Low-altitude aircraft early warning system based on Zigbee and edge detection equipment and construction method

Abstract

The invention provides a low-altitude aircraft early warning system based on Zigbee and edge detection equipment and a construction method. The low-altitude aircraft early warning system comprises an optical detection subsystem, a target detection subsystem, a communication subsystem and an information summarization subsystem, the optical detection subsystem obtains external image information and transmits the image information to the target detection subsystem; the target detection subsystem receives the image information and detects target information based on edge detection equipment; the communication subsystem receives target information from the target detection subsystem based on a Zigbee communication network and sends the target information to the information summarization subsystem; and the intelligence summarization subsystem is used for receiving the target information from the communication subsystem and carrying out early warning. The system has the characteristics of rapid deployment, miniaturization, multi-point deployment, high concealment and the like, can effectively detect the low-altitude aircraft and provide an early warning function, solves the limitation of the prior art in the aspect of low-altitude aircraft detection, and improves the problems of insufficient concealment and difficult deployment.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles and security technology, and in particular to a low-altitude aircraft early warning system based on Zigbee and edge detection equipment and a construction method thereof. Background Art

[0002] In the field of drone detection technology, the main detection tools used include radar, photoelectric detection devices, and spectrum detection devices. However, each technology faces its own specific limitations. Specifically, radar is often ineffective when dealing with low-altitude, slow, and small (referred to as "low, slow, and small") flying targets due to its detection height limitations. On the other hand, photoelectric detection equipment is limited by its complex mechanical structure, large size and weight, which restricts its concealment and makes it impossible for a single soldier to carry it. In addition, such equipment also needs to rely on external devices such as communication cables or optical cables to transmit image information to large computing units. This process invisibly increases the risk of exposure of the equipment.

[0003] Spectrum detection equipment also has limitations in detection capabilities, especially when facing aircraft in radio silent mode, its detection efficiency will be greatly reduced. For example, the anti-UAV detection system, method and platform based on millimeter-wave radar disclosed in Chinese patent CN202311783381.0, although using millimeter-wave radar for detection, its detection limit is usually more than 50 meters, so it faces challenges when detecting low-altitude aircraft. For another example, Chinese patent CN202311742635.4 introduces an optoelectronic guidance tracking detection method and system based on a tracking relay scenario. The system achieves all-round detection capabilities by constructing a 360-degree detection platform without dead ends. However, the system's requirement for the detection platform to be unobstructed and its large size have an adverse effect on its concealment.

[0004] For example, Chinese patent CN202310466356.3 shows an anti-UAV defense system that uses spectrum technology to detect UAVs. However, once the target aircraft enters a radio silent state, the detection capability of the system will be severely restricted and it will not be able to conduct effective detection. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a low-altitude aircraft warning system based on Zigbee and edge detection equipment and a construction method thereof.

[0006] According to one aspect of the present invention, there is provided a low-altitude aircraft warning system based on Zigbee and edge detection equipment, including an optical detection subsystem, a target detection subsystem, a communication subsystem and an intelligence aggregation subsystem;

[0007] The optical detection subsystem acquires external image information and transmits the image information to the target detection subsystem; the external image information includes low-altitude and high-altitude image information;

[0008] The target detection subsystem receives the image information and detects target information of the image information based on an edge detection device;

[0009] The communication subsystem receives the target information from the target detection subsystem based on the Zigbee communication network and sends it to the intelligence aggregation subsystem;

[0010] The intelligence aggregation subsystem receives target information from the communication subsystem and issues an early warning.

[0011] Preferably, the optical detection subsystem comprises a lens module and an optical sensor module;

[0012] The optical detection subsystem includes an image acquisition module and an optical sensor module;

[0013] The image acquisition module captures images of the aircraft;

[0014] The optical sensor module collects environmental optical information, generates an electrical signal of the image, and transmits it to the target detection subsystem.

[0015] Preferably, the image acquisition module is a camera, and the lens of the camera is selected from a lens module according to the height detection requirement;

[0016] The lens module comprises:

[0017] 4mm lens, zoom factor 392, maximum ranging distance 15.68m;

[0018] 6mm lens, zoom factor 540, maximum ranging distance 21.6m;

[0019] 8mm lens, zoom factor is 878, maximum ranging distance is 35.12m;

[0020] 12mm lens, zoom factor 1275, maximum ranging distance 51m;

[0021] 16mm lens, zoom factor of 1720, maximum ranging distance of 68.8m.

[0022] The maximum ranging distance of each lens is the maximum distance at which the target detection subsystem can detect the target.

[0023] Preferably, the target detection subsystem is an edge detection device in the form of a chip with a target detection function;

[0024] The edge detection device receives the image information of the optical detection subsystem, identifies the position information of the target in the image from the image information, frames the target with a target frame and provides size information of the target frame;

[0025] The image information of the optical detection subsystem meets the requirements of the field of view and target imaging size for the edge detection device to detect target information.

[0026] Preferably, the communication subsystem includes an information collection terminal, a router and a coordinator;

[0027] The information collection terminal receives information from the target detection subsystem and sends it to the router;

[0028] The router acts as an information relay, receives the signal sent by the information collection terminal, and forwards it to the coordinator;

[0029] The coordinator receives information from the router and forwards it to the intelligence aggregation subsystem.

[0030] The router is used as a communication relay point and is arranged between the information collection terminal and the coordinator; the router, the information collection terminal and the coordinator use wireless communication with each other;

[0031] The coordinator is responsible for the establishment, maintenance and management of the communication channel and is connected to the intelligence aggregation subsystem.

[0032] Preferably, the communication subsystem is a Zigbee communication network, the information collection terminal is a Zigbee module terminal, the router is a Zigbee module router, and the coordinator is a Zigbee module coordinator.

[0033] Preferably, the Zigbee module terminal and the edge detection device of the target detection subsystem are connected via a serial port;

[0034] The edge detection device of the target detection subsystem receives the image information of the optical detection subsystem and detects the target in the image. If the target is detected, the target's location information, model information, and detection confidence are processed into a string form and sent to the Zigbee module terminal of the communication subsystem through the serial port.

[0035] Preferably, the intelligence summary subsystem is a host computer program, which can display the detection information of each detection point: if no aircraft target appears, it will be displayed as no target; if an aircraft target appears, the location and model of the target will be displayed.

[0036] Preferably, one edge detection device and one Zigbee module terminal are deployed as a whole at a single detection point in the warning area;

[0037] The Zigbee module router is deployed as a communication relay station in the area from the detection point to the intelligence center;

[0038] The Zigbee module coordinator and the host computer constitute the intelligence center, which is located at the rear, receives the signal sent from the communication relay point, and generates early warning information;

[0039] Among them, the early warning area contains multiple detection points, and the detection areas of the multiple detection points can completely cover the early warning area; the area from the detection points to the intelligence center contains multiple communication relay stations, and the multiple communication relay stations can maintain the smooth flow of the entire communication network.

[0040] According to a second aspect of the present invention, a method for constructing a low-altitude aircraft warning system based on Zigbee and an edge detection device is provided, comprising:

[0041] Establishing an aircraft target data set, training the data set, and deploying the obtained detection model on the edge detection device;

[0042] Calibrate the zoom factor k of each lens of the lens module to determine the zoom factor and maximum ranging distance of each lens;

[0043] According to the height detection requirements, a lens is selected from the lens module and installed on the camera and fixed on the edge detection device; the edge detection device is connected to the Zigbee module terminal through the serial port;

[0044] Build a Zigbee communication network to enable Zigbee module terminals, Zigbee module routers, and Zigbee module coordinators to have signal transmission functions;

[0045] Establish multiple detection points in the early warning area, namely edge detection equipment and Zigbee module terminals; establish multiple communication relay stations, namely Zigbee module routers, and establish an intelligence aggregation subsystem in the rear, namely Zigbee module coordinator;

[0046] Write a host computer program that can display the detection information of each detection point: if there is no aircraft target, it will display no target; if there is an aircraft target, it will display the target's location and model.

[0047] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0048] The low-altitude aircraft warning system based on Zigbee and edge detection equipment in the embodiment of the present invention can detect low-altitude aircraft targets at different altitudes based on the optical detection subsystem, solving the problem that low-altitude aircraft are difficult to detect.

[0049] The low-altitude aircraft warning system based on Zigbee and edge detection devices in the embodiment of the present invention adopts a target detection subsystem based on a small edge AI device, which can achieve the purpose of detecting aircraft targets through miniaturized equipment and solve the problem that traditional aircraft detection equipment is large in size and difficult to conceal.

[0050] The low-altitude aircraft warning system based on Zigbee and edge detection equipment in the embodiment of the present invention adopts Zigbee communication technology, which can realize flexible and rapid deployment of detection equipment and detect aircraft targets in multiple areas, solving the problems of limited detection area and slow deployment speed of traditional photoelectric detection equipment.

[0051] In the embodiment of the present invention, the low-altitude aircraft warning system based on Zigbee and edge detection equipment has a small edge artificial intelligence device capable of processing a large amount of image data information and extracting key information from it. By combining with Zigbee communication technology, the effective transmission of a large amount of image data detection results is achieved. This overcomes the limitation of Zigbee communication on data transmission rate and solves the problem that it cannot directly transmit image information.

[0052] The low-altitude aircraft warning system based on Zigbee and edge detection equipment in the embodiment of the present invention adopts a multi-Zigbee module networking method to achieve comprehensive collection of aircraft detection information in the area and transmit this information to the intelligence subsystem. The networking process is relatively complex. At the same time, the intelligence subsystem can be responsible for integrating data from multiple communication subsystems, which can overcome the problem of limited ability of a single Zigbee module to transmit information.

[0053] In summary, the embodiments of the present invention provide a system with rapid deployment, miniaturization, multi-point deployment, and high concealment performance, which can detect low-altitude aircraft and issue early warnings, thereby overcoming the problems of the prior art that it is unable to detect low-altitude aircraft, has poor concealment, and is inconvenient to deploy. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0055] Figure 1 It is a structural schematic diagram of a low-altitude aircraft warning system based on Zigbee and edge detection equipment in one embodiment of the present invention;

[0056] Figure 2 A schematic diagram of hardware connections between a communication subsystem and a target detection subsystem in a preferred embodiment of the present invention;

[0057] Figure 3 The figure is a schematic diagram of the deployment of the early warning system in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0058] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0059] Figure 1 , which is a schematic diagram of the structure of a low-altitude aircraft warning system based on Zigbee and edge detection equipment in one embodiment of the present invention.

[0060] Reference Figure 1 As shown, the low-altitude aircraft warning system based on Zigbee and edge detection equipment in this embodiment includes an optical detection subsystem, a target detection subsystem, a communication subsystem and an intelligence summary subsystem; the optical detection subsystem obtains external image information and transmits the image information to the target detection subsystem; the external image information includes low-altitude and high-altitude image information; the target detection subsystem receives image information and detects target information of the image information based on the edge detection device; the communication subsystem receives target information from the target detection subsystem based on the Zigbee communication network and sends it to the intelligence summary subsystem; the intelligence summary subsystem receives target information from the communication subsystem and issues an early warning.

[0061] The above-mentioned embodiment is based on an optical detection subsystem, which can collect high-altitude and low-altitude images, and can realize the detection of low-altitude aircraft targets at different heights, thus solving the problem that low-altitude aircraft are difficult to detect.

[0062] In order to better detect low-altitude aircraft targets at different heights, in a preferred embodiment of the present invention, the optical detection subsystem includes the following parts: an image acquisition module and an optical sensor module. The image acquisition module can be a camera, and its lens selects one or more from the lens module according to the detection height requirement. The optical sensor module collects environmental optical information and generates an electrical signal of the image, which is transmitted to the target detection subsystem.

[0063] The lens module has lens modules with various focal lengths, which are used to detect aircraft at different flight altitudes. Further, in some specific embodiments, the lens modules are all OV5640 lenses, which can be replaced and installed at will, specifically including:

[0064] 4mm lens, zoom factor 392, maximum ranging distance 15.68m;

[0065] 6mm lens, zoom factor 540, maximum ranging distance 21.6m;

[0066] 8mm lens, zoom factor is 878, maximum ranging distance is 35.12m;

[0067] 12mm lens, zoom factor 1275, maximum ranging distance 51m;

[0068] 16mm lens, zoom factor of 1720, maximum ranging distance of 68.8m.

[0069] For example, in an application scenario, the maximum ranging distance for detecting low-altitude aircraft targets needs to be 50m, then the above-mentioned 12mm lens with a zoom factor of 1275 and a maximum ranging distance of 51m can be selected.

[0070] In the above embodiment, a lens module suitable for different detection altitudes is involved, and the module can detect low-altitude aircraft flying at different flight altitudes. According to monitoring requirements, appropriate lenses can be selected to achieve monitoring and deployment of different flight altitudes.

[0071] In a preferred embodiment of the present invention, a preferred solution of a target detection subsystem is provided. In this embodiment, the target detection subsystem is an edge detection device in the form of a chip with a target detection function.

[0072] The edge detection device is integrated with the optical detection subsystem, and has the characteristics of small size and strong concealment.

[0073] The optical detection subsystem collects image information, the edge detection device receives the image information, and identifies the position information of the target on the imaging surface from the image information, frames the target with a target frame and provides the size information of the target frame.

[0074] In most cases, the larger the field of view of the lens, the wider the field of view it can cover, which means that the lens can capture more scene information. However, the problem that follows is that when the field of view increases, the size of the target on the imaging plane will become smaller accordingly. Therefore, for the lens in the above embodiment, the setting of its focal length, zoom factor and maximum measurement distance is not arbitrarily determined, but is innovatively designed. By using the lens set in the above embodiment to collect images, it can be ensured that the field of view of the image and the size of the target imaging fully meet the specific requirements of the edge detection device. Such a setting enables the device to quickly and accurately obtain the required target information. In addition, the above detection distance is the maximum distance at which the edge detection device can detect the target object under different lens configurations. The setting of this distance fully considers the balance between the width of the viewing angle and the target detection effect, ensuring that the device can still effectively detect the target object within the widest possible field of view, thereby meeting the needs of practical applications.

[0075] The edge detection device relies on the detection model to realize the target detection function. Therefore, in a specific embodiment of the present invention, the edge detection device adopts a small edge AI device Maix-Ⅲ, and deploys the .joint model converted by the YOLOV8 detection model on the development board of Maix-Ⅲ. By integrating the small edge AI device Maix-Ⅲ with the optical detection subsystem, it presents the characteristics of compact size and excellent concealment performance. Therefore, in this embodiment, the target detection subsystem based on a small edge AI device is adopted, which can achieve the purpose of detecting aircraft targets through miniaturized equipment and solve the problem that traditional aircraft detection equipment is large in size and difficult to conceal.

[0076] In a preferred embodiment of the present invention, the communication subsystem includes an information collection terminal, a router and a coordinator; wherein the information collection terminal receives information from the target detection subsystem and sends it to the router; the router acts as an information relay, receives the signal sent by the information collection terminal, and forwards it to the coordinator; the coordinator receives information from the router and forwards it to the intelligence aggregation subsystem.

[0077] The router is set up between the information collection terminal and the coordinator as a communication relay point; the router uses wireless communication with the information collection terminal and the coordinator; the coordinator is responsible for the establishment, maintenance and management of the communication channel and is connected to the intelligence aggregation subsystem.

[0078] In order to solve the problem of limited detection area and slow deployment speed of traditional photoelectric detection equipment, preferably, in one embodiment, Figure 2As shown, the communication subsystem is a Zigbee communication network, the information collection terminal is a Zigbee module terminal, the router is a Zigbee module router, and the coordinator is a Zigbee module coordinator.

[0079] Further, in some specific embodiments, Figure 2 As shown in the figure, the Zigbee module terminal and the edge detection device of the target detection subsystem are connected through a serial port; the edge detection device of the target detection subsystem receives image information and detects the target in the image. If the target is detected, the target's location information, model information, and detection confidence are processed into a string form and sent to the Zigbee module terminal of the communication subsystem through the serial port. The use of Zigbee communication technology can realize the flexible and rapid deployment of detection equipment, and detect aircraft targets in multiple areas, solving the problem of limited detection area and slow deployment of traditional photoelectric detection equipment.

[0080] In the above embodiment, the target detection function is completed by the edge detection device, and the processed target information is transmitted to the intelligence center in the rear through the Zigbee communication network. There is no need to upload the image information to the large processing unit through cables, which further reduces the risk of exposure. In addition, the edge detection device is integrated with the Zigbee module terminal, which also has the characteristics of compact size, excellent concealment performance, and easy to carry. In addition, the design also provides excellent portability. It can be easily carried and deployed by a single soldier, and can also be seamlessly integrated into the equipment of a single soldier, providing a means of detecting single-soldier aircraft.

[0081] In a preferred embodiment of the present invention, the intelligence summary subsystem is a host computer program that can display the detection information of each detection point: if no aircraft target appears, it will display no target; if an aircraft target appears, it will display key information such as the target's location and model.

[0082] In a preferred embodiment of the present invention, Figure 3 The figure shows the deployment diagram of the system. The red dotted circle is the early warning area, and the red triangle is the set detection point. Each detection point is deployed with an edge detection device (with a lens) and a Zigbee terminal module. Enough detection points are deployed so that the detection area can completely cover the early warning area. In the area from the detection point to the intelligence center, enough communication relay points are deployed to maintain the smooth flow of the entire communication network. The communication relay point deploys a Zigbee router module for communication relay. The intelligence center is located in the rear and consists of a coordinator and a host computer. It receives signals from the communication relay point and generates early warning information.

[0083] When an aircraft arrives at the warning area, the edge detection device at the detection point uses its camera to capture the aircraft image and detect the aircraft information. The edge detection device then transmits the information to the Zigbee router module at the communication relay point through the Zigbee terminal module, and the router forwards the information to the Zigbee coordinator at the intelligence center, which uploads the information to the host computer and displays it.

[0084] To improve the survivability of the system, sufficient detection points and communication relay points can be deployed.

[0085] In the above-mentioned embodiments of the present invention, a small edge artificial intelligence device and Zigbee communication are used simultaneously. The small edge artificial intelligence device has the ability to process a large amount of image data information and can extract key information therefrom. By combining with Zigbee communication technology, effective transmission of a large amount of image data detection results is achieved.

[0086] Based on the same inventive concept, in other embodiments of the present invention, a method for constructing a low-altitude aircraft warning system based on Zigbee and an edge detection device is provided, which specifically includes the following steps:

[0087] Step 1: Create an aircraft target dataset, train the dataset, and deploy the detection model on the edge detection device.

[0088] In some specific embodiments, 20,000 images of low-altitude aircraft are obtained through the Internet and real-life photography, and the aircraft are marked and used as a data set. The data set is trained to obtain a YOLOV8 detection model, which is converted into a .joint model and deployed on a small edge AI device, the Maix-Ⅲ development board. After deployment, the Maix-Ⅲ development board can have the detection function of drone targets.

[0089] Step 2: Calibrate the zoom factor of the lens module. Calibrate the zoom factor k of each lens of the lens module to determine the zoom factor and maximum distance of each lens. This is used to match the YOLOV8 detection model to ensure the target detection effect.

[0090] Step 3: According to the height detection requirements, select a lens from the lens module and install it on the camera and fix it on the edge detection device; connect the edge detection device and the Zigbee module terminal through the serial port; enable the small edge AI device to send the information of the aircraft target to the Zigbee module (terminal).

[0091] Step 4: Build the Zigbee communication network to enable the Zigbee module terminal, Zigbee module router, and Zigbee module coordinator to have signal transmission function.

[0092] In some specific embodiments, the information sent by the Maix-Ⅲ development board to the Zigbee communication network can be transmitted through the network to a host computer serving as an intelligence aggregation subsystem.

[0093] Step 5: Establish multiple detection points in the early warning area, each detection point includes edge detection equipment and Zigbee module terminals; establish multiple communication relay stations, the communication relay stations use Zigbee module routers, and establish an intelligence aggregation subsystem in the rear, the intelligence aggregation subsystem includes a Zigbee module coordinator;

[0094] Step 6: Write a host computer program as an intelligence summary subsystem that can display the detection information of each detection point: if there is no aircraft target, it will display no target; if an aircraft target appears, it will display the target's location, model and other key information.

[0095] The construction process achieves rapid deployment of multiple points, and the constructed early warning system has the remarkable characteristics of miniaturization and high concealment. It can effectively detect and warn low-altitude aircraft. This process successfully overcomes the key problems existing in current technology, such as the inability to detect low-altitude aircraft, insufficient concealment, and difficulty in deployment.

[0096] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A low-altitude aircraft warning system based on Zigbee and edge detection equipment, characterized in that: Includes optical detection subsystem, target detection subsystem, communication subsystem and intelligence aggregation subsystem; The optical detection subsystem acquires external image information and transmits the image information to the target detection subsystem, wherein the external image information includes low-altitude and high-altitude image information; The target detection subsystem receives the image information and detects target information of the image information based on an edge detection device; The communication subsystem receives the target information from the target detection subsystem based on the Zigbee communication network and sends it to the intelligence aggregation subsystem; The intelligence aggregation subsystem receives target information from the communication subsystem and issues an early warning.

2. A low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 1, characterized in that: The optical detection subsystem includes an image acquisition module and an optical sensor module; The image acquisition module captures images of the aircraft; The optical sensor module collects environmental optical information, generates an electrical signal of the image, and transmits it to the target detection subsystem.

3. A low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 2, characterized in that: The image acquisition module is a camera, and the lens of the camera is selected from one or more lens modules according to the height detection requirement; The lens module comprises: 4mm lens, zoom factor 392, maximum ranging distance 15.68m; 6mm lens, zoom factor 540, maximum ranging distance 21.6m; 8mm lens, zoom factor is 878, maximum ranging distance is 35.12m; 12mm lens, zoom factor 1275, maximum ranging distance 51m; 16mm lens, zoom factor 1720, maximum ranging distance 68.8m; The maximum ranging distance of each lens is the maximum distance at which the target detection subsystem can detect the target.

4. A low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 3, characterized in that: The target detection subsystem is an edge detection device in the form of a chip with a target detection function; The edge detection device receives the image information of the optical detection subsystem, identifies the position information of the target in the image from the image information, frames the target with a target frame and provides size information of the target frame; The image information of the optical detection subsystem meets the requirements of the field of view and target imaging size for the edge detection device to detect target information.

5. The low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 1 is characterized in that: The communication subsystem includes an information collection terminal, a router and a coordinator; The information collection terminal receives information from the target detection subsystem and sends it to the router; The router acts as an information relay, receives the signal sent by the information collection terminal, and forwards it to the coordinator; The coordinator receives information from the router and forwards it to the intelligence aggregation subsystem; Low-altitude aircraft warning system based on Zigbee and edge detection equipment, wherein the router is used as a communication relay point and is arranged between the information collection terminal and the coordinator; the router and the information collection terminal and the coordinator use wireless communication with each other; The coordinator is responsible for the establishment, maintenance and management of the communication channel and is connected to the intelligence aggregation subsystem.

6. A low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 5, characterized in that: The communication subsystem is a Zigbee communication network, the information collection terminal is a Zigbee module terminal, the router is a Zigbee module router, and the coordinator is a Zigbee module coordinator.

7. A low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 6, characterized in that: The Zigbee module terminal and the edge detection device of the target detection subsystem are connected via a serial port; The edge detection device of the target detection subsystem receives the image information of the optical detection subsystem and detects the target in the image. If the target is detected, the target's location information, model information, and detection confidence are processed into a string form and sent to the Zigbee module terminal of the communication subsystem through the serial port.

8. The low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 1, characterized in that: The intelligence summary subsystem is a host computer program that can display the detection information of each detection point: if no aircraft target appears, it will display no target; if an aircraft target appears, the location and model of the target will be displayed.

9. A low-altitude aircraft warning system based on Zigbee and edge detection equipment according to claim 5, characterized in that: One edge detection device and one Zigbee module terminal are deployed as a whole at a single detection point in the early warning area; The Zigbee module router is deployed as a communication relay station in the area from the detection point to the intelligence center; The Zigbee module coordinator and the host computer constitute the intelligence center, which is located at the rear, receives the signal sent from the communication relay point, and generates early warning information; Among them, the early warning area contains multiple detection points, and the detection areas of the multiple detection points can completely cover the early warning area; the area from the detection points to the intelligence center contains multiple communication relay stations, and the multiple communication relay stations can maintain the smooth flow of the entire communication network.

10. A method for constructing a low-altitude aircraft warning system based on Zigbee and edge detection equipment, characterized in that: include: Establishing an aircraft target data set, training the data set, and deploying the obtained detection model on the edge detection device; Calibrate the zoom factor k of each lens of the lens module to determine the zoom factor and maximum ranging distance of each lens; According to the height detection requirements, a lens is selected from the lens module and installed on the camera and fixed on the edge detection device; the edge detection device is connected to the Zigbee module terminal through the serial port; Build a Zigbee communication network to enable Zigbee module terminals, Zigbee module routers, and Zigbee module coordinators to have signal transmission functions; Establish multiple detection points in the early warning area, namely edge detection equipment and Zigbee module terminals; establish multiple communication relay stations, namely Zigbee module routers, and establish an intelligence aggregation subsystem in the rear, namely Zigbee module coordinator; Write a host computer program that can display the detection information of each detection point: if there is no aircraft target, it will display no target; if there is an aircraft target, it will display the target's location and model.

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