CN108462820B - A multi-rotor UAV monitoring method and system based on flight airspace division - Google Patents
A multi-rotor UAV monitoring method and system based on flight airspace division Download PDFInfo
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Abstract
本发明公开了一种基于飞行空域划分的多旋翼无人机监控方法及系统，方法包括：将待监控空域划分为低空空域和高空空域两大空域，再划分成若干子空域，利用图像识别和物体检测技术，识别出监控中入侵的无人机。通过本发明方法和系统，高空子空域随高度增加而不断往外扩展，从而给监控系统更长的反应时间，长焦镜头可以拍摄更多的高清图片，提高图像识别的准确率，以此来提高整个监控系统的准确率，在无人机入侵指定区域时更快的识别无人机。本发明提供了较为完善的空域划分方法及监控系统，解决了无人机入侵不易察觉的问题。
The invention discloses a multi-rotor unmanned aerial vehicle monitoring method and system based on the division of flight airspace. The method comprises: dividing the airspace to be monitored into two airspaces, a low-altitude airspace and a high-altitude airspace, and then dividing it into several sub-airspaces; Object detection technology to identify intruding drones in surveillance. Through the method and system of the present invention, the high-altitude sub-airspace expands continuously with the increase of height, thereby giving the monitoring system a longer response time, the telephoto lens can take more high-definition pictures, and the accuracy of image recognition is improved. The accuracy of the entire monitoring system can identify drones faster when they invade a designated area. The invention provides a relatively complete airspace division method and a monitoring system, and solves the problem that the UAV intrusion is difficult to detect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle monitoring, in particular to a multi-rotor unmanned aerial vehicle monitoring method and system based on flight airspace division.
Background
In 2016, 5 months, the state publishes an internet and artificial intelligence three-year action implementation scheme, so that the unmanned aerial vehicle development is mainly supported, a low-altitude airspace is further opened, and the unmanned aerial vehicle industry becomes one of important parts of national strategies. The market share of the domestic consumption-level civil unmanned aerial vehicle accounts for more than 70% of the global market, and occupies absolute advantages. In 2015, about 58.7 million global unmanned aerial vehicles were sold, wherein about 3% of military unmanned aerial vehicles and 97% of civil unmanned aerial vehicles; in the sales volume of the civil unmanned aerial vehicle, the sales volume of the professional-grade unmanned aerial vehicle is about 17.1 ten thousand, and the sales volume of the consumption-grade unmanned aerial vehicle is about 39.9 ten thousand.
But the unmanned aerial vehicle technology development is a double-edged sword. Although the unmanned aerial vehicle is mostly used for photography, video recording and other purposes, the unmanned aerial vehicle can be used by lawless persons to implement crimes, and potential and practical risk challenges are formed on safety in the fields of anti-terrorism, stability maintenance, security, guard, poison prohibition and the like. In addition, once the unmanned aerial vehicle is utilized by lawless persons to carry out illegal shooting, the unmanned aerial vehicle is even used for carrying out destructive activities such as poison projection and explosion, and the consequence is unreasonable. The unmanned plane 'black flying' is forced to stop civil aviation frequently to become 'invisible killer'. Still unmanned aerial vehicle brings a series of unsafe problems such as peeping privacy crisis, unmanned aerial vehicle transports goods and drops, unmanned aerial vehicle border smuggling drugs. Only in 2017, in 5 months, 19 suspected unmanned aerial vehicle flight affecting normal operation events occur in airports in the southwest, northwest and southwest areas, and 326 flights are affected. Among them, the unmanned aerial vehicle intrusion accidents in the Chengdu double-flow airport have led to a big discussion of unmanned aerial vehicle supervision throughout the country. Therefore, various concerns caused by the unmanned aerial vehicle, especially the hidden danger in the aspect of safety, need to be solved urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-rotor unmanned aerial vehicle monitoring method and system based on flight airspace division.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-rotor unmanned aerial vehicle monitoring method based on flight airspace division comprises the following steps:
s1, dividing an airspace to be monitored into a low-altitude airspace and a high-altitude airspace; the low-altitude airspace is cuboid, and the high-altitude airspace is prism;
s2, dividing the low-altitude airspace into a plurality of low-altitude sub-airspaces, dividing the high-altitude airspace into a plurality of high-altitude sub-airspaces, and arranging monitoring equipment in each low-altitude sub-airspace;
in the low-altitude airspace, dividing the low-altitude airspace into a plurality of cube-shaped low-altitude sub-airspaces; the monitoring equipment in each low-altitude sub-airspace comprises at least two high-definition monitoring cameras with 90-degree visual angles, and at least two opposite angles of the bottom surface of the low-altitude sub-airspace are respectively provided with one high-definition monitoring camera;
in the high-altitude airspace, each side surface is used as a high-altitude sub-airspace, namely a boundary surface, and once the unmanned aerial vehicle crosses the boundary surface, the unmanned aerial vehicle is considered as an invasive unmanned aerial vehicle; the monitoring equipment of each high-altitude sub-airspace comprises at least two high-definition monitoring cameras and at least one high-speed high-definition camera, wherein the high-speed high-definition camera is mounted on a motor and can rotate under the drive of the motor; at least one high-definition monitoring camera is respectively arranged at two end points of the bottom edge of each high-altitude sub-airspace, the visual angle of each high-definition monitoring camera is 90 degrees, wherein the visual angle of 30 degrees is positioned in the airspace to be monitored, and the visual angle of 60 degrees is positioned outside the airspace to be monitored;
s3, configuring a sub-node controller for each high-altitude sub-airspace and each low-altitude sub-airspace, wherein the monitoring equipment in each high-altitude sub-airspace and each low-altitude sub-airspace is in communication connection with the corresponding sub-node controller, and all the sub-node controllers are in communication connection with a control center; when monitoring is started, the control center sends instructions to each sub-node controller to enable the sub-node controllers to control corresponding monitoring and equipment to start monitoring;
s4, after the high-definition monitoring cameras in each low-altitude sub-airspace and each high-altitude sub-airspace are started, carrying out full-view fixed monitoring on the corresponding low-altitude sub-airspace and high-altitude sub-airspace and sending the shot images to the corresponding sub-node controllers; the child node controller processes and identifies the image, and once the suspicious moving flying target is identified in the image, the child node controller compresses and packages the image of the suspicious moving flying target into a data packet and sends the data packet to the control center; when a suspicious moving flying target is found in an image shot by a high-definition monitoring camera in a high-altitude sub-airspace, the sub-node controller starts the high-speed high-definition camera in a standby state, controls the motor to rotate to enable the high-speed high-definition camera to follow the suspicious moving flying target for shooting, transmits the image shot by the high-speed high-definition camera to the sub-node controller, and compresses and packs the image into a data packet to be transmitted to the control center;
and S5, after the control center transmits the data packet from the child node controller, judging images shot by the high-definition monitoring camera in the low-altitude sub-space, the high-definition monitoring camera in the high-altitude sub-space and the high-speed high-definition camera by using a pattern recognition technology, judging whether a suspicious moving flight target in the images is an unmanned aerial vehicle or not, displaying image information in real time and storing the image information in a memory.
In step S1, the area to be monitored is divided into a low-altitude area and a high-altitude area, with the highest building in the outer periphery and the interior of the area being divided, and the area above the highest building is the high-altitude area.
It should be noted that, in the high-altitude sub-airspace, the high-speed high-definition camera is arranged slightly behind one of the high-definition monitoring cameras in the high-altitude sub-airspace.
It should be noted that the high-definition monitoring cameras in each low-altitude sub-airspace and high-altitude sub-airspace mainly include a wide-angle lens and an infrared lamp, and the high-speed high-definition cameras in each high-altitude sub-airspace mainly include a telephoto lens.
It should be noted that, in step S3, the child node controller is in communication connection with the high-definition monitoring camera and the high-speed high-definition monitoring camera through the WIFI module, and the control center is connected with the child node controller through the 4G communication module.
The invention also provides a system for realizing the multi-rotor unmanned aerial vehicle monitoring method based on the flight airspace division, which comprises the following steps:
monitoring equipment of low-altitude airspace: the system comprises a high-definition monitoring camera; at least one high-definition monitoring camera is respectively arranged on at least two opposite angles of the bottom surface in each low-altitude sub-airspace;
monitoring equipment of high-altitude airspace: the system comprises a high-definition monitoring camera and a high-speed high-definition camera; at least one high-definition monitoring camera is respectively configured at two ends of the bottom edge of each high-altitude sub-airspace, and at least one high-speed high-definition camera is configured in each high-altitude sub-airspace;
a child node controller: each low-altitude sub-airspace and each high-altitude sub-airspace are respectively provided with a sub-node controller, and the monitoring equipment in each low-altitude sub-airspace and each high-altitude sub-airspace is in communication connection with the corresponding sub-node controller;
the control center: all the child node controllers are in communication connection with the control center, and the control center is used for sending control instructions to all the child node controllers, receiving high-definition image data packets of all the child node controllers and carrying out unmanned aerial vehicle identification on high-definition images in the data packets;
a power supply device: the power supply system is used for supplying power to the control center, the child node controllers and the monitoring equipment.
The communication device comprises a 4G communication module and a WIFI module; the child node controllers are in communication connection with the high-definition monitoring cameras and the high-speed high-definition monitoring cameras through WIFI modules, and the control center is connected with the child node controllers through 4G communication modules.
Further, the control center comprises a data processing module, a data storage module and a display module; the data processing module is used for identifying whether a suspicious moving flight target is an unmanned aerial vehicle or not through a pattern recognition technology by using the high-definition image received from the child node controller; the data storage module is used for storing the information for later viewing, and the display module is used for displaying the high-definition images with suspicious moving flight targets in real time and displaying the processes and results processed by the data processing module.
Furthermore, each low-altitude sub-airspace and each high-altitude sub-airspace are provided with independent power supply equipment, each power supply equipment comprises a solar panel and a lithium battery, the solar panels are electrically connected with the sub-node controllers and the monitoring equipment in the low-altitude sub-airspace or the high-altitude sub-airspace and the lithium batteries, the sub-node controllers and the monitoring equipment are powered in the daytime and the lithium batteries are charged, and the lithium batteries are electrically connected with the sub-node controllers and the monitoring equipment in the low-altitude sub-airspace or the high-altitude sub-airspace and used for powering the sub-node controllers and the monitoring equipment at night.
The invention has the beneficial effects that:
1. through the division of the airspace and the sub-airspace of the airspace to be monitored, proper monitoring equipment can be configured according to the actual requirement of the monitoring range, and the method is more targeted and accurate and is also favorable for saving the cost.
2. According to the invention, the monitoring range of the monitoring equipment in the high-altitude sub-space is continuously expanded outwards along with the increase of the height, so that the monitoring system has longer response time, the telephoto lens can have more response time for focusing and shooting more high-definition pictures, and the accuracy of image identification is improved, so that the accuracy of the whole monitoring system is improved, and the unmanned aerial vehicle can be identified more quickly when the unmanned aerial vehicle invades a designated area. The invention provides a relatively perfect airspace division method and a monitoring system, and solves the problem that the invasion of an unmanned aerial vehicle is not easy to be perceived.
Drawings
FIG. 1 is a general flow chart of a method implementation of an embodiment of the present invention;
FIG. 2 is a schematic diagram of spatial domain partitioning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the positions of the boundary surface of the high-altitude airspace and the view division of the high-definition surveillance camera according to the embodiment of the present invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a schematic diagram of a system according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating the relationship between components of the system according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the following examples are provided to illustrate the detailed embodiments and specific operations based on the technical solutions of the present invention, but the scope of the present invention is not limited to the examples.
As shown in fig. 1, a multi-rotor unmanned aerial vehicle monitoring method based on flight airspace division includes the following steps:
s1, dividing an airspace to be monitored into a low-altitude airspace and a high-altitude airspace; the low-altitude airspace is cuboid, and the high-altitude airspace is prism;
further, in step S1, the area to be monitored is divided into a low-altitude area and a high-altitude area by the highest building out of the outer periphery and the inner portion of the area, the outer periphery and the inner portion of the highest building being below the highest building.
S2, dividing the low-altitude airspace into a plurality of low-altitude sub-airspaces, dividing the high-altitude airspace into a plurality of high-altitude sub-airspaces, and arranging monitoring devices in each low-altitude sub-airspace, as shown in fig. 2.
In the low-altitude airspace, dividing the low-altitude airspace into a plurality of cube-shaped low-altitude sub-airspaces (such as cubes with the height of 10 meters and the bottom area of 100 square meters); the monitoring equipment in each low-altitude sub-airspace comprises at least two high-definition monitoring cameras with 90-degree visual angles, and at least two opposite angles of the bottom surface of the low-altitude sub-airspace are respectively provided with one high-definition monitoring camera;
in the high-altitude airspace, each side surface is used as a high-altitude sub-airspace, namely a boundary surface, and once the unmanned aerial vehicle crosses the boundary surface, the unmanned aerial vehicle is considered as an invasive unmanned aerial vehicle; the monitoring equipment of each high-altitude sub-airspace comprises at least two high-definition monitoring cameras and at least one high-speed high-definition camera, wherein the high-speed high-definition camera is mounted on a motor and can rotate under the drive of the motor; as shown in fig. 3-4, at least one high-definition surveillance camera is respectively disposed at two end points of the bottom side of each high-altitude sub-airspace, and the viewing angle of each high-definition surveillance camera is 90 degrees, wherein a 30-degree viewing angle is located in the airspace to be monitored, and a 60-degree viewing angle is located outside the airspace to be monitored.
Furthermore, in the high-altitude sub-airspace, the high-speed high-definition camera is arranged slightly behind one of the high-definition monitoring cameras in the high-altitude sub-airspace, so that the high-speed high-definition camera can conveniently and quickly locate the suspicious moving flying target.
Further, the high-definition monitoring cameras in each low-altitude sub-airspace and each high-altitude sub-airspace mainly comprise a wide-angle lens and an infrared lamp, and the high-speed high-definition cameras in each high-altitude sub-airspace mainly comprise a telephoto lens. High definition surveillance camera head is when night, because luminance is lower, and the picture definition of shooing is not high, can get into the night vision mode through opening the infrared lamp this moment.
S3, configuring a sub-node controller for each high-altitude sub-airspace and each low-altitude sub-airspace, wherein the monitoring equipment in each high-altitude sub-airspace and each low-altitude sub-airspace is in communication connection with the corresponding sub-node controller, and all the sub-node controllers are in communication connection with a control center; when monitoring is started, the control center sends instructions to each sub-node controller to enable the sub-node controllers to control corresponding monitoring and equipment to start monitoring;
further, in step S3, the child node controller is in communication connection with the high-definition surveillance camera and the high-speed high-definition surveillance camera through a WIFI module, and the control center is connected with the child node controller through a 4G communication module.
S4, after the high-definition monitoring cameras in each low-altitude sub-airspace and each high-altitude sub-airspace are started, carrying out full-view fixed monitoring on the corresponding low-altitude sub-airspace and high-altitude sub-airspace and sending the shot images to the corresponding sub-node controllers; the child node controller processes and identifies the image, and once the suspicious moving flying target is identified in the image, the child node controller compresses and packages the image of the suspicious moving flying target into a data packet and sends the data packet to the control center; and when a suspicious moving flying target is found in an image shot by the high-definition monitoring camera in the high-altitude sub-airspace, the sub-node controller starts the high-speed high-definition camera in a standby state, controls the motor to rotate to enable the high-speed high-definition camera to follow the suspicious moving flying target for shooting, transmits the image shot by the high-speed high-definition camera to the sub-node controller, and compresses and packs the image into a data packet to be transmitted to the control center.
S5, after the control center transmits the data packet from the child node controller, the control center judges the images shot by the high-definition monitoring camera in the low-altitude sub-space, the high-definition monitoring camera in the high-altitude sub-space and the high-speed high-definition camera by using a pattern recognition technology, judges whether the suspicious moving flying target in the image is the unmanned aerial vehicle or not, displays the image information in real time, and stores the image information in a memory for convenient later viewing.
To the control in low latitude airspace, because the scope of control is less, unmanned aerial vehicle is great at the imaging point of picture, consequently directly judges unmanned aerial vehicle comparatively simply from the picture of shooing. In the high-altitude airspace, because the unmanned aerial vehicle in the airspace is very little in the formation of image of picture, difficult judgement needs high-speed high definition digtal camera focusing back to carry out the follower type and shoots to supply control center to further judge.
In the method, through the division of the airspace and the sub-airspace in the steps S1 and S2, proper monitoring equipment can be configured according to the actual requirement of the monitoring range, and the method is more targeted and accurate and is also favorable for saving the cost. For the monitoring of the low-altitude airspace, because the range of the low-altitude airspace is smaller, each low-altitude airspace only needs to be provided with two high-definition cameras, and a high-speed high-definition camera is not needed. And the monitoring range in high altitude airspace is big, and is highly high, consequently needs two high definition surveillance cameras to carry out preliminary control, trails the candid photograph to the target through a high-speed high definition digtal camera when monitoring suspicious target, and high-speed high definition digtal camera can be along with the different direction of motor rotation control.
The arrangement mode of the high-definition monitoring camera in the high-altitude space can enable the high-definition monitoring camera to form a 60-degree right-angled triangle view angle range in the space outside the space to be monitored, which means that the length of the view angle range extending outwards is the height
The larger the outward monitoring range, the greater the height. Although the higher the imaging of the high-definition monitoring cameras is, the smaller the imaging of the high-definition monitoring cameras is, the outward monitoring range is expanded, and the two high-definition monitoring cameras are positioned at the two ends of the side length of the same high-altitude sub-airspace, and the more the high-altitude airspace is, the more the overlapping area monitored by the two high-definition monitoring cameras is. As shown in fig. 3, more response time is won for the child node controller to identify the suspicious moving flying target, which is beneficial to starting the long-focus lens of the high-speed high-definition camera to focus the suspicious moving flying target, and to perform more accurate and clear tracking shooting on the suspicious moving flying target, thereby making up for the identification caused by unclear high-altitude imagingOther difficult problems.
The embodiment also provides a system for implementing the above monitoring method for a multi-rotor unmanned aerial vehicle based on flight airspace division, as shown in fig. 5 to 6, the system includes:
monitoring equipment of low-altitude airspace: the system comprises a high-definition monitoring camera; at least one high-definition monitoring camera is respectively arranged on at least two opposite angles of the bottom surface in each low-altitude sub-airspace;
monitoring equipment of high-altitude airspace: the system comprises a high-definition monitoring camera and a high-speed high-definition camera; at least one high-definition monitoring camera is respectively configured at two ends of the bottom edge of each high-altitude sub-airspace, and at least one high-speed high-definition camera is configured in each high-altitude sub-airspace;
a child node controller: each low-altitude sub-airspace and each high-altitude sub-airspace are respectively provided with a sub-node controller, and the monitoring equipment in each low-altitude sub-airspace and each high-altitude sub-airspace is in communication connection with the corresponding sub-node controller;
the control center: all the child node controllers are in communication connection with the control center, and the control center is used for sending control instructions to all the child node controllers, receiving high-definition image data packets of all the child node controllers and carrying out unmanned aerial vehicle identification on high-definition images in the data packets;
a power supply device: the power supply system is used for supplying power to the control center, the child node controllers and the monitoring equipment.
Further, the system also comprises a communication device, wherein the communication device comprises a 4G communication module and a WIFI module; the child node controllers are in communication connection with the high-definition monitoring cameras and the high-speed high-definition monitoring cameras through WIFI modules, and the control center is connected with the child node controllers through 4G communication modules.
Furthermore, the control center comprises a data processing module, a data storage module and a display module; the data processing module is used for identifying whether a suspicious moving flight target is an unmanned aerial vehicle or not through a pattern recognition technology by using the high-definition image received from the child node controller; the data storage module is used for storing the information for later viewing, and the display module is used for displaying the high-definition images with suspicious moving flight targets in real time and displaying the processes and results processed by the data processing module.
Furthermore, each low-altitude sub-airspace and each high-altitude sub-airspace are provided with independent power supply equipment, each power supply equipment comprises a solar panel and a lithium battery, the solar panels are electrically connected with the sub-node controllers and the monitoring equipment in the low-altitude sub-airspace or the high-altitude sub-airspace and the lithium batteries, the sub-node controllers and the monitoring equipment are powered in the daytime and the lithium batteries are charged, and the lithium batteries are electrically connected with the sub-node controllers and the monitoring equipment in the low-altitude sub-airspace or the high-altitude sub-airspace and used for powering the sub-node controllers and the monitoring equipment at night.
In this embodiment, the information encoding mode transmitted by the monitoring device adopts the h.265 video encoding standard. The h.265 standard surrounds the existing video coding standard h.264, preserving some of the original techniques, while improving some of the related techniques. The new technology uses advanced technology to improve the relationship between code stream, coding quality, time delay and algorithm complexity, so as to achieve the optimal setting. The specific research contents comprise: the method has the advantages of improving compression efficiency, robustness and error recovery capability, reducing real-time delay, reducing channel acquisition time and random access time delay, reducing complexity and the like. H.264 can realize standard definition digital image transmission at the speed lower than 1Mbps due to algorithm optimization; h.265 can then enable the transmission of 720P (resolution 1280 × 720) normal high definition audio video transmission with a transmission speed of 1-2 Mbps. These advantages are beneficial to reducing the power consumption of the monitoring equipment and improving the real-time performance of the monitoring system.
The child node controller, in this embodiment, is a chip of STM32F407 series of the semiconductor corporation of the mindset, and a picture compression algorithm and a moving object recognition algorithm are recorded in the chip. As long as a suspicious moving flying target appears in the image, the child node controller compresses the picture and transmits the compressed picture to the control center. The series of products adopt an intentional semiconductor 90nm process and an ART accelerator, have a dynamic power consumption adjusting function, can realize current consumption as low as 238 mu A/MHz in an operation mode and when being executed from a Flash memory, and has very low power consumption under the condition that only a high-definition monitoring camera works. The highest working main frequency of the chip can reach 168MHz, STM32F407 has 210DMIPS/566CoreMark performance when the chip is executed from a Flash memory under 168MHz frequency, and an ART accelerator of an ideological semiconductor is utilized to realize a FLASH zero-waiting state, which provides favorable conditions for quickly realizing picture compression, packaging, transmission to a control center and moving target recognition algorithm. STM32F407 also has rich connection functions, an excellent innovative peripheral: the STM32F407 also has an Ethernet MAC10/100 meeting the requirements of the IEEE 1588v2 standard and an 8-14 bit parallel camera interface capable of being connected with a CMOS camera sensor of the monitoring equipment, so that the monitoring equipment close to the ion node controller can be directly connected with the transmission information, the time is saved for the transmission of Wi-Fi communication used by the monitoring equipment far away, and the real-time performance of the whole monitoring system is enhanced. The method comprises the steps that a sub-node controller receives image information of sub-airspace monitoring equipment where the sub-node controller is located, once a suspicious moving flying target is identified by a moving target identification algorithm for the image information of a high-definition monitoring camera in a certain high-altitude sub-airspace, an instruction is sent to a motor of a high-speed high-definition camera to enable the motor to turn to the position monitored by the high-definition monitoring camera, and then a high-definition image obtained by tracking and capturing of the high-speed high-definition camera is transmitted to a control center through a 4G communication module.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (9)
1. A multi-rotor unmanned aerial vehicle monitoring method based on flight airspace division is characterized by comprising the following steps:
s1, dividing an airspace to be monitored into a low-altitude airspace and a high-altitude airspace; the low-altitude airspace is cuboid, and the high-altitude airspace is prism;
s2, dividing the low-altitude airspace into a plurality of low-altitude sub-airspaces, dividing the high-altitude airspace into a plurality of high-altitude sub-airspaces, and arranging monitoring equipment in each low-altitude sub-airspace;
in the low-altitude airspace, dividing the low-altitude airspace into a plurality of cube-shaped low-altitude sub-airspaces; the monitoring equipment in each low-altitude sub-airspace comprises at least two high-definition monitoring cameras with 90-degree visual angles, and at least two opposite angles of the bottom surface of the low-altitude sub-airspace are respectively provided with one high-definition monitoring camera;
in the high-altitude airspace, each side surface is used as a high-altitude sub-airspace, namely a boundary surface, and once the unmanned aerial vehicle crosses the boundary surface, the unmanned aerial vehicle is considered as an invasive unmanned aerial vehicle; the monitoring equipment of each high-altitude sub-airspace comprises at least two high-definition monitoring cameras and at least one high-speed high-definition camera, wherein the high-speed high-definition camera is mounted on a motor and can rotate under the drive of the motor; at least one high-definition monitoring camera is respectively arranged at two end points of the bottom edge of each high-altitude sub-airspace, the visual angle of each high-definition monitoring camera is 90 degrees, wherein the visual angle of 30 degrees is positioned in the airspace to be monitored, and the visual angle of 60 degrees is positioned outside the airspace to be monitored;
s3, configuring a sub-node controller for each high-altitude sub-airspace and each low-altitude sub-airspace, wherein the monitoring equipment in each high-altitude sub-airspace and each low-altitude sub-airspace is in communication connection with the corresponding sub-node controller, and all the sub-node controllers are in communication connection with a control center; when monitoring is started, the control center sends instructions to each sub-node controller to enable the sub-node controllers to control corresponding monitoring and equipment to start monitoring;
s4, after the high-definition monitoring cameras in each low-altitude sub-airspace and each high-altitude sub-airspace are started, carrying out full-view fixed monitoring on the corresponding low-altitude sub-airspace and high-altitude sub-airspace and sending the shot images to the corresponding sub-node controllers; the child node controller processes and identifies the image, and once the suspicious moving flying target is identified in the image, the child node controller compresses and packages the image of the suspicious moving flying target into a data packet and sends the data packet to the control center; when a suspicious moving flying target is found in an image shot by a high-definition monitoring camera in a high-altitude sub-airspace, the sub-node controller starts the high-speed high-definition camera in a standby state, controls the motor to rotate to enable the high-speed high-definition camera to follow the suspicious moving flying target for shooting, transmits the image shot by the high-speed high-definition camera to the sub-node controller, and compresses and packs the image into a data packet to be transmitted to the control center;
and S5, after the control center transmits the data packet from the child node controller, judging images shot by the high-definition monitoring camera in the low-altitude sub-space, the high-definition monitoring camera in the high-altitude sub-space and the high-speed high-definition camera by using a pattern recognition technology, judging whether a suspicious moving flight target in the images is an unmanned aerial vehicle or not, displaying image information in real time and storing the image information in a memory.
2. The method according to claim 1, wherein in step S1, the area to be monitored is bounded by the highest building in the outer and inner portions, the area below the highest building is divided into low-altitude areas, and the area above the highest building is high-altitude areas.
3. The method for monitoring the multi-rotor unmanned aerial vehicle based on the division of the flight space according to claim 1, wherein the high-speed high-definition camera is arranged slightly behind one of the high-speed high-definition monitoring cameras in the high-altitude sub-space.
4. The method of claim 1, wherein the high-definition surveillance cameras in each of the low-altitude sub-airspace and the high-altitude sub-airspace comprise wide-angle lenses and infrared lamps, and the high-speed high-definition cameras in each of the high-altitude sub-airspaces comprise telephoto lenses.
5. The method for monitoring the multi-rotor unmanned aerial vehicle based on the division of the flight space according to claim 1, wherein in step S3, the child node controllers are in communication connection with the high-definition surveillance camera and the high-speed high-definition surveillance camera through WIFI modules, and the control center is in communication connection with the child node controllers through 4G communication modules.
6. A system for implementing the method for multi-rotor drone surveillance based on flight airspace division according to any one of the preceding claims, characterized in that it comprises:
monitoring equipment of low-altitude airspace: the system comprises a high-definition monitoring camera; at least one high-definition monitoring camera is respectively arranged on at least two opposite angles of the bottom surface in each low-altitude sub-airspace;
monitoring equipment of high-altitude airspace: the system comprises a high-definition monitoring camera and a high-speed high-definition camera; at least one high-definition monitoring camera is respectively configured at two ends of the bottom edge of each high-altitude sub-airspace, and at least one high-speed high-definition camera is configured in each high-altitude sub-airspace;
a child node controller: each low-altitude sub-airspace and each high-altitude sub-airspace are respectively provided with a sub-node controller, and the monitoring equipment in each low-altitude sub-airspace and each high-altitude sub-airspace is in communication connection with the corresponding sub-node controller;
the control center: all the child node controllers are in communication connection with the control center, and the control center is used for sending control instructions to all the child node controllers, receiving high-definition image data packets of all the child node controllers and carrying out unmanned aerial vehicle identification on high-definition images in the data packets;
a power supply device: the power supply system is used for supplying power to the control center, the child node controllers and the monitoring equipment.
7. The system of claim 6, further comprising a communication device comprising a 4G communication module and a WIFI module; the child node controllers are in communication connection with the high-definition monitoring cameras and the high-speed high-definition monitoring cameras through WIFI modules, and the control center is connected with the child node controllers through 4G communication modules.
8. The system of claim 6, wherein the control center comprises a data processing module, a data storage module, and a display module; the data processing module is used for identifying whether a suspicious moving flight target is an unmanned aerial vehicle or not through a pattern recognition technology by using the high-definition image received from the child node controller; the data storage module is used for storing the information for later viewing, and the display module is used for displaying the high-definition images with suspicious moving flight targets in real time and displaying the processes and results processed by the data processing module.
9. The system according to claim 6, wherein each of the low airspace and the high airspace is provided with an independent power supply device, the power supply device comprises a solar panel and a lithium battery, the solar panel is electrically connected with the subnode controller and the monitoring device in the low airspace or the high airspace and the lithium battery, the subnode controller and the monitoring device are powered in the daytime and the lithium battery is charged, and the lithium battery is electrically connected with the subnode controller and the monitoring device in the low airspace or the high airspace and is used for powering the subnode controller and the monitoring device at night.
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| CN111611897A (en) * | 2020-05-15 | 2020-09-01 | 航迅信息技术有限公司 | Unmanned aerial vehicle detection system and method based on camera network |
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