CN112330904A - Full-three-dimensional intelligent security monitoring system - Google Patents
Full-three-dimensional intelligent security monitoring system Download PDFInfo
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Abstract
The invention relates to a full-three-dimensional intelligent security monitoring system, and belongs to the technical field of ocean safety protection. The method comprises the following steps: the system comprises a target detection unit, a monitoring command unit and an alert intercepting unit, wherein a shore base station serving as a relay is arranged between the target detection unit and the monitoring command unit; further comprising: the multi-source information fusion processing and communication module is used for realizing data transmission and communication among the target detection unit, the monitoring command unit and the warning interception unit; the multi-detection information fusion security situation analysis module adopts a Mamdani neural network structure to establish a security system fuzzy neural network model for autonomously judging the security situation of a security area. Communication and power supply are provided through a water surface/underwater cable, and an open flexible design framework is adopted by a monitoring command network, so that the cooperative work of water surface and underwater compatibility and networking is realized; and each device of the target detection unit can be uniformly allocated by the monitoring command center according to actual needs, is fused with AIS system information and is in real-time linkage operation.
Description
Technical Field
The invention relates to the technical field of ocean safety protection, in particular to a full-three-dimensional intelligent security monitoring system.
Background
In recent years, with the increasing rigor of anti-terrorism situation at home and abroad, public safety construction capabilities such as protecting citizen safety, anti-terrorism stability and large-scale activity safety and security capability become inevitable problems, and a set of unified, perfect, information-based and integrated three-dimensional security and protection system is constructed, and is a 'copper wall and iron wall' in water, land and air.
The intelligent security of the water area is a key link of the water, land and air three-dimensional security system. The safety protection work of important coastal economic facilities and water areas of important wading activities is particularly important. However, in the present complex international situation, these important bases also need to face non-traditional security threats, and underwater competition presents a new situation.
The underwater unconventional security threat mainly comes from underwater low-speed small targets, frogmans (including underwater frogman carriers and surface frogman carriers) and small-sized AUVs (autonomous underwater vehicle) and other slow-speed small targets. Such targets have low self-noise and weak echo strength, thus having good concealment and flexible use, and are often used as non-traditional threat force for performing tasks such as reconnaissance, penetration, attack, destruction and the like. The underwater low-speed small target poses serious threats to underwater safety of major activities such as coastal activities, wading and the like.
Patent document with application publication number CN105882909A discloses a marine security system, which comprises n nylon protective nets and (n +1) water drums, wherein one nylon protective net is fixed and tightly stretched on the water surface by two adjacent water drums; every water drum includes electrical system, and electrical system includes control unit and the sonar subsystem that is used for surveying target under water, and control unit and sonar subsystem all pass through bus interface connection on the bus. The nylon protective net on the water surface can prevent the enemy yacht on the water surface from attacking facilities in the harbor pool, the navigation mark warning lamp can play a warning role for ships such as fishing boats, pleasure boats and the like, the ships are prevented from entering the harbor pool by mistake, and hidden invasion targets such as underwater frogmans can be searched, found and identified by hanging a sonar.
In addition, patent document with application publication number CN102722147A discloses an intelligent remote security monitoring system for an offshore wind turbine generator system, which comprises a plurality of groups of cameras, a plurality of access layer switches and a master control room; the plurality of access layer switches are respectively installed on the plurality of fans, and the plurality of groups of cameras are respectively installed on the plurality of fans; the camera is connected with the access layer switch, the access layer switch is connected with the wind power plant Ethernet through the local area network inside the fan, and then is connected to the main control room through the local area network inside the main control room; the master control room comprises a core switch, a memory, a server and a display, wherein the memory, the server and the display are respectively connected with the core switch. According to the system, 5 cameras are arranged on a single fan, and video real-time monitoring control is realized on the whole offshore wind power project in a main control room.
However, the existing marine security system still has the technical problems of high false alarm rate, low automation and intelligence degree, low generalization degree and poor compatibility. Most offshore security systems lack system support for networking monitoring, and a systemic, intelligent and networked equipment system and fast-response water area full-solid water area security system is formed.
Disclosure of Invention
The invention aims to provide a full-three-dimensional intelligent security monitoring system which can form a set of systematized, intelligent and networked equipment system and realize real-time rejection and defense of an observed water area.
In order to achieve the above purpose, the full-three-dimensional intelligent security monitoring system provided by the invention comprises a target detection unit, a monitoring command unit and a warning interception unit, wherein a shore base station serving as a relay is arranged between the target detection unit and the monitoring command unit; further comprising:
the multi-source information fusion processing and communication module is used for realizing data transmission and communication among the target detection unit, the monitoring command unit and the warning interception unit;
the multi-detection information fusion security situation analysis module adopts a Mamdani neural network structure to establish a security system fuzzy neural network model for autonomously judging the security situation of a security area.
In the technical scheme, the fuzzy neural network model of the security system takes fuzzy control as a main body, uses the neural network to realize fuzzy control decision, and takes the detection data of the target detection unit as a data set sample to train and learn the neural network. After data of the target detection unit is input as a target parameter, matching calculation is carried out on the target detection model by using a fuzzy neural network algorithm, a self-learning and self-adaptive fuzzy rule table, namely a neural network, is obtained, and security situation judgment is carried out on the security area.
Communication and power supply are provided through a water surface/underwater cable, and an open flexible design framework is adopted by a monitoring command network, so that the cooperative work of water surface and underwater compatibility and networking is realized; the shore base stations are arranged on the target detection unit and the monitoring command unit to serve as relays, so that centralized management and distributed transmission of data and energy of the target detection unit can be facilitated, the collection and primary processing of the measured data of the target detection unit are realized, and the measured data are transmitted to the monitoring command unit; and each device of the target detection unit can be uniformly allocated by the monitoring command center according to actual needs, is fused with AIS system information and is in real-time linkage operation. The whole system working process can be characterized by the following ten events: search, tracking, identification, interception adaptability check, threat assessment, threat ranking, treatment decision, equipment allocation, monitoring and control, effect assessment.
Optionally, in one embodiment, the object detection unit includes a low and small object detection sonar, a water surface surveillance radar, an infrared monitor, an underwater detection robot, a video monitoring system, and an all-fiber passive surveillance sonar. Each device in the unit adopts automatic design, has an informatization interface, commands the high intellectualization and networking of supervisory equipment, furthest reduces the pressure and the guarantee demand of the underwater full time domain security protection monitoring task to personnel, and is favorable to long-term watch. The unit comprehensively adopts various detection devices according to the characteristics of various underwater targets on the water surface, realizes regional, intelligent and multi-level detection and tracking of personnel on the water surface, small boats, frogmans underwater, UUV and other targets from far to near and from water surface to underwater, autonomously identifies the security situation, and realizes effective denial and defense on various targets under the support of the monitoring command unit and the warning interception unit.
Optionally, in an embodiment, the receiving transducer array of the low and small target detection sonar adopts a cross split array form, the transmitting transducer array is in an array structure, the transmitting transducer array is arranged perpendicular to the receiving transducer array, the main axis of the transmitting beam is in four directions of the cross array, the transmitting beam is transmitted to which direction, then the cross array perpendicular to the direction is received, and four cycles are performed for one circle when the target is searched.
The low and small target detection sonar is a high-frequency active detection sonar which can be fixedly arranged underwater through a support or suspended on a ship and a water surface platform to perform underwater monitoring on an observation water area and detect and track underwater invasion targets.
The water surface warning radar is used for detecting water surface ships and providing target early warning and positioning for the monitoring command unit. The water surface warning radar has excellent rain and snow inhibiting function and sea clutter processing capacity, and can be used for setting a monitoring area to monitor 200 targets at will.
The infrared monitor can output clear infrared images under various complex meteorological conditions, has all-weather, high-resolution and high-frame-frequency monitoring capabilities, and is mainly used for carrying out day and night auxiliary observation and search on water surface targets.
The underwater detection robot is provided with a high-performance underwater LED lamp, a shouting device and a camera device, and the underwater detection robot can complete tasks such as warning, tracking and intercepting of underwater invasion targets. When the target detection unit finds a target, the monitoring command unit wirelessly controls the water surface robot through the robot control module in the upper computer, so that the water surface robot shouts, warns, tracks and monitors videos of the invading target.
According to different detection ranges, different types are used for different areas to detect. The total detection water area is divided into three water areas according to the distance between the water area and the coast: offshore shore waters (inland port), intermediate shore waters (entry port), open shore waters (outport). The vicinity area may also be divided according to the actual size of the terrain area. The remote coast water area is mainly observed by using an all-fiber passive warning sonar, and the water area is monitored by using a water surface warning radar, a camera and an infrared monitor. A plurality of all-fiber passive warning sonars form a sonar detection array in a linear direction by utilizing cables, the measurement range of the all-fiber passive warning sonars can reach 10km, and the all-fiber passive warning sonars can detect wide water areas such as ports. The underwater monitoring of the water area of the middle coast adopts a means of combining low and small target detection sonar, an underwater detection robot and video monitoring. Low small target detection sonar is a high frequency initiative sonar, has the high resolution, can detect the small-size carrier that other initiative sonars such as frogman can't be distinguished, and the maximum scope that anti-frogman sonar surveyed is 600 m. Meanwhile, a video monitoring system consisting of a plurality of cameras is used for carrying out video monitoring on the water area, so that the identification of the type and the position of the invasion target is improved. The method mainly comprises the steps of positioning the targets by utilizing sonar and a water surface warning radar, and monitoring the targets by using a video camera and an infrared monitor. The arrangement of the low and small target detection sonar array can be considered according to the requirements in the coastal water area. And a plurality of underwater high-strength interception nets are arranged around the offshore water area, so that an invasion target can be isolated and blocked after receiving a command of a control center, and the key position of the water area is protected. Other devices of the security system, such as a highlight system, an alarm, a megaphone and the like, are arranged at proper positions of the monitored water area for security.
Optionally, in an embodiment, the monitoring and commanding unit includes an integrated display and control module and a data communication module, which are used for communicatively connecting the server, the processor and the display device in the system, and connecting the warning and intercepting unit through a communication cable buried under the shore base, and simultaneously considering a wireless communication line, and is used for commanding and controlling each unit during maneuvering.
Optionally, in an embodiment, the integrated display and control module includes a dual-screen integrated display and control console, and is configured to dynamically monitor and predict a target situation. The system supports processing and displaying of information such as an infrared monitor, a video, a radar and a sonar, and supports control and management of various equipment.
Optionally, in an embodiment, the integrated display and control module includes application software, application service software, basic software, and a hardware platform;
the application software comprises situation processing, task planning software, command decision software, video monitoring software and system maintenance software;
the application service software comprises detection data access, detection data pushing, data fusion analysis, target threat judgment, shooting data calculation, combat system access, target data access, alarm data access, control instruction access and hit report management;
the basic software comprises a PostgreSOL database + SMARTACTION geographic information submodule, a Windows or Linux operation submodule and a network middleware xDS;
the hardware platform comprises a server, a display terminal, network equipment, a radio station, a receiver and power generation equipment.
Optionally, in an embodiment, the data communication module uses an optical fiber local area network technology and a wireless communication technology to complete a data communication task between each unit inside the command control center.
Optionally, in one embodiment, the warning intercepting unit comprises an underwater megaphone, a directional sound wave device, a highlight searchlight, an underwater intercepting robot and an underwater high-intensity intercepting net;
the underwater megaphone is arranged in an underwater specific area and is connected with the monitoring command center through an underwater cable, and when an underwater target invades, the underwater megaphone warns and drives the underwater target away by using customized voice information;
the directional sound wave equipment and the highlight searchlight are arranged on the shore in groups according to the action range of calling and irradiation, and the composite cable provides power supply and data communication to finish sound and light warning of illegally entering ships;
the underwater intercepting robot adopts robot formation networking control, and aiming at the problem of multi-AUV coordinated formation control based on target tracking, fusion is carried out on all AUV state information and corresponding information detected by a target detection unit according to maximum likelihood estimation to obtain more accurate state information, so that multi-AUV formation control is realized;
the underwater high-strength interception net sends an instruction by the monitoring command center according to the activity condition of the underwater target, and the retracting operation is carried out in advance or in real time.
The n AUV subsystems in the warning interception unit adopt a robot formation networking control Leader-Follower algorithm, corresponding information detected by the target detection unit is fused with state information of the AUVs according to maximum likelihood estimation, one of the n AUVs is selected as a pilot (Leader), the other n-1 AUVs are used as followers (Follower), and the followers adopt a target tracking algorithm and points with certain position offset with the pilot, so that a certain formation shape is formed, the followers move along a specified formation path, and formation control of multiple AUVs is realized to reject interception of an intrusion target. n is an integer greater than or equal to 3.
The underwater high-strength intercepting net is mainly composed of an ultrahigh molecular weight polyethylene fiber high-strength cable and an ultrahigh molecular weight polyethylene twisted knotless net serving as main intercepting main bodies, and is matched with an underwater fixed motor and a buoy body, and is mainly used for intercepting underwater approaching objects such as unmanned submersible vehicles, frogs and the like. When the device works, the monitoring command center can lift/lower the buoy body through the underwater fixed motor, so that the rapid deployment/withdrawal of the intercepting net is realized.
Compared with the prior art, the invention has the advantages that:
1. the reliability is high. The invention comprehensively adopts a plurality of detection means, realizes regional, intelligent and multilevel detection and tracking from far to near and from water surface to underwater, and realizes effective denial and defense of various targets under the support of the monitoring command unit and the warning interception unit, thereby reducing the non-traditional safety risk.
2. And the automation and intelligence degree is high. The equipment of the invention adopts automatic design, has informatization interfaces, commands the monitoring equipment to be highly intelligent and networked, and reduces the personnel pressure and the guarantee requirement to the maximum extent.
3. The task combination is flexible, and the application range is wide. The detection equipment, the command monitoring equipment and the warning interception equipment have higher selection flexibility, can be combined according to specific application scenes, can meet different defense requirements, and can increase early warning and attack profiles by expanding the same configuration.
4. The compatibility and the expansibility are good. The command monitoring network of the invention adopts an open flexible design framework, can be fused with aerial, water surface and shore security systems, is favorable for constructing a full-three-dimensional comprehensive security system under water and water, and can greatly improve the security and protection capability of key targets.
Drawings
FIG. 1 is a schematic structural diagram of a full-three-dimensional intelligent security monitoring system according to an embodiment of the present invention;
FIG. 2 is a schematic view of regionalized monitoring of a full-stereoscopic intelligent security monitoring system in an embodiment of the present invention;
FIG. 3 is a schematic three-dimensional structure diagram of a low and small target detection sonar in the embodiment of the present invention;
FIG. 4 is a layout diagram of an array of receiving transducers of a low small object detection sonar in an embodiment of the present invention; (a) is a left view, (b) is a main view;
fig. 5 is an architecture diagram of an integrated display and control console in a monitoring and commanding unit according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a coordinated formation control scheme of the underwater intercepting robots in the embodiment of the invention;
FIG. 7 is a schematic view of an underwater high-strength intercepting net in an embodiment of the invention;
FIG. 8 is a communication schematic diagram of the intelligent security system for the full-stereoscopic water area in the embodiment of the invention;
FIG. 9 is a flowchart of a display system procedure in IOCP mode according to an embodiment of the present invention;
FIG. 10 is a flowchart illustrating the operation of the all-dimensional water area intelligent security system according to the embodiment of the present invention;
FIG. 11 is a diagram illustrating fuzzy neuron control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the word "comprise" or "comprises", and the like, in the context of this application, is intended to mean that the elements or items listed before that word, in addition to those listed after that word, do not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Examples
Referring to fig. 1, the full-stereoscopic intelligent security monitoring system of the present embodiment includes a target detection unit, a monitoring command unit, and an alert intercepting unit. The system is a comprehensive defense system integrating target detection, monitoring command and warning interception, communication and power supply are provided through a water surface/underwater cable, and an open flexible design framework is adopted by a monitoring command network, so that water surface underwater compatible and networked cooperative work is realized.
The target detection unit comprises equipment such as a low and small target detection sonar, a water surface warning radar, an infrared monitor, a video monitoring system, an underwater detection robot (AUV), an all-fiber warning sonar, a Coastal Acoustic Tomography (CAT) and the like. The low and small target detection sonar is used for detecting, identifying and tracking the frogman and the UUV; the water surface warning radar is used for detecting, identifying and tracking water surface ships; the infrared monitor is used for monitoring the personnel and ships on the water surface at night; the video monitoring system is used for video monitoring of the water surface and the working area; an underwater exploration robot (AUV) can be used as a supplement of an underwater exploration means and is used for improving the underwater situation perception capability. And each device of the target detection unit can be uniformly allocated by a monitoring and command center according to actual needs, is fused with the Ais system information, and is in real-time linkage operation.
The monitoring command unit consists of a comprehensive display control module and a data communication module. The comprehensive display and control module comprises a double-screen comprehensive display and control console, is used for dynamically monitoring and predicting the situation of a target, supporting the processing and display of information such as videos, radars, sonars and the like of photoelectric night vision, and supporting the control and management of various equipment. The data communication system module performs information interaction and operation control. The warning interception unit mainly comprises an underwater megaphone, a directional strong sound system, a strong light searchlight and an underwater high-strength interception net. The underwater megaphone is arranged in an underwater specific area, is directly connected with a monitoring command center through an underwater cable, and warns and drives away underwater targets by utilizing customized voice information when the underwater targets invade. The directional sound wave equipment and the highlight searchlight are arranged on the shore in groups according to the calling and irradiation action range, and the composite cable provides power and data communication to finish acousto-optic warning of illegally entering ships. The underwater high-strength interception net can issue instructions by the monitoring command center according to the activity condition of the underwater target, and the retracting operation can be carried out in advance or in real time. In order to facilitate centralized management and distributed transmission of data and energy of the target detection unit, a shore base station can be added to the target detection unit and the monitoring command unit to serve as a relay, so that the collection and preliminary processing of the measurement data of the target detection unit are realized, and the measurement data are transmitted to the monitoring command unit.
Referring to fig. 2, there are many methods for detecting targets underwater and on water, but the measurement accuracy and the application range are different. According to the embodiment, different types of detection types are used for different areas of the detection range to detect. The total detection water area is divided into three water areas according to the distance between the water area and the coast: offshore shore waters (inland port), intermediate shore waters (entry port), open shore waters (outport). The nearby water area can also be divided according to the actual terrain range. For the water areas of the open sea and the shore, the full-optical fiber passive warning sonar observation is mainly adopted due to the large range. The passive sonar mainly has the task of carrying out large-scale primary monitoring on the water surface and the water in the open sea area and carrying out target detection on the open port or the open sea shore sea area. Meanwhile, a Coastal Acoustic Tomography (CAT) system can be selected to assist the all-fiber passive warning sonar system to preliminarily judge the intrusion target. The water in the water area is monitored by a water surface warning radar, a camera and an infrared monitor. The all-fiber passive warning sonar detection mainly utilizes radiation noise (breathing sound, engine sound and the like) of a target to detect. The method has the advantage of good concealment, and the radiation noise carries the characteristic information of the target and can be used for target identification. A plurality of all-fiber passive warning sonars form a sonar detection array in a linear direction by utilizing cables, the measurement range of the all-fiber passive warning sonars can reach 10km, and the all-fiber passive warning sonars can detect wide water areas such as ports. For the middle sea and shore water area, the underwater monitoring adopts a means of combining a low and small target detection sonar, an underwater robot and a video monitoring system. The low and small target detection sonar is a high-frequency active sonar, has high resolution, and can detect frogman and other small-sized carriers which cannot be distinguished by the active sonar. The range of a near water area is small, and the low and small target detection sonar is adopted to form a sonar detection matrix system so as to realize high-resolution underwater detection on the critical position. Meanwhile, a video monitoring system consisting of a plurality of cameras is used for carrying out video monitoring on the water area, so that the identification of the type and the position of the invasion target is improved. The method mainly comprises the steps of positioning the targets by utilizing sonar and a water surface warning radar, and monitoring the targets by using a video camera and an infrared monitor. For offshore water areas, the arrangement of a low and small target detection sonar array can be considered according to requirements. And a plurality of underwater high-strength interception nets are arranged around the offshore water area, so that an invasion target can be isolated and blocked after receiving a command of a control center, and the key position of the water area is protected. Other devices of the security system, such as a highlight system, an alarm, a megaphone and the like, are arranged at proper positions of the monitored water area for security.
Referring to fig. 3, the low and small target detection sonar can be fixedly installed underwater through a support, or suspended and installed on a ship and a water surface platform, so as to perform underwater monitoring on surrounding water areas such as important ports and important water facilities, and detect and track underwater invasion targets.
Referring to fig. 4, a receiving transducer array of the low and small target detection sonar adopts a cross split array form, the receiving transducer array is in a cross array structure which is staggered up and down in a transverse and vertical mode (shielding of echo signals during receiving in a non-vertical direction is avoided), a transmitting transducer array is in a column structure, four columns of transmitting transducer arrays are arranged to be perpendicular to the receiving array, a transmitting beam main shaft is transmitted in four directions of the cross array in which direction the cross array is perpendicular to the direction, and four periods are circulated for one circle when a target is searched.
Referring to fig. 5, the integrated display and control console is a terminal device of the underwater security monitoring system, is also a central part of the whole system, and is a comprehensive information device integrating monitoring, control, communication, command and management. The monitoring command unit organically connects the server, the processor and the display equipment in the system in a wired/wireless mode in a command center, and is connected with the warning interception unit through a communication cable buried under a shore base to form an organic network system. Meanwhile, the wireless communication line is also considered, so that the command and control of various subsystems during maneuvering are facilitated. Data communication is the key to realize the monitoring and commanding functions, so the communication function of the system needs to be designed with emphasis. The communication scheme mainly adopts the optical fiber local area network technology and the wireless communication technology to complete the data communication task among all the combinations in the command control center, ensures a special data channel and enough bandwidth, and ensures the safety and reliability of data through redundancy design.
Referring to fig. 6, in this embodiment, the coordinated formation control scheme of the underwater intercepting robots is as follows: and fusing AUH state information obtained by underwater acoustic communication and corresponding information detected by the forward-looking sonar according to maximum likelihood estimation to obtain more accurate state information. And then, a target tracking control algorithm is applied by taking the AUH as a target to realize the formation control of multiple AUHs. And four AUH formation groups formed by executing the AUH adopt a Leader-Follower multi-AUH formation control strategy method to carry out multi-AUH cooperative formation control. One of the four AUHs is selected as a Leader, and the other is selected as a Follower. In the formation algorithm, a pilot tracks a designated formation path by adopting a path tracking algorithm; the follower adopts a target tracking algorithm and has a certain position offset point with the pilot, so that a certain formation form is formed and moves along a specified formation path.
Referring to fig. 7, when the underwater high-strength interception net works, the monitoring command center can lift/lower the buoy body through the underwater fixed motor, so that the interception net can be deployed/retracted quickly.
Referring to fig. 8, when the intelligent security system for a full-stereoscopic water area of the embodiment performs communication, for various underwater detection devices, underwater interception nets and other interception devices, the underwater connection technology is used to perform uniform network transmission and power supply on the underwater detection devices and the underwater interception nets, and the communication data of the underwater detection devices and the interception nets are transmitted to a local host on a shore base station through cables. For the detection equipment on water, the measurement data is directly transmitted to a local host of a shore base station, the initial data is subjected to primary processing, and the initial data is transmitted to a data server of a monitoring command unit through a local area network consisting of a gigabit network card or radio. And equipment for underwater shouting and the like in the warning interception unit can be connected to a control host, an underwater connection box or a shore base station according to actual conditions.
Referring to fig. 9, in IOCP mode, different probe subunits are connected to the monitoring center data server host through a gigabit network switch. The data server host software is responsible for receiving, storing and forwarding data, and is also responsible for geographic coordinate conversion, sensor data fusion processing, calculation of security situation, target track filtering interpolation and real-time calculation of three-dimensional scene so as to be transmitted to a display system. The security system of the embodiment has different data acquisition time of each unit, large data acquisition amount easily causes a plurality of concurrent events on a network, a data server needs to respond and process the concurrent events at the same time, and a network communication program serving as the data server needs to be compiled by adopting a high-performance non-blocking asynchronous communication mode. In addition, the data server simultaneously needs the functions of target detection unit data collection and calculation, security situation analysis, three-dimensional scene calculation drawing and real-time display, and has higher requirements on system resources such as a CPU (central processing unit), an internal memory and the like. Both the I/O overlay model and the completion port model are high performance non-blocking asynchronous communication modes.
Referring to fig. 10, the main workflow of the all-solid-water-area intelligent security system of the embodiment includes: the target detection unit is responsible for capturing target information from an external environment to form a field situation and providing the field situation to the monitoring command unit and the target warning interception unit; the target detection unit and the warning interception unit transmit the state information of the target detection unit and the warning interception unit to the monitoring command unit; and the monitoring command unit generates a command through command decision of commanders according to the field situation and the state of the warning refusal equipment, commands and controls the warning interception unit to act according to the command of the monitoring command unit under the support of the field situation data for the target detection unit and the warning interception unit, and performs warning refusal suppression on the target. And then, the target detection unit carries out detection scanning on the battlefield again to form field situation information, and the field situation information is delivered to the monitoring command unit to carry out warning interception effect evaluation and determine the next command decision.
Referring to fig. 11, in this embodiment, the security situation is determined according to the internal algorithm by the data of the target detection unit, and an alarm is performed for a potential threat. The data set is the basis that the security system carries out autonomic situation analysis, through perhaps invading targets such as yacht, boats and ships, frogman (including frogman submersible vehicle), AUV get into the training that the security is protected against the land and carry out the data set, obtains the position that contains the invasion target based on the time domain through the target detection unit, and the target detection model that information constitution such as speed, invasion direction, sonar detection intensity.
Claims (8)
1. A full-three-dimensional intelligent security monitoring system is characterized by comprising a target detection unit, a monitoring command unit and a warning interception unit, wherein a shore base station serving as a relay is arranged between the target detection unit and the monitoring command unit; further comprising:
the multi-source information fusion processing and communication module is used for realizing data transmission and communication among the target detection unit, the monitoring command unit and the warning interception unit;
the multi-detection information fusion security situation analysis module adopts a Mamdani neural network structure to establish a security system fuzzy neural network model for autonomously judging the security situation of a security area.
2. The system according to claim 1, wherein the target detection unit comprises a low and small target detection sonar, a water surface surveillance radar, an infrared monitor, an underwater detection robot, a video monitoring system, and an all-fiber passive surveillance sonar.
3. The full-stereoscopic intelligent security monitoring system according to claim 2, wherein the receiving transducer array of the low and small target detection sonar adopts a cross split array form, the transmitting transducer array is in a column structure, the transmitting transducer array is arranged perpendicular to the receiving transducer array, the main shaft of the transmitting beam is in four directions of the cross array, and the cross array perpendicular to the direction is received when the transmitting beam is transmitted to which direction, and four cycles are circulated for one circle when the target is searched.
4. The system according to claim 1, wherein the monitoring and commanding unit comprises a comprehensive display and control module and a data communication module, and is used for connecting the server, the processor and the display device in the system in a communication manner, connecting the warning and intercepting unit through a communication cable buried under a shore base, and simultaneously giving consideration to a wireless communication line, and is used for commanding and controlling each unit in a maneuvering manner.
5. The all-dimensional intelligent security monitoring system according to claim 4, wherein the integrated display control module comprises a dual-screen integrated display control console for dynamic monitoring and target situation prediction of the target.
6. The full-stereoscopic intelligent security monitoring system according to claim 4, wherein the comprehensive display control module comprises application software, application service software, basic software and a hardware platform;
the application software comprises situation processing, task planning software, command decision software, video monitoring software and system maintenance software;
the application service software comprises detection data access, detection data pushing, data fusion analysis, target threat judgment, shooting data calculation, combat system access, target data access, alarm data access, control instruction access and hit report management;
the basic software comprises a PostgreSOL database + SMARTACTION geographic information submodule, a Windows or Linux operation submodule and a network middleware xDS;
the hardware platform comprises a server, a display terminal, network equipment, a radio station, a receiver and power generation equipment.
7. The system according to claim 4, wherein the data communication module employs an optical fiber local area network technology and a wireless communication technology to complete data communication tasks among the units in the command control center.
8. The full-stereoscopic intelligent security monitoring system according to claim 1, wherein the warning intercepting unit comprises an underwater megaphone, a directional sound wave device, a highlight searchlight, an underwater intercepting robot and an underwater high-strength intercepting net;
the underwater megaphone is arranged in an underwater specific area and is connected with the monitoring command center through an underwater cable, and when an underwater target invades, the underwater megaphone warns and drives the underwater target away by using customized voice information;
the directional sound wave equipment and the highlight searchlight are arranged on the shore in groups according to the action range of calling and irradiation, and the composite cable provides power supply and data communication to finish sound and light warning of illegally entering ships;
the underwater intercepting robot adopts robot formation networking control, and aiming at the problem of multi-AUV coordinated formation control based on target tracking, fusion is carried out on all AUV state information and corresponding information detected by a target detection unit according to maximum likelihood estimation to obtain more accurate state information, so that multi-AUV formation control is realized;
the underwater high-strength interception net sends an instruction by the monitoring command center according to the activity condition of the underwater target, and the retracting operation is carried out in advance or in real time.
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