CN117768607A - Low-altitude flying object detection device, unmanned aerial vehicle detection countering device, method and system - Google Patents
Low-altitude flying object detection device, unmanned aerial vehicle detection countering device, method and system Download PDFInfo
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Abstract
The application provides a low-altitude flyer detection device, an unmanned aerial vehicle detection reaction device, a method and a system. The detection early warning cameras are arranged in a matrix mode, shooting visual fields of adjacent detection early warning cameras are partially overlapped, and the detection early warning cameras are used for carrying out full circumferential monitoring on low-altitude flying objects in a region taking the low-altitude flying object detection reaction device as a center, so that first video information is obtained; analyzing first video information acquired by a detection early warning camera, identifying low-altitude flying objects and triggering a first tracking instruction; and acquiring a first tracking instruction, and identifying and tracking the low-altitude flying object identified by the detection early warning camera. According to the detection device for the low-altitude flying object, when more than one detection early warning camera shoots a circumferential area simultaneously, the edges of the fields of view are overlapped, continuous shooting areas are comprehensively covered and captured, captured images and positioning coordinates are sent to the tracking holder by the aid of the autonomous decision analysis host, and the tracking holder recognizes and tracks the low-altitude flying object.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a low-altitude flyer detection device, an unmanned aerial vehicle detection countering device, a method and a system.
Background
Unmanned aerial vehicle detection refers to detecting, identifying, and tracking unmanned aerial vehicles using various technical means. The widespread use of unmanned aerial vehicles has increased security and privacy threats to some extent, so that they need to be effectively detected and monitored.
The unmanned aerial vehicle detection technology commonly used at present comprises:
visual detection: the visible light or infrared camera is used for capturing images and information of the unmanned aerial vehicle, and the images and information are identified and tracked according to the appearance, color, texture and other characteristics of the unmanned aerial vehicle. This technique has a high accuracy for targets in the field of view.
Radar detection: the radar may detect electromagnetic wave signals emitted by the drone, as well as their interference signals with ambient electromagnetic radiation. This technique can detect most drones capable of transmitting signals.
Sound source detection: the sonar can detect air vibration waves emitted by the unmanned aerial vehicle, and therefore the position and the speed of the air vibration waves are determined. The technology is suitable for short-distance detection, and is effective for unmanned aerial vehicles hidden behind buildings, trees or walls.
Spectrum detection: the jamming signal detectors may detect radio signals emitted by the drone for remote control and navigation. By analyzing these signals, the position and type of the drone can be determined, but the drone in silence mode cannot be detected.
Firstly, the radar determines the position and speed of a target by emitting electromagnetic waves and according to the time and frequency difference of the waves reflected back, but 200-300 meters near the radar is a monitoring blind area, so that the radar has small reflection surface for some small unmanned aerial vehicles (such as invisible unmanned aerial vehicles), few electromagnetic waves reflected back to the radar, large detection difficulty for the unmanned aerial vehicles, and more interference objects in a low-altitude area, such as: building or tree, etc., is easy to produce false alarm, the detection effect is not ideal;
but the sound source can be weakened when being transmitted in the medium in the air, the detection level can be reached to more than 70 dB, and the diffusion property of the sound source enables the detection range to be centered on an object to be detected, and the error is about 120 degrees, so that the subsequent positioning countercheck precision is influenced.
In contrast, the detection range and resolution of vision are mainly dependent on parameters of the lens (such as focal length and viewing angle) and the environmental conditions in which the camera is located. The detection range of the camera is generally limited, and the camera is required to be placed at a visible position of a target for monitoring, so that the camera is suitable for monitoring the target in a limited space range, such as monitoring areas of stadium boundaries, buildings and the like. The camera can provide richer and finer target information and high-quality image data.
However, the effective recording distance of the camera is affected by light, contrast, background noise, etc., and a clear and accurate image may not be obtained in an environment such as night and poor light.
The radar may detect objects that have no field of view or are partially occluded, such as clouds or trees. However, radar relies on electromagnetic waves and reflections to measure and determine a target, and thus the effect of the radar may be affected in some situations, such as when the shape profile of the target is not sufficiently pronounced or the reflectivity of the target surface is not high.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that a monitoring blind area exists in an area near the radar when the radar is monitored at a long distance in the prior art, so as to provide a detection and countercheck device for a video low-airspace unmanned aerial vehicle.
In order to solve the above problems, the present invention provides a low-altitude flyer detection apparatus, comprising: the system comprises more than one detection early warning cameras, wherein the detection early warning cameras are arranged in a matrix mode, shooting fields of adjacent detection early warning cameras can be partially overlapped, and the detection early warning cameras are used for carrying out full-circumferential monitoring on low-altitude flying objects in a region taking a low-altitude flying object detection reaction device as a center to acquire first video information;
the autonomous decision analysis host is used for analyzing the first video information acquired by the detection early warning camera, identifying low-altitude flying objects and triggering a first tracking instruction;
the tracking cloud deck acquires a first tracking instruction and tracks the low-altitude flying object identified by the detection early warning camera;
when more than one detection early warning camera shoots a circumferential area simultaneously, the edges of the visual fields are overlapped, multiple devices are cooperatively used, continuous shooting areas are comprehensively covered and captured through image matching of the overlapped parts of the visual fields, captured images and positioning coordinates are sent to a tracking cloud deck by an autonomous decision analysis host, and the tracking cloud deck tracks low-altitude flying objects.
Optionally, the low-altitude flyer detection reaction device further comprises:
the tracking camera is arranged on one side of the tracking holder and used for tracking the real-time flight track of the flying object and shooting.
Optionally, the low-altitude flyer detection reaction device further comprises:
the detection and early warning machine bin is circumferentially embedded with more than one detection and early warning camera;
the support bracket is arranged on the lower surface of the detection early warning machine cabin, and the support legs of the support bracket extend in a rib shape from the detection early warning machine cabin to the ground.
The invention also provides an unmanned aerial vehicle detection reaction device, which comprises:
according to the low-altitude flying object detection and reaction device, an unmanned aerial vehicle detection and reaction system is loaded on an autonomous decision analysis host of the low-altitude flying object detection and reaction device;
the full-band interference counter is in communication connection with the autonomous decision analysis host and transmits a counter signal.
The invention also provides an unmanned aerial vehicle detection and reaction method, which comprises the following steps:
acquiring first video information shot by a detection early warning camera;
inputting the first video information into a first recognition model queue to obtain a first recognition result;
acquiring a first tracking instruction according to a first identification result;
controlling a tracking cradle head to start tracking, acquiring second video information, and feeding the second video information back to a first recognition model queue;
outputting a first countering instruction by combining the second identification result;
and starting a reverse operation according to the first reverse instruction.
Optionally, the unmanned aerial vehicle detection method further includes:
and constructing a first algorithm training set, wherein the first algorithm training set is formed by collecting various types of unmanned aerial vehicle images, and can be used for carrying out feature recognition on the input first video information and judging whether the features in the first video are to-be-driven flying objects.
The invention also provides an unmanned aerial vehicle detection and reaction system, which comprises:
the detection and recognition system is used for shooting low-altitude flying objects by using a detection and early warning camera and carrying out feature recognition;
the tracking system is used for positioning and tracking the identified unmanned aerial vehicle by utilizing the tracking cradle head;
the communication system is used for transmitting the low-altitude flying object video information shot by the detection early warning camera to the detection recognition system by using a standard video protocol and transmitting the recognized unmanned aerial vehicle video information shot by the tracking cradle head to the tracking system;
and the countering system utilizes the full-frequency-band interference countering device to transmit high-power electromagnetic pulse signals to destroy electronic equipment of the unmanned aerial vehicle, so that the unmanned aerial vehicle is returned to voyage or forced landing.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and when the computer program is executed by a processor, the storage of the unmanned aerial vehicle detection and countercheck process data information is realized.
The invention has the following advantages:
first, this device possesses independently detects early warning machine array, realizes the target detection in the device region, detects early warning camera angle and can finely tune according to actual conditions. When the unmanned aerial vehicle target appears in the monitoring area, the robot carries out autonomous detection and identification on the target.
Second, the size of the unmanned aerial vehicle detection is not less than 300mm by 200mm.
Thirdly, after the target of the unmanned aerial vehicle is locked, alarm information can be directly fed back to a back-end system, and related information includes but is not limited to: unmanned plane position, speed, altitude, flight trend, size, etc.
Fourth, spectral reaction: the unmanned aerial vehicle which cannot leave the forbidden zone can be subjected to radio interference management and control, and the high-level security requirement is met. The interference bands include, but are not limited to: 900MHz, 1.2GHz, 2.4GHz, 5.2GHz, 5.8GHz, etc.
Fifth, the countering effect evaluation: whether the unmanned aerial vehicle is forced to descend or return to the voyage or still flies according to the original trend (the reverse control is invalid) can be monitored in real time.
Sixth, the device runs fully autonomously in the whole course, has no dependence on a third party platform, supports a standard video protocol, and has the characteristic of quick access.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a low-altitude flyer detection reaction device according to the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle detection reaction device in the present invention;
FIG. 3 is a flowchart illustrating a method for detecting a countercheck of an unmanned aerial vehicle according to the present invention;
FIG. 4 is a flowchart illustrating a method for detecting a countercheck of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of an unmanned aerial vehicle detection algorithm in an embodiment of the invention.
Reference numerals illustrate:
100. a low-altitude flyer detection and reaction device; 2. tracking the camera;
3. a laser range finder; 4. full-band interference inverter;
5. tracking a tripod head; 601. a first sunshade; 602. a second sunshade;
7. detecting and early warning cameras; 8. detecting and early warning machine bins;
9. an autonomous decision analysis host; 10. and a support bracket.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Exemplary Low altitude flying object detection reaction device
Fig. 1 is a schematic diagram of a low-altitude flyer detection apparatus, a low-altitude flyer detection reaction apparatus 100, comprising: eight detection early warning cameras 7 are arranged in a matrix mode, and shooting visual fields of adjacent detection early warning cameras 7 are partially overlapped and are used for carrying out full circumferential monitoring on low-altitude flying objects in a central area of the low-altitude flying object detection reaction device 100 to obtain first video information; the autonomous decision analysis host 9 is used for analyzing the first video information acquired by the detection early warning camera 7, identifying low-altitude flying objects and triggering a first tracking instruction; the tracking cloud deck 5 acquires a first tracking instruction and tracks the low-altitude flying object identified by the detection early warning camera 7; when more than one detection early warning camera 7 shoots a circumferential region simultaneously, the edges of the fields of view are overlapped, multiple devices are cooperatively used, continuous shooting regions are comprehensively covered and captured through image matching of the overlapped parts of the fields of view, captured images and positioning coordinates are sent to a tracking tripod head 5 by utilizing an autonomous decision analysis host 9, and the tracking tripod head tracks low-altitude flying objects.
The number of the detection early warning cameras 7 is increased by a multiple of eight, and can be 16, 32 or 48, and the distance between the reference tracking camera and the low-altitude flying object to be detected is set.
Further, the low-altitude flyer detection reaction apparatus 100 further includes: the tracking camera 2 is arranged on one side of the tracking cradle head 5 and is used for tracking the real-time flight track of the flying object and shooting.
Further, the low-altitude flyer detection reaction apparatus 100 further includes: the laser range finder 3 is arranged right below the tracking camera 2 and is used for measuring the linear distance between the flying object and the tracking camera 2.
Preferably, a first sunshade 601 is arranged above the tracking camera 2, and a second sunshade 602 is arranged above each detection early warning camera 7.
Further, the low-altitude flyer detection reaction apparatus 100 further includes: the detection and early warning machine cabin 8 is provided with more than one detection and early warning camera 7 and Xiang Qianzhuang on the detection and early warning machine cabin 8; the support bracket 10 is arranged on the lower surface of the detection and early warning machine cabin 8, and the supporting legs of the support bracket 10 extend in a rib shape from the detection and early warning machine cabin 8 to the ground.
Example 2, as shown in fig. 2:
the invention also provides an unmanned aerial vehicle detection reaction device, which comprises: the low-altitude flyer detection and reaction device 100 of embodiment 1 is provided with an unmanned aerial vehicle detection and reaction system on the autonomous decision analysis host 9 of the low-altitude flyer detection and reaction device 100; the full-band interference counter 4 is in communication connection with the autonomous decision analysis host 9 and transmits a counter signal.
Example 3, as shown in fig. 3:
the invention also provides an unmanned aerial vehicle detection and reaction method, which comprises the following steps:
step S101: acquiring first video information shot by a detection early warning camera;
step S102: inputting the first video information into a first identification model to obtain a first identification result;
step S103: acquiring a first tracking instruction according to a first identification result;
step S104: controlling a tracking cradle head to start tracking, and acquiring second video information;
step S105: acquiring second video information shot by combining the first countering scheme with the tracking cradle head, and outputting a first countering instruction;
step S106: and starting a reverse operation according to the first reverse instruction.
Further, the unmanned aerial vehicle detection method further comprises the following steps:
step S1021: and constructing a first algorithm training set, wherein the first algorithm training set is formed by collecting various types of unmanned aerial vehicle images, and can be used for carrying out feature recognition on the input first video information and judging whether the features in the first video are to-be-driven flying objects.
Starting: after the detection algorithm is started, the visible light or infrared camera is used for capturing images and information of the target;
YUV conversion: the video module outputs YUV in the video format, and displays the overall outline of the target and the color information of the image, and the YUV is converted into RGB by the algorithm based on the RGB color model;
color gamut size conversion: creating a three-dimensional coordinate system, wherein three axes respectively represent R, G and B, namely Red represents an X axis, green represents a Y axis and Blue represents a Z axis, and constructing the cubic space in an optical additive color mixing mode to form a color space based on an RGB model;
and (3) detection decoding: decoding the detection video so as to acquire target information in the detection image;
updating a detection information queue: and (3) establishing a detection information queue, calibrating targets appearing in the image based on a target algorithm model, wherein the information level of each detection target is different. The number and the level of the target information in the queue are dynamically updated along with the reported detection information and the subsequent discrimination feedback result;
acquiring a detection optimal report: and judging the optimal detection result according to the implanted model. Training the model by using the image data in the training set, and continuously updating model parameters by a back propagation algorithm;
and (3) starting tracking: the space azimuth of the target with the optimal result is sent to the tracking holder 5;
control tracking cradle head 5: the tracking tripod head 5 automatically rotates to the area according to the target azimuth. The tracking holder 5 carries out secondary identification, if the target is not true, the result is fed back to a detection message queue, the message queue reduces the secondary information level, and if the target is true, linkage reaction is carried out;
linkage reaction: the robot forces the unmanned aerial vehicle to return or approach according to the target azimuth by linkage spectrum interference.
Example 4:
the invention also provides an unmanned aerial vehicle detection and reaction system, which comprises:
the detection and recognition system 11 shoots the low-altitude flying object by using a detection and early warning camera and performs characteristic recognition;
the tracking system 12 is used for positioning and tracking the identified unmanned aerial vehicle by utilizing a tracking cloud deck;
the communication system 13 is used for transmitting the low-altitude flying object video information shot by the detection early warning camera to the detection recognition system and transmitting the recognized unmanned aerial vehicle video information shot by the tracking cradle head to the tracking system by using a standard video protocol;
the reaction system 14 utilizes the full-frequency-band interference reaction device 4 to transmit high-power electromagnetic pulse signals to destroy electronic equipment of the unmanned aerial vehicle, so that the unmanned aerial vehicle can return to the home or approach.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and when the computer program is executed by a processor, the detection and countercheck data information of the unmanned aerial vehicle is stored.
Example 5
The readable storage medium is a computer readable storage medium, and a computer program is stored on the readable storage medium, so that when the computer program is executed by a processor, the unmanned aerial vehicle detection propagation data information is stored.
It will be appreciated by those skilled in the art that a program implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium, and when executed, may include the above-described embodiment method flow. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (8)
1. A low-altitude flyer detection apparatus (100), comprising:
the detection early warning cameras (7) are arranged in a matrix mode, shooting fields of adjacent detection early warning cameras (7) can be partially overlapped, and the detection early warning cameras are used for carrying out full-circumferential monitoring on low-altitude flying objects in a central area of the low-altitude flying object detection countering device (100) to obtain first video information;
the autonomous decision analysis host (9) is used for analyzing the first video information acquired by the detection early warning camera (7), identifying low-altitude flying objects and triggering a first tracking instruction;
and the tracking cradle head (5) acquires a first tracking instruction and tracks the low-altitude flying object detected by the detection early warning camera (7). Re-identifying the target in the tracking process, discarding tracking if the target identification is wrong, and continuing tracking if the target identification is correct until the target escapes from the monitoring area;
when the detection early warning camera (7) shoots a circumferential area simultaneously, the edges of the fields of view are overlapped, multiple devices are cooperatively used, continuous shooting areas are comprehensively covered and captured through image matching of the overlapped parts of the fields of view, captured images and positioning coordinates are sent to the tracking tripod head (5) by the aid of the autonomous decision analysis host (9), and the tracking tripod head (5) tracks low-altitude flying objects.
2. The low-altitude-flying-object detection reaction apparatus (100) according to claim 1, wherein the low-altitude-flying-object detection reaction apparatus (100) further comprises:
the tracking camera (2) is arranged on one side of the tracking cradle head (5) and is used for tracking the real-time flight track of the flying object and shooting.
3. The low-altitude flyer detection reaction apparatus (100) according to any one of claims 1 to 2, wherein the low-altitude flyer detection reaction apparatus (100) further comprises:
the detection early warning machine bin (8), more than one detection early warning camera (7) are circumferentially embedded on the detection early warning machine bin (8);
the support bracket (10) is arranged on the lower surface of the detection early warning machine cabin (8), and the supporting legs of the support bracket (10) extend in a rib shape from the detection early warning machine cabin (8) to the ground.
4. The utility model provides a reverse system device is listened to unmanned aerial vehicle which characterized in that includes:
a low-altitude flyer detection reaction device (100) according to any one of claims 1-3, wherein an unmanned aerial vehicle detection reaction system is loaded on an autonomous decision analysis host (9) of the low-altitude flyer detection reaction device (100);
the full-band interference counter (4) is in communication connection with the autonomous decision analysis host (9) and transmits a counter signal.
5. The unmanned aerial vehicle detection countering method is characterized by comprising the following steps of:
acquiring first video information shot by a detection early warning camera;
inputting the first video information into a first identification model to obtain a first identification result;
acquiring a first tracking instruction according to a first identification result;
controlling a tracking cradle head to start tracking, and acquiring second video information;
acquiring a first countering scheme and outputting a first countering instruction by combining second video information shot by a tracking cradle head;
and starting a reverse operation according to the first reverse instruction.
6. The unmanned aerial vehicle detection reaction method of claim 5, wherein the unmanned aerial vehicle detection method further comprises:
and constructing a first algorithm training set, wherein the first algorithm training set is formed by collecting various types of unmanned aerial vehicle images, and can be used for carrying out feature recognition on the input first video information and judging whether the features in the first video are to-be-driven flying objects.
7. Unmanned aerial vehicle detects reaction system, its characterized in that, unmanned aerial vehicle detects reaction system includes:
the detection and recognition system is used for shooting low-altitude flying objects by using a detection and early warning camera and carrying out feature recognition;
the tracking system is used for positioning and tracking the identified unmanned aerial vehicle by utilizing the tracking cradle head;
the communication system is used for transmitting the low-altitude flying object video information shot by the detection early warning camera to the detection recognition system by using a standard video protocol and transmitting the recognized unmanned aerial vehicle video information shot by the tracking cradle head to the tracking system;
the reaction system utilizes a full-frequency-band interference reaction device (4) to transmit high-power electromagnetic pulse signals to interfere a communication circuit or positioning information of the unmanned aerial vehicle, so that the unmanned aerial vehicle returns to voyage or forced landing.
8. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the computer program realizes storing the unmanned aerial vehicle detection reaction process data information according to any one of claims 5 to 6.
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| CN202311502075.5A CN117768607A (en) | 2023-11-13 | 2023-11-13 | Low-altitude flying object detection device, unmanned aerial vehicle detection countering device, method and system |
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| CN202311502075.5A CN117768607A (en) | 2023-11-13 | 2023-11-13 | Low-altitude flying object detection device, unmanned aerial vehicle detection countering device, method and system |
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