation on a warning area, simultaneously starts the unmanned aerial vehicle system to perform accurate confirmation on an intrusion target and uploads a confirmation result to a warning system cloud server, the land-air integrated warning control terminal system projects the video information of the video monitoring system, the warning information of the control terminal, the intrusion situation, a data analysis result, a solution scheme, unmanned aerial vehicle positioning information, real-time video and other information through a fixed display unit of the warning situation display system, and security personnel are assisted to optimize the solution scheme and make decisions according to the real-time intrusion situation, meanwhile, security personnel acquire real-time videos and positioning of the unmanned aerial vehicle through the cloud server by using the handheld display unit, and accurate tracking and processing are adopted for the intrusion target, so that the intrusion target is prevented from causing harm to key areas.
In this preferred embodiment of this part, the air-ground integrated warning control terminal system includes a control unit and a data interaction unit, the control unit and the data interaction unit perform data interaction through a serial port, wherein:
the control unit is used for monitoring the invasion situation and the system state, interacting system information and assisting decision;
the data interaction unit comprises a cloud data transmission module, an interface module and a data interaction wireless communication module, the cloud data transmission module is used for carrying out information interaction with a cloud server of the warning system, the interface module is used for enabling the land-air integrated warning control terminal system to carry out information interaction with the video monitoring system and the warning situation display system respectively, and the data interaction wireless communication module is used for carrying out information interaction with the front sensing system.
In this preferred embodiment, the air-ground integrated alert control terminal system further includes an intelligent human-computer interaction interface, and the intelligent human-computer interaction interface includes:
the map module is used for converting the acquired sensing node positioning information of the front sensing system and the acquired unmanned aerial vehicle positioning information into map information and displaying the map information on a map;
the data analysis module is used for analyzing the number, the direction and the path of the invading people according to the invading judgment result provided by the sensing node to form an alert situation;
the system comprises a self-checking module, a wireless communication module and a front-end sensing system, wherein the self-checking module is used for awakening the wireless communication module once every 12 hours by an on-duty module in a non-invasive state, sending state normal confirmation information only with a sensing node identification code once, and judging the fault condition of each front-end sensing system by the system according to the state normal confirmation information of each sensing node;
the data storage module is used for realizing real-time data recording and historical data query through a warning system cloud server;
the system parameter management module is used for setting user information and sensing node parameter information;
the data synchronization module is used for synchronizing positioning information of the front sensing system, positioning information of the unmanned aerial vehicle, image information of the unmanned aerial vehicle and data of the video monitoring system;
and the data decision module is used for sorting and classifying data, analyzing the warning situation and making a warning scheme.
Specifically, the land-air integrated warning control terminal system carries a land-air integrated warning control terminal system control program, the program is developed through a C # program, and an intelligent human-computer interaction interface is established, wherein the program comprises a map module (obtained preposed node positioning information and unmanned aerial vehicle positioning information are converted into map information and displayed on a map), a data analysis module (for analyzing the number of invading people, the direction and the path to form a warning situation according to the invasion judgment result provided by the sensing nodes), a self-checking module (in the non-invasion state, the sensing node watching module wakes up the wireless communication module once every 12 hours to send state normal confirmation information only with the identification codes of the sensing nodes, and the system judges the fault condition of each preposed system through the state normal confirmation information of each sensing node), a data storage module (for realizing real-time data recording, data recording through a cloud server, and the like, Historical data inquiry), a system parameter management module (including user information and sensing node parameter information), a data synchronization module (including front-end system positioning information synchronization, unmanned aerial vehicle image information synchronization, video system data synchronization and the like), a data decision module (including data sorting and classification, warning situation analysis, warning scheme and the like), and a control unit is responsible for intrusion situation and system state monitoring, system information interaction and decision assistance. The data interaction unit comprises a cloud data transmission module (information interaction between cloud servers), an interface module (comprising interfaces such as a network port, a video switching port and a serial port and used for controlling information interaction between the terminal and other systems), and a wireless communication module (information interaction between the wireless communication module and the front sensing system). Aiming at the condition of simultaneous multi-point intrusion, the unmanned aerial vehicle is required to traverse all the alarming sensing nodes, and the data analysis decision module combines the ant colony algorithm and the system warning strategy to provide the optimal warning path for security personnel and the unmanned aerial vehicle. The data interaction unit is responsible for interconnection of the land-air integrated warning control terminal system, the front-end system, the cloud server and the warning situation display system.
In the preferred embodiment of this section, the video surveillance system comprises a high-definition camera and a video transmission unit, which are used for daily monitoring.
Specifically, an operator controls the video monitoring system to monitor the key area through the air-ground integrated warning control terminal system, and can access the air-ground integrated warning control terminal system at the same time.
In this preferred embodiment, the warning system cloud server is used for realizing data storage and interaction of a land-air integrated warning control terminal system, an unmanned aerial vehicle system and a warning situation display system, and has the functions of storing and calling system historical data.
In the preferred embodiment of this section, the alert situation display system comprises a fixed display unit and a hand-held display unit,
the fixed display unit is used for projecting the alarm information, the data analysis result, the alarm confirmation certification information, the auxiliary decision and the real-time video information of the air-ground integrated warning control terminal system through the data interaction unit in a split screen manner;
the handheld display unit comprises a display module, a control module and a display unit wireless communication module and is used for obtaining real-time video pictures and positioning information of the unmanned aerial vehicle through the warning system cloud server and tracking, controlling and processing an intrusion target.
In the preferred embodiment of this section, the unmanned aerial vehicle system comprises an unmanned aerial vehicle control unit, a plurality of wireless charging and unloading platforms and an unmanned aerial vehicle,
the wireless charging and unloading platforms are used for ensuring the endurance sustainability of the unmanned aerial vehicle;
the unmanned aerial vehicle is hung on the high-definition pan-tilt camera, the 5G communication module and the voice module, and the high-definition pan-tilt camera is used for shooting high-definition pictures and videos to confirm the invasion condition; the 5G communication module is used for uploading the high-definition photos and videos to a warning system cloud server through the unmanned aerial vehicle control unit; the voice module is used for carrying out voice drive-off in the intrusion event process;
and the unmanned aerial vehicle control unit is used for controlling the unmanned aerial vehicle to guide security personnel to track, control and process the invading target.
Specifically, in this embodiment, the unmanned aerial vehicle system is a customizable civil unmanned aerial vehicle, and the unmanned aerial vehicle system is equipped with four unmanned aerial vehicles, and a plurality of wireless charging shutdown platforms can be selectively configured according to the area of the key area, so as to ensure the endurance sustainability of the unmanned aerial vehicle.
One specific embodiment of the present invention is given below:
as shown in fig. 1, the present invention provides a land-air integrated warning system for a key area based on microvibration sensing, including: the system comprises a front-mounted sensing system, a land-air integrated warning control terminal system, a video monitoring system (optional), a warning system cloud server, a warning situation display system (comprising a fixed display end and a handheld display end) and an unmanned aerial vehicle system.
As shown in fig. 3, the monitoring area is divided into a key area, an inner layer sensing area, and a peripheral sensing area, and is divided into 1-4 partitions. The system deployment is deployed according to the peripheral sensing area of the high-sensitivity sensing node N2, and the deployment interval is 100 meters; the common sensing node N1 is deployed in an inner-layer sensing area, and the deployment interval is 50 meters. The four unmanned aerial vehicle systems are deployed in key areas of the four areas and are respectively responsible for warning tasks of the areas where the unmanned aerial vehicle systems are located, and meanwhile, a plurality of wireless charging and unloading platforms can be deployed according to actual conditions. The other components of the system are deployed in the control center.
As shown in fig. 2, the front sensing system is a vibration sensing signal acquisition and intrusion pre-determination device, and is composed of multiple sensing nodes, including a high-sensitivity front sensing node N1 and a common sensing node N2. Leading perception node N1 uses the integrative warning control terminal system of land and air to constitute star topology ad hoc network as the center, every leading perception node possesses self mark code in the network, every leading perception node includes vibration sensor, a power module, signal processing module, on duty module, the GPS module, wireless communication module etc. be used for the vibration signal acquisition and the invasion prejudgement of key area, power module is signal processing module respectively, on duty module and wireless communication module provide the power supply, vibration sensor, signal processing module, on duty module, wireless communication module carries out the information interaction through the serial ports, wireless communication module standby under the usual state, wireless communication module can be awaken up to the on duty module. When intrusion happens, as shown in S1 in fig. 4, the vibration sensor transmits a vibration signal to the signal processing module, the signal processing module judges the vibration signal, and after the signal is judged to be an intrusion signal, as shown in S2 in fig. 4, the GPS module and the wireless communication module are awakened through the guarding module, and the wireless communication module uploads an intrusion alarm signal with a sensing node identification code and positioning information to the land-air integrated warning control terminal system. In the non-invasive state, the sensing node watching module wakes up the GPS module and the wireless communication module once every 12 hours and sends system state confirmation information with the sensing node identification code and the positioning information once.
As shown in fig. 1, the air-ground integrated warning control terminal system includes a control unit and a data interaction unit, and the control unit and the data interaction unit perform data interaction through a serial port. The control terminal carries a control program of a land-air integrated warning control terminal system, the program is developed through a C # program, an intelligent man-machine interaction interface is established, and the control program comprises a map module (obtained preposed node positioning information and unmanned aerial vehicle positioning information are converted into map information and displayed on a map), a data analysis module (the number of invading people, the direction and the path forming warning situations are analyzed according to the invasion judgment result provided by a sensing node), a self-checking module (in the non-invasion state, the sensing node watching module wakes up the wireless communication module once every 12 hours and sends normal state confirmation information only with a sensing node identification code once, the system judges the fault condition of each preposed system through the normal state confirmation information of each sensing node), a data storage module (real-time data recording and historical data inquiry are realized through a cloud server), a system parameter management module (comprising user information), a computer program, a computer, sensing node parameter information), a data synchronization module (including front-end system positioning information synchronization, unmanned aerial vehicle image information synchronization, video system data synchronization and the like), a data decision module (including data sorting and classification, warning situation analysis, warning scheme and the like), and a control unit is responsible for intrusion situation and system state monitoring, system information interaction and decision assistance. The data interaction unit comprises a cloud data transmission module (information interaction between cloud servers), an interface module (comprising interfaces such as a network port, a video switching port and a serial port and used for controlling information interaction between the terminal and other systems), and a wireless communication module (information interaction between the wireless communication module and the front sensing system). The data interaction unit is responsible for interconnection of the land-air integrated warning control terminal system, the front-end system, the cloud server and the warning situation display system. As shown in S3 in fig. 4, after receiving the warning information, the land-air integrated surveillance control terminal system controls the video surveillance system through the data interaction unit, and adjusts the surveillance video of the intrusion area to confirm the intrusion condition. As shown in S5 in fig. 4, if the intrusion situation continues to develop, a secondary response is started, the land-air integrated surveillance control terminal system sends a task instruction to the unmanned aerial vehicle system in the area according to the area to which the intrusion belongs, the unmanned aerial vehicle further confirms the intrusion situation after being started, acquires real-time video of the unmanned aerial vehicle through cloud service and synchronously projects the video to the fixed display unit of the surveillance situation display system, and meanwhile, the voice module of the unmanned aerial vehicle is used for carrying out voice dislodging on the intrusion target. As shown in S6 in fig. 4, when a plurality of common sensing nodes N2 detect an intrusion signal, a primary response is started, the land-air integrated warning control terminal system analyzes intrusion information reported by the common sensing nodes N2 and provides an optimal solution, where the optimal solution is an optimal solution for an unmanned aerial vehicle to obtain accurate confirmation information of all alarm points and guide security personnel to process, in the shortest time, by fully considering threat coefficients, mobility and unmanned aerial vehicle system response time of an intrusion target under the condition of an optimal flight speed. The specific principle is as follows: 1. each common sensing node N2 extracts a characteristic value of the intrusion target for operation and judgment, and when the intrusion target vibrates strongly, it indicates that the number of the intrusion target is large and the possibility of heavy weight is high, that is, the threat coefficient. The parameters are introduced into an ant colony algorithm, and combined with heuristic function parameters in the ant colony algorithm, a vibration sensor target area with high threat is used as a primary confirmation and processing target, and the threat factors of an optimal warning path and a security target area are balanced. 2. Because the perimeter intrusion target has mobility, the time cost is needed for the unmanned aerial vehicle to schedule and fly, the earlier intrusion area, the farther the moving distance of the intrusion target is, when the unmanned aerial vehicle drives away, the intrusion target may enter another vibration sensor watching area to cause another vibration sensor to give an alarm, so that pheromone volatilization concentration parameters of the vibration sensor watching area which is close to the front time point can be increased, the optimal path for cruising is balanced, and the condition that the unmanned aerial vehicle flies and security personnel miss the intrusion target before and after the security personnel are avoided. 3. And in the flight process of the unmanned aerial vehicle, when the newly increased alarm coordinates are updated to exceed the set value by 5, adding the newly increased alarm coordinates into the newly increased alarm coordinates and removing the checked alarm coordinates, updating the ant colony algorithm parameters, and performing algorithm operation again to obtain the updated cruising optimal path of the unmanned aerial vehicle. As shown in fig. 5, the ant colony algorithm flow is as follows:
1. setting initial parameters, wherein K is the ant colony scale (ant number); alpha is an pheromone factor;
is a heuristic function, wherein:
η(i,j)as a heuristic function, D(i,j)M _ coe is the distance between the alarm sensors and is the model parameter of the model vibration sensor; beta is an important factor of the heuristic function;
pheromone volatility factor, t, when j ≠ 1jTime of occurrence of alarm, t, for jth sensor1The alarm occurrence time of the 1 st sensor,
pheromone volatility factor when j is 1, ρmaxIs j ≠ 1 time ρjG is the number of alarm sensors, tallIn order to be the total time difference,
ρ0is an initial pheromone volatilization factor; t is tall＝(t2-t1)+...+(tG-t1) As a total time difference, tkAlarming occurrence time for the kth sensor; q is the total pheromone release amount; tau is(i,j)For pheromone concentration, the pheromone concentration is the same between the alarm sensors at the initial time(i,j)(0)＝τ(0)；MmaxIs the maximum iteration number;
2. obtaining alarm sensor coordinate X(i,j)(GPS module positioning), number of alarm sensors G, distance between alarm sensors D(i,j)；
3. And (3) randomly placing ants in all the alarm sensors, and enabling the ants to access all the sensor nodes according to the rules: the transition probability of an ant from node i to node j is
S belongs to allowk and represents the set of nodes left to be accessed by the ant k; alpha is an pheromone factor; beta is an important factor of the heuristic function; eta(i,j)Is a heuristic function; tau is(i,j)Is the pheromone concentration;
4. the pheromone concentration is updated by adopting an ant density model, namely the pheromone release amount tau of each section of road(i,j)(t+1)＝(1-ρj)*(1-ρ0)*τ(i,j)(t)+Δτ(i,j)Wherein (1- ρ)j)*(1-ρ0)*τ(i,j)(t) is the volatilization of the pheromone,
is a pheromone volatilization factor, rho0Is an initial pheromone volatilization factor;
pheromone, Q, newly produced for each ant on this segmentkIs the total pheromone release.
The optimal solution and the analysis result are sent to the warning situation display system and the unmanned aerial vehicle system in real time through the data interaction unit and the cloud server, the unmanned aerial vehicle and security personnel carrying the handheld unit of the warning control terminal process intrusion events according to the scheme, and the handheld unit of the warning control terminal shares video and positioning information with the unmanned aerial vehicle in real time through cloud service.
As shown in fig. 1, the video surveillance system (optional) includes a high definition camera and a video transmission unit, and is mainly used for daily monitoring. As shown in S3 and S4 in fig. 4, the peripheral sensing area is monitored by a wired video monitoring system, and can be controlled by a land-air integrated warning control terminal system and projected on a fixed display unit of a warning situation display system.
As shown in fig. 1, the warning system cloud server is used for realizing data storage and real-time interaction of a land-air integrated warning control terminal system, an unmanned aerial vehicle system and a warning situation display system, and has the functions of storing and calling system historical data. As shown in S5-S7 in fig. 4, when an intrusion event occurs, the cloud server of the surveillance system serves as a data relay center, and the control center, the unmanned aerial vehicle and security personnel are closely connected to each other, so that a perfect data sharing system is established, and the real-time performance and the accuracy of intrusion event processing are improved.
As shown in fig. 1, the alert situation display system includes a fixed display unit and a hand-held display unit. As shown in S3, S5, S6, and S7 in fig. 4, the fixed display unit projects video information of the video monitoring system, alarm information of the control terminal, intrusion situation, data analysis result, solution, positioning information of the unmanned aerial vehicle, real-time video, and the like, so as to assist security personnel to perfect the solution according to actual conditions. As shown in S6 and S7 in fig. 4, the handheld display unit obtains real-time video images and positioning information of the unmanned aerial vehicle through the cloud server, and assists security personnel in tracking, controlling and processing an intrusion target.
As shown in fig. 1, the unmanned aerial vehicle system is a customizable civil unmanned aerial vehicle, and mainly comprises an unmanned aerial vehicle control unit, a wireless charging and unloading platform and an unmanned aerial vehicle. As shown in fig. 3, the unmanned aerial vehicle system is equipped with four sets of unmanned aerial vehicles, and a plurality of wireless charging and unloading platforms can be selectively configured according to the area of the key area, so as to ensure the endurance and sustainability of the unmanned aerial vehicle. Unmanned aerial vehicle carries high definition cloud platform camera, 5G communication module, voice module, and high definition cloud platform camera shoots high definition photo and video and confirms the invasion condition, and 5G communication module uploads data to high in the clouds server in real time, and voice module carries out pronunciation at the invasion event in-process and drives away. As shown in S5 in fig. 4, the drone system accurately confirms the intrusion target through high-definition photos and videos and drives away the intrusion target with voice. As shown in S6 and S7 in fig. 4, the drone system guides security personnel to track, control and process the intrusion target through real-time video and positioning information.
Fig. 4 discloses a flow of an operation method based on the device, wherein:
s1, detecting a vibration invasion signal by a front sensing system high-sensitivity sensing node N1;
s2, the high-sensitivity prepositive sensing node watching module awakens the GSP module and the wireless communication module, and uploads alarm information with the node mark code and positioning information to the land-air integrated warning control terminal system;
s3, after receiving the alarm information of the high-sensitivity sensing node, the land-air integrated warning control terminal system calls a video monitoring system to check the intrusion condition of the area where the sensing node is located, and if the video shows that personnel activities exist, S4 is executed; if the video is not active, executing S8;
s4, closely monitoring the follow-up activities of the personnel in the range, if the personnel are far away from the key area, executing S41, otherwise, executing S5;
s41, continuously observing for 10 minutes, and if no subsequent alarm information exists, executing S8;
s5, starting a secondary response mechanism, starting the unmanned aerial vehicle, and realizing real-time video sharing by the unmanned aerial vehicle through the cloud server. And controlling the unmanned aerial vehicle to fly to the invasion area, and shooting high-definition pictures and videos to further accurately confirm the invasion condition. Meanwhile, the unmanned aerial vehicle broadcasting unit is used for carrying out oral driving on intruders. Synchronously displaying the synchronous video of the unmanned aerial vehicle on a fixed display unit of the warning situation display system, closely observing the subsequent invasion situation, and returning to S41 if the driving-away is successful; if the drive-off is not successful, go to S6;
s6, the sensing node N2 detects a vibration intrusion signal, the preposed sensing node N2 watching module wakes up the GPS module and the wireless communication module, and alarm information with the node mark code and the positioning information is uploaded to the land-air integrated warning control terminal system. Starting a primary response mechanism, carrying a handheld unit of a warning control terminal by security personnel, synchronously displaying the monitoring video of the unmanned aerial vehicle through a cloud server, and proceeding to an intrusion area to process intrusion events. The warning situation display system fixes a display unit to synchronously display the invasion situation and the unmanned aerial vehicle synchronous video;
s7, tracking and solving the intruder by security personnel according to the synchronous video and positioning of the unmanned aerial vehicle. After the intrusion event is processed, the unmanned aerial vehicle returns to a stopping position for charging maintenance, and security personnel returns to the control center;
and S8, strictly confirming that no other personnel invade, and recovering the system to be in the on-duty state.
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