Low-altitude flight target detection equipment and method based on safe operation monitoring system

Abstract

The invention relates to a low-altitude flight target detection device and method based on a safe operation monitoring system, and the device comprises a first photoelectric rotary table, a second photoelectric rotary table, a radar rotary table, and an air security radar. An infrared thermal imaging machine core module and a visible light machine core module are arranged on the two sides of the second photoelectric rotary table respectively. When the first photoelectric rotary table rotates in the circumferential direction, the infrared thermal imaging machine core module and the visible light machine core module can rotate in the circumferential direction along with the first photoelectric rotary table. The second photoelectric rotary table can enable the infrared thermal imaging machine core module and the visible light machine core module to bend downwards or upwards; the radar rotary table is arranged above the second photoelectric rotary table, and the radar rotary table can independently rotate in the circumferential direction; the air security radar is fixed on the radar rotary table. The recognition scene of the low-altitude flight target is widened, the recognition intensity is improved, and the search range is widened, so that the detection efficiency and precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude flying target detection equipment, and in particular to a low-altitude flying target detection equipment and method based on a safe operation monitoring system. Background Art

[0002] The country's low-altitude airspace is gradually opening up, the low-altitude economy is booming, the number and types of low-altitude flying targets are increasing, and various low-altitude flying targets "illegally flying" incidents have seriously affected low-altitude safety and caused deep social concern. In the field of civil aviation, airports are often interfered with by low-altitude flying targets, resulting in diversions and passenger delays. In the field of public safety, low-altitude flying targets are equipped with high-definition image acquisition equipment, resulting in the leakage of commercial resources and privacy sneak shots. Large-scale public events and tourist attractions and other places where illegal use of low-altitude aircraft has caused injuries to people. How to avoid the adverse effects caused by low-altitude aircraft has become a problem that public event organizers have to think about; low-altitude aircraft interfere with power plants, power stations, transmission grids and other power facilities. There are frequent incidents, which have caused serious consequences for the power supply and distribution of the power system.

[0003] In short, the current low-altitude flying target detection equipment has low detection efficiency and accuracy for low-altitude flying targets and the overall integration of the equipment is not high. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a low-altitude flying target detection device and method based on a safe operation monitoring system, which is used to solve the problems of low efficiency and accuracy in detecting low-altitude flying targets and low overall integration of the current low-altitude flying target detection equipment.

[0005] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention discloses a low-altitude flying target detection device based on a safe operation monitoring system, comprising: The first photoelectric turntable, A second photoelectric turntable is arranged on the first photoelectric turntable, and an infrared thermal imaging core module and a visible light core module are respectively arranged on both sides of the second photoelectric turntable; when the first photoelectric turntable rotates circumferentially, the infrared thermal imaging core module and the visible light core module can realize circumferential rotation accordingly; the second photoelectric turntable can make the infrared thermal imaging core module and the visible light core module tilt downward or tilt upward; A radar turret is arranged above the second photoelectric turret, and the radar turret can rotate independently in a circumferential direction; An air defense radar is fixed on the radar turntable; Among them, when the infrared thermal imaging core module and the visible light core module are pitched along with the second photoelectric turntable, not only the visible light core module can recognize the scene during the day, but the infrared thermal imaging core module can also recognize the scene that the visible light core module cannot recognize in the dark environment at night.

[0006] Preferably, the circumferential rotation includes a 360° rotation; The second photoelectric turntable can make the infrared thermal imaging core module and the visible light core module tilt downward or tilt upward in the angle range of -45° downward from the horizontal line to +45° upward from the horizontal line.

[0007] Preferably, the first photoelectric turntable is equipped with a first torque motor and a rotating table, and the rotating table is fixed on the output shaft of the first torque motor; The infrared thermal imaging core module, the second photoelectric turntable and the visible light core module are installed side by side on the rotating table of the first photoelectric turntable; When the first torque motor of the first photoelectric turntable drives the turntable to rotate, the infrared thermal imaging core module and the visible light core module can realize 360° rotation on the turntable.

[0008] Preferably, the second photoelectric turntable is equipped with a second torque motor, the second torque motor is equipped with a transmission mechanism, and the transmission mechanism is associated with the infrared thermal imaging core module and the visible light core module; When the second torque motor of the second photoelectric turntable is started, the second torque motor drives the infrared thermal imaging core module and the visible light core module to tilt downward or tilt upward through the transmission mechanism.

[0009] Furthermore, the low-altitude flying target detection device further comprises a box, and the first photoelectric turntable is arranged on the box; A control board is provided inside the box, and a high-performance AI processor is integrated on the control board; The first torque motor of the first photoelectric turntable, the second torque motor of the second photoelectric turntable, the infrared thermal imaging core module and the visible light core module, the radar turntable, and the air defense radar are respectively connected to the control panel.

[0010] Furthermore, a power supply system is also arranged inside the box.

[0011] Furthermore, the low-altitude flying target detection device also includes a safe operation monitoring system. The safety operation monitoring system comprises a power supply real-time monitoring module, a control panel operation status real-time monitoring module, an air defense radar operation real-time monitoring module, an infrared thermal imaging core module operation real-time monitoring module, and a visible light core module operation real-time monitoring module, which are respectively connected to the control panel. The power supply real-time monitoring module is connected to the power supply system and is used to realize real-time monitoring of the operating status of the power supply system; The control panel operation status real-time monitoring module is used to realize real-time monitoring of the control panel operation status; The real-time monitoring module for the operation of the air defense radar, the real-time monitoring module for the operation of the infrared thermal imaging movement module, and the real-time monitoring module for the operation of the visible light movement module are respectively connected to the air defense radar, the infrared thermal imaging movement module, and the visible light movement module, and are respectively used to perform real-time monitoring of the operating status of the air defense radar, the infrared thermal imaging movement module, and the visible light movement module.

[0012] Furthermore, the safety operation monitoring system includes four wide-angle monitoring cameras. The box is a cubic box, and a wide-angle surveillance camera is disposed on each of the four surfaces, front, rear, left, and right, for a total of four wide-angle surveillance cameras; Four wide-angle surveillance cameras are connected to the control panel, and the control panel is connected to the monitoring center; When a person approaches the low-altitude flying target detection equipment based on the safe operation monitoring system, four wide-angle surveillance cameras take photos and video records of the approaching person, and at the same time transmit the results of the photo and video recording to the control panel in real time, and the control panel sends an early warning message to the monitoring center.

[0013] In a second aspect, the present invention also discloses a low-altitude flying target detection method, using the above-mentioned low-altitude flying target detection device, comprising: Step A: Driven by the rotation of the radar turntable, the air defense radar preliminarily searches for low-altitude flying targets and obtains basic information of the low-altitude flying targets in real time, including the size, speed and spatial coordinates of the low-altitude flying targets; Step B: According to the basic information of the low-altitude flying target, by controlling the rotation of the first photoelectric turntable and the pitch of the second photoelectric turntable, the infrared thermal imaging core module and the visible light core module are guided to identify and track the low-altitude flying target, and the category and dynamic information of the low-altitude flying target are obtained in real time, and the dynamic information of the low-altitude flying target includes multiple spatial coordinates over a long period of time spanning day and night; Step C: The control board obtains the heading trajectory of the low-altitude flying target using a target detection and recognition algorithm based on the basic information of the low-altitude flying target obtained by the air defense radar, the category and dynamic information of the low-altitude flying target obtained by the visible light core module and the infrared thermal imaging core module.

[0014] Preferably, step B comprises the following specific steps: Step B1: the control panel sends a command to the first torque motor of the first photoelectric turntable to rotate the turntable of the first photoelectric turntable, driving the infrared thermal imaging core module and the visible light core module to rotate circumferentially along with the turntable of the first photoelectric turntable. At the same time, the infrared thermal imaging core module and the visible light core module identify and track low-altitude flying targets, and obtain the category and dynamic information of the low-altitude flying targets. The dynamic information of the low-altitude flying targets includes multiple spatial coordinates over a long period of time spanning day and night; Among them, the visible light core module can recognize scenes during the day, and the infrared thermal imaging core module can recognize scenes in the dark environment at night that the visible light core module cannot recognize; Step B2: If the infrared thermal imaging core module and the visible light core module do not track the low-flying target during the circumferential rotation of the rotating table of the first photoelectric turntable, the second torque motor of the second photoelectric turntable is started to make the infrared thermal imaging core module and the visible light core module tilt downward or tilt upward to a certain angle; Step B3: the control board causes the rotating table of the first photoelectric rotating table to rotate circumferentially, and steps B1 and B2 are repeated until the infrared thermal imaging core module and the visible light core module identify and track the low-altitude flying target, and obtain the category and dynamic information of the low-altitude flying target; Step B4: The infrared thermal imaging core module and the visible light core module send the acquired category and dynamic information of the low-altitude flying target to the control board.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (I) The present invention discloses a low-altitude flying target detection device based on a safe operation monitoring system. The second photoelectric turntable is arranged on the first photoelectric turntable, and an infrared thermal imaging core module and a visible light core module are arranged on both sides of the second photoelectric turntable respectively; when the first photoelectric turntable rotates circumferentially, the infrared thermal imaging core module and the visible light core module can realize circumferential rotation accordingly; the second photoelectric turntable can make the infrared thermal imaging core module and the visible light core module tilt downward or tilt upward; the radar turntable is arranged above the second photoelectric turntable, and the radar turntable can realize circumferential rotation independently; the air defense radar is fixed on the radar turntable, and the overall integration of the equipment is high. Among them, when the infrared thermal imaging core module and the visible light core module are pitched with the second optoelectronic turntable, not only the visible light core module can identify the scene during the day, but also the infrared thermal imaging core module can identify the scene that the visible light core module cannot identify in the dark environment at night, which broadens the recognition scene of low-altitude flying targets and improves the recognition strength; in the detection blind area of ​​the air defense radar, the infrared thermal imaging core module and the visible light core module are used to detect low-altitude flying targets, which reduces the scope of the detection blind area of ​​the air defense radar and broadens the search range. Since the recognition scene of low-altitude flying targets is broadened, the recognition strength is improved, and the search range is broadened, the detection efficiency and accuracy are improved.

[0016] (ii) The present invention discloses a low-altitude flying target detection device based on a safe operation monitoring system, which utilizes air defense radar, infrared thermal imaging core module and visible light core module to realize radar video fusion detection, which can greatly improve the accuracy of target detection. The radar and video fusion technology is used for low-altitude flying target detection, which can effectively improve the efficiency of low-altitude flying target detection.

[0017] (III) The present invention discloses a low-altitude flying target detection device based on a safe operation monitoring system. The device is equipped with a safe operation monitoring system, which can realize real-time monitoring of the power supply of the device. If a large fluctuation or abnormal state occurs in the power supply voltage, the monitoring system will immediately perform a power-off operation to realize the device protection function; it can realize real-time monitoring of the operating status of the control panel in the device. If an abnormal condition occurs in the control panel, the fault condition can be recorded and a fault alarm can be issued; and it can realize real-time monitoring of the operating status of the air security radar of the device; it can realize real-time monitoring of the operating status of the visible light core module for target detection in the device; it can realize real-time monitoring of the operating status of the infrared thermal imaging core module for target detection in the device; it can realize early warning of approaching personnel, take photos and video recordings of approaching personnel, and avoid human damage to the equipment on site.

[0018] (IV) The present invention discloses a method for detecting low-altitude flying targets, including: driven by the rotation of the radar turntable, the air defense radar preliminarily searches for low-altitude flying targets and obtains basic information of the low-altitude flying targets; according to the basic information of the low-altitude flying targets, the infrared thermal imaging core module and the visible light core module are controlled to identify and track the low-altitude flying targets by the first photoelectric turntable and the second photoelectric turntable pitch, and obtain dynamic information of the low-altitude flying targets; the control panel obtains the heading trajectory of the low-altitude flying targets by using the target detection and recognition algorithm according to the basic information of the low-altitude flying targets obtained by the air defense radar, the category and dynamic information of the low-altitude flying targets obtained by the visible light core module and the infrared thermal imaging core module. The low-altitude flying target detection method disclosed by the present invention realizes the detection of low-altitude flying targets, and has high detection efficiency, high accuracy and small detection blind area for low-altitude flying targets, and has significant social and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of a low-altitude flying target detection device based on a safe operation monitoring system provided in Example 1 of the present invention; Figure 2 is a functional block diagram of a power real-time monitoring module provided in Embodiment 1 of the present invention; Figure 3 is a functional block diagram of a control panel operating status real-time monitoring module provided in Embodiment 1 of the present invention; Figure 4 It is a functional block diagram of the air defense radar operation real-time monitoring module, the infrared thermal imaging movement module operation real-time monitoring module, and the visible light movement module operation real-time monitoring module provided in Example 1 of the present invention.

[0020] Explanation of the accompanying drawings: 1-first photoelectric turntable, 2-second photoelectric turntable, 3-infrared thermal imaging movement module, 4-visible light movement module, 5-radar turntable, 6-air defense radar, 7-box, 70-wide-angle surveillance camera. DETAILED DESCRIPTION

[0021] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0022] In order to solve the problems that the current low-altitude flying target detection equipment has low detection efficiency and accuracy for low-altitude flying targets and the overall integration of the equipment is not high, the present invention discloses a low-altitude flying target detection equipment based on a safe operation monitoring system, wherein a second photoelectric turntable is arranged on the first photoelectric turntable, and an infrared thermal imaging movement module and a visible light movement module are respectively arranged on both sides of the second photoelectric turntable; when the first photoelectric turntable rotates circumferentially, the infrared thermal imaging movement module and the visible light movement module can realize circumferential rotation accordingly; the second photoelectric turntable can make the infrared thermal imaging movement module and the visible light movement module pitch down or pitch up; the radar turntable is arranged above the second photoelectric turntable, and the radar turntable can realize circumferential rotation independently; the air defense radar is fixed on the radar turntable, and the overall integration of the equipment is high. Among them, when the infrared thermal imaging core module and the visible light core module are pitched with the second optoelectronic turntable, not only the visible light core module can identify the scene during the day, but also the infrared thermal imaging core module can identify the scene that the visible light core module cannot identify in the dark environment at night, which broadens the recognition scene of low-altitude flying targets and improves the recognition strength; in the detection blind area of ​​the air defense radar, the infrared thermal imaging core module and the visible light core module are used to detect low-altitude flying targets, which reduces the scope of the detection blind area of ​​the air defense radar and broadens the search range. Since the recognition scene of low-altitude flying targets is broadened, the recognition strength is improved, and the search range is broadened, the detection efficiency and accuracy are improved.

[0023] Example 1: A low-altitude flying target detection device based on a safe operation monitoring system Embodiment 1 of the present invention provides a low-altitude flying target detection device based on a safe operation monitoring system, and its structure and connection relationship are described in detail below in conjunction with the accompanying drawings.

[0024] refer to Figure 1 The low-altitude flying target detection device based on the safe operation monitoring system includes a first photoelectric turntable 1, a second photoelectric turntable 2, an infrared thermal imaging core module 3, a visible light core module 4, a radar turntable 5 and an air defense radar 6. The second photoelectric turntable 2 is arranged on the first photoelectric turntable 1, and an infrared thermal imaging core module 3 and a visible light core module 4 are respectively arranged on both sides of the second photoelectric turntable 2; the infrared thermal imaging core module 3 and the visible light core module 4 are installed on the first photoelectric turntable 1, and when the first photoelectric turntable 1 rotates circumferentially, the infrared thermal imaging core module 3 and the visible light core module 4 can realize circumferential rotation accordingly; the second photoelectric turntable 2 can make the infrared thermal imaging core module 3 and the visible light core module 4 tilt downward or tilt upward; The radar turret 5 is arranged above the second photoelectric turret 2, and the radar turret 5 can rotate independently in a circumferential direction; The air defense radar 6 is fixed on the radar turntable 5 .

[0025] Among them, low-altitude flying targets include drones, helicopters, small fixed-wing aircraft, airships and balloons.

[0026] When the infrared thermal imaging core module 3 and the visible light core module 4 are in the process of pitching along with the second photoelectric turntable 2, not only the visible light core module 4 can recognize the scenes during the day, but also the infrared thermal imaging core module 3 can recognize the scenes that cannot be recognized by visible light in the dark environment at night, thereby broadening the recognition scenes of low-altitude flying targets and improving the recognition strength.

[0027] The infrared thermal imaging core module 3 and the visible light core module 4 are used to detect low-altitude flying targets within the detection blind area of ​​the air defense radar 6, thereby reducing the detection blind area of ​​the air defense radar 6 and widening the search range.

[0028] Among them, the method of reducing the range of the detection blind area of ​​the air defense radar 6 is: First, the air defense security radar 6 searches for low-altitude flying targets. After searching for low-altitude flying targets, the air defense security radar 6 transmits relevant information of the low-altitude flying targets to the control board. The control board controls the movement of the first photoelectric turntable 1 and the second photoelectric turntable 2. Under the action of the movement of the first photoelectric turntable 1 and the second photoelectric turntable 2, the infrared thermal imaging movement module 3 and the visible light movement module 4 identify and track the low-altitude flying targets.

[0029] However, during the low-altitude flight target search process of the air defense radar 6, if the air defense radar 6 does not search for the low-altitude flight target after rotating 10 seconds in the circumferential direction, it indicates that the low-altitude flight target may be located in the detection blind spot of the air defense radar 6. Since the detection blind spot of the air defense radar 6 is relatively large, if the low-altitude flight target is in the detection blind spot of the air defense radar 6, the air defense radar 6 cannot search for the low-altitude flight target, and at this time, the air defense radar 6 cannot guide the infrared thermal imaging core module 3 and the visible light core module 4 to track the low-altitude flight target.

[0030] In this case, the control panel controls the movement of the first photoelectric turntable 1 and the second photoelectric turntable 2. Under the action of the movement of the first photoelectric turntable 1 and the second photoelectric turntable 2, the infrared thermal imaging movement module 3 and the visible light movement module 4 search for low-flying targets within the detection blind spot of the air security radar 6 to reduce the detection blind spot of the air security radar 6.

[0031] As the recognition scene of low-altitude flying targets is broadened, the recognition strength is improved, and the search range is expanded, the detection efficiency and accuracy are improved. Due to the changes in detection methods and strategies, the detection blind area can be effectively reduced.

[0032] Specifically, the circumferential rotation includes a 360° rotation.

[0033] Specifically, the second photoelectric turntable 2 can make the infrared thermal imaging core module 3 and the visible light core module 4 tilt downward or tilt upward within an angle range of -45° downward from the horizontal line to +45° upward from the horizontal line.

[0034] Furthermore, the first photoelectric turntable 1 is equipped with a first torque motor and a rotating table, and the rotating table is fixed on the output shaft of the first torque motor; The infrared thermal imaging core module 3, the second photoelectric turntable 2 and the visible light core module 4 are installed side by side on the rotating table of the first photoelectric turntable 1; When the first torque motor of the first photoelectric turntable 1 drives the turntable to rotate, the infrared thermal imaging core module 3 and the visible light core module 4 can realize 360° rotation on the turntable.

[0035] Further, the second photoelectric turntable 2 is equipped with a second torque motor, the second torque motor is equipped with a transmission mechanism, and the transmission mechanism is associated with the infrared thermal imaging core module 3 and the visible light core module 4; When the second torque motor of the second photoelectric turntable 2 is started, the second torque motor drives the infrared thermal imaging core module 3 and the visible light core module 4 to tilt downward or tilt upward through the transmission mechanism.

[0036] Furthermore, it also includes a box 7, on which the first photoelectric turntable 1 is arranged; a control board is arranged inside the box 7, and a high-performance AI processor is integrated on the control board; The first torque motor of the first photoelectric turntable 1, the second torque motor of the second photoelectric turntable 2, the infrared thermal imaging core module 3 and the visible light core module 4, the radar turntable 5, and the air defense radar 6 are respectively connected to the control board.

[0037] In order to supply power to the electrical components in the device, a power supply system is also provided inside the box 7 .

[0038] Furthermore, the low-altitude flying target detection device also includes a safe operation monitoring system. The safety operation monitoring system comprises a power supply real-time monitoring module, a control panel operation status real-time monitoring module, an air defense radar operation real-time monitoring module, an infrared thermal imaging core module operation real-time monitoring module, and a visible light core module operation real-time monitoring module, which are respectively connected to the control panel. The power supply real-time monitoring module is connected to the power supply system and is used to realize real-time monitoring of the operating status of the power supply system; The control panel operation status real-time monitoring module is used to realize real-time monitoring of the control panel operation status; The real-time monitoring module for the operation of the air defense radar, the real-time monitoring module for the operation of the infrared thermal imaging movement module, and the real-time monitoring module for the operation of the visible light movement module are respectively connected to the air defense radar 6, the infrared thermal imaging movement module 3, and the visible light movement module 4, and are respectively used to perform real-time monitoring of the operating status of the air defense radar 6, the infrared thermal imaging movement module 3, and the visible light movement module 4.

[0039] In order to increase the safety of monitoring and on-site equipment use, the safe operation monitoring system includes four wide-angle monitoring cameras 70. The installation positions of the four wide-angle cameras are shown in the figure. Figure 1 As shown, four wide-angle cameras are installed symmetrically in pairs to monitor the 360° range around the equipment in real time. The four wide-angle cameras acquire video of the environment around the equipment in real time. After the video is acquired, it is transmitted to the control panel in the safe operation monitoring system through the network interface. The control panel is equipped with a face recognition algorithm, which can identify and record people close to the equipment, and record people-related information in a combination of photos and videos.

[0040] Specifically, the box body 7 is a cubic box body 7, and a wide-angle monitoring camera 70 is respectively arranged on the front, rear, left and right surfaces thereof, for a total of four wide-angle monitoring cameras 70; Four wide-angle surveillance cameras 70 are connected to the control panel, and the control panel is connected to the control unit of the monitoring center; When a person approaches the low-altitude flying target detection equipment based on the safe operation monitoring system, four wide-angle surveillance cameras 70 take photos and video records of the approaching person, and at the same time transmit the results of the photo and video recording to the control panel in real time, and the control panel sends an early warning message to the control unit of the monitoring center.

[0041] The control panel of the safe operation monitoring system is integrated with a face database, into which the facial feature information of on-site staff and equipment maintenance personnel can be pre-added. When the facial data obtained by the four wide-angle cameras on site is compared with the face database, if the facial feature information obtained is in the face database, no alarm will be triggered. If the facial feature information obtained by the camera is not in the face database, an alarm will be triggered. The alarm data is transmitted to the control panel through the network interface. After processing the alarm information, the control panel transmits it to the background software through the network interface to record the corresponding personnel feature data and generate corresponding alarms.

[0042] In order to facilitate external communication of the low-altitude flying target detection device based on the safe operation monitoring system, the device is equipped with a communication system, which is a switch for network communication. The switch for network communication is connected to the control board and is equipped with matching modules to together form a network communication system.

[0043] The power supply real-time monitoring module, control board operation status real-time monitoring module, air defense radar operation real-time monitoring module, infrared thermal imaging movement module operation real-time monitoring module, and visible light movement module operation real-time monitoring module mentioned above are introduced in detail below.

[0044] 1. Power real-time monitoring module refer to Figure 2 The power real-time monitoring module includes a voltage conversion function. The voltage conversion is to convert the AC220V input voltage of the equipment into different types of DC voltages. Different types of DC voltages are used to power the first photoelectric turntable 1, the second photoelectric turntable 2, the infrared thermal imaging movement module 3, the visible light movement module 4, the radar turntable 5, the air defense radar 6 and the control board.

[0045] The power real-time monitoring module includes a voltage monitoring function, which includes three aspects of detection. The specific functions are as follows: 1. Main input voltage monitoring The main input voltage of the equipment is AC220V. The main input voltage monitoring of the equipment monitors the size of the input voltage and the quality of power. When there is a large fluctuation or abnormal state of the power supply voltage, the monitoring system immediately cuts off the power to realize the equipment protection function.

[0046] 2. Voltage conversion module function monitoring The function of the voltage conversion module is to convert the AC220V input voltage into different types of DC voltage. The voltage monitoring module monitors the operating status of different types of DC voltage. The monitoring here includes transient voltage and current monitoring and long-term power performance monitoring. Long-term power performance monitoring includes voltage monitoring, current monitoring and power module operating temperature monitoring. If a problem occurs during power transient monitoring, the power module will be immediately cut off and the power failure information will be reported as an alarm. During long-term power monitoring, the voltage, current and operating temperature of the power supply are analyzed and stored in real time. The high-performance control system in the equipment power real-time monitoring system is used to perform comprehensive data analysis and processing to obtain a power supply operating performance parameter analysis report, which is convenient for timely understanding of the working status of the power module.

[0047] 3. Functional module voltage monitoring Functional module voltage monitoring is implemented by performing voltage monitoring on the module side, mainly monitoring the working voltage and working current of functional modules such as air defense radar 6, control board, visible light movement module 4, second photoelectric turntable 2, first photoelectric turntable 1, infrared thermal imaging movement module 3 and radar turntable 5, so as to grasp the working status of the functional modules in real time and to promptly understand which functional module has failed due to power supply reasons.

[0048] The power real-time monitoring module is equipped with a high-performance control system, which can realize algorithm analysis and processing of the collected power data. The results of the algorithm analysis and processing are transmitted to the control board of the equipment through the serial port. The control board further analyzes and identifies the data, and transmits the fault information of the power system to the background system through the network port for fault alarm.

[0049] 2. Real-time monitoring module of control panel operation status refer to Figure 3 The control board operation status monitoring module realizes real-time monitoring of the temperature, voltage, current and network communication in the control board. The specific functions are as follows: 1. Temperature monitoring The function of temperature monitoring is to monitor the working temperature of the chip in the control board. Temperature monitoring uses a contact temperature sensor to collect the working temperature of the chip in the control board. Temperature monitoring can monitor the temperature of multiple chips in the control board. The temperature collection results of multiple chips are transmitted to the control board in the equipment safety operation monitoring system for corresponding data processing. The data processing results are transmitted to the control board through the serial port for comprehensive temperature analysis. When the chip operating temperature exceeds the limit or the chip has an abnormal working temperature for a long time, the control board transmits the abnormal data to the background software through the network port for corresponding abnormal data recording and alarm.

[0050] 2. Voltage monitoring The function of voltage monitoring is to monitor the voltage of each functional module in the control board. Voltage monitoring adopts voltage mutual inductance to collect voltage. This voltage monitoring method does not need to destroy the existing circuit structure, which is convenient for flexible voltage monitoring. Voltage collection can be carried out by contacting the collection probe with the corresponding collected module. The result of voltage collection is transmitted to the control board in the equipment safety operation monitoring system for corresponding data processing. The data processing result is transmitted to the control board through the serial port for comprehensive analysis of the collected voltage. When the working voltage of the module is abnormal, the control board transmits the abnormal data to the background software through the network port for corresponding abnormal data recording and alarm.

[0051] 3. Current monitoring The function of current monitoring is to monitor the working current of each functional module in the control board. The current monitoring adopts the current mutual inductance method to collect current. This current monitoring method does not need to destroy the existing circuit structure, which is convenient for flexible current monitoring. The current can be collected by contacting the collection probe with the corresponding collected module. The result of current collection is transmitted to the control board of the equipment safety operation monitoring system for corresponding data processing. The data processing result is transmitted to the control board through the serial port for comprehensive analysis of the collected current. When the working current of the module is abnormal, the control board transmits the abnormal data to the background software through the network port for corresponding abnormal data recording and alarm.

[0052] 4. Network communication monitoring Network communication monitoring mainly monitors the network communication of the control panel. When the network communication of the control panel is abnormal, the control panel in the equipment safety operation monitoring system records the abnormal information accordingly. The control panel in the equipment safety operation monitoring system uses the network interface to transmit the abnormal data to the background software for abnormal data recording and alarm.

[0053] 3. Real-time monitoring module for air defense radar operation, real-time monitoring module for infrared thermal imaging core module operation, and real-time monitoring module for visible light core module operation refer to Figure 4 The air security radar operation real-time monitoring module, the infrared thermal imaging core module operation real-time monitoring module, and the visible light core module operation real-time monitoring module all include an operation status real-time monitoring module, which is used to respectively monitor the operation status of the air security radar 6, the infrared thermal imaging core module 3, and the visible light core module 4. The operation status monitoring here mainly refers to monitoring the network communication data of the air security radar 6, the infrared thermal imaging core module 3, and the visible light core module 4, and performing operation status monitoring based on the network communication data; The operation status monitoring module is connected to the network switch through the network interface; the network interface of the air defense radar 6 is connected to the network switch, and the network switch is used as a bridge to transmit the data collected by the radar to the operation status monitoring module; the network interface of the infrared thermal imaging movement module 3 is connected to the network switch, and the network switch is used as a bridge to transmit the data collected by the infrared thermal imaging movement module 3 to the operation status monitoring module; the network interface of the visible light movement module 4 is connected to the network switch, and the network switch is used as a bridge to transmit the data collected by the visible light movement module 4 to the operation status monitoring module; the operation status monitoring module analyzes, processes and identifies the collected data accordingly, and identifies the data of the air defense radar 6, the infrared thermal imaging movement module 3 and the visible light movement module 4 according to different IP addresses. If there is data with abnormal operation status, the IP address and the function module are first matched, and then the corresponding function module number is transmitted to the control board through the network interface. The control board transmits the abnormal status to the background software through the network interface for corresponding abnormal data recording and alarm.

[0054] Example 2: A method for detecting low-altitude flying targets Embodiment 2 of the present invention provides a low-altitude flying target detection method, using the low-altitude flying target detection device based on the safe operation monitoring system provided in Embodiment 1, and the method includes the following steps: Step A: Driven by the rotation of the radar turntable 5, the air defense radar 6 preliminarily searches for low-altitude flying targets and obtains basic information of the low-altitude flying targets, including the size, speed and spatial coordinates of the low-altitude flying targets, including the following specific steps: Step A1: The radar turntable 5 rotates 360°. Driven by the rotation of the radar turntable 5, the air defense radar 6 searches for low-altitude flying targets and obtains basic information of the low-altitude flying targets, wherein the basic information includes the spatial coordinates, size, and speed of the low-altitude flying targets. The distance, direction, and altitude of the low-altitude flying targets relative to the air defense radar 6 can be obtained according to the spatial coordinates of the low-altitude flying targets; Step A2: the air defense radar 6 sends the acquired basic information of the low-altitude flying target to the control panel.

[0055] Step B: According to the basic information of the low-altitude flying target, by controlling the rotation of the first photoelectric turntable 1 and the pitch of the second photoelectric turntable 2, the infrared thermal imaging core module 3 and the visible light core module 4 are used to identify and track the low-altitude flying target, and the dynamic information of the low-altitude flying target is obtained, including the following specific steps: Step B1: The control panel sends a command to the first torque motor of the first photoelectric turntable 1 to rotate the turntable of the first photoelectric turntable 1, driving the infrared thermal imaging movement module 3 and the visible light movement module 4 to rotate circumferentially along with the turntable of the first photoelectric turntable 1. At the same time, the infrared thermal imaging movement module 3 and the visible light movement module 4 identify and track low-altitude flying targets, and obtain the category and dynamic information of the low-altitude flying targets. The dynamic information of the low-altitude flying targets includes multiple spatial coordinates over a long period of time spanning day and night.

[0056] Among them, the visible light core module 4 can recognize scenes during the day, and the infrared thermal imaging core module 3 can recognize scenes that the visible light core module 4 cannot recognize in a dark environment at night.

[0057] Step B2: If the infrared thermal imaging core module 3 and the visible light core module 4 do not track the low-flying target during the circumferential rotation of the rotating table of the first photoelectric turntable 1, the second torque motor of the second photoelectric turntable 2 is started to make the infrared thermal imaging core module 3 and the visible light core module 4 tilt downward or tilt upward to a certain angle; Step B3: the control board causes the rotating table of the first photoelectric rotating table 1 to rotate circumferentially, and repeats steps B1 and B2 until the infrared thermal imaging core module 3 and the visible light core module 4 identify and track the low-altitude flying target, and obtain the category and dynamic information of the low-altitude flying target; Step B4: The infrared thermal imaging core module 3 and the visible light core module 4 send the acquired category and dynamic information of the low-altitude flying target to the control board.

[0058] Step C: The control board obtains the heading trajectory of the low-altitude flying target using the target detection and recognition algorithm according to the basic information of the low-altitude flying target obtained by the air defense radar 6, the category and dynamic information of the low-altitude flying target obtained by the visible light core module 4 and the infrared thermal imaging core module 3.

[0059] Furthermore, in step C, the control panel can also use the video target motion trajectory extraction algorithm to judge the target category based on the basic information of the low-altitude flying target obtained by the air defense radar 6, the category and dynamic information of the low-altitude flying target obtained by the visible light movement module 4 and the infrared thermal imaging movement module 3, so as to distinguish birds, kites, and low-altitude flying targets other than low-altitude flying targets.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-altitude flying target detection device based on a safe operation monitoring system, characterized in that: include The first photoelectric turntable (1), The second photoelectric turntable (2) is arranged on the first photoelectric turntable (1), and an infrared thermal imaging core module (3) and a visible light core module (4) are respectively arranged on both sides of the second photoelectric turntable (2); when the first photoelectric turntable (1) rotates circumferentially, the infrared thermal imaging core module (3) and the visible light core module (4) can also rotate circumferentially; the second photoelectric turntable (2) can make the infrared thermal imaging core module (3) and the visible light core module (4) tilt downward or tilt upward; A radar turret (5) is arranged above the second photoelectric turret (2), and the radar turret (5) is capable of independent circumferential rotation; An air defense radar (6) is fixed on the radar turntable (5); In the process of the infrared thermal imaging core module (3) and the visible light core module (4) pitching along with the second photoelectric turntable (2), not only the visible light core module (4) can identify scenes during the day, but the infrared thermal imaging core module (3) can also identify scenes that the visible light core module (4) cannot identify in a dark environment at night.

2. The low-altitude flying target detection device according to claim 1, characterized in that: The circumferential rotation includes a 360° rotation; The second photoelectric turntable (2) can cause the infrared thermal imaging core module (3) and the visible light core module (4) to tilt downward or tilt upward in an angle range of -45° downward from the horizontal line to +45° upward from the horizontal line.

3. The low-altitude flying target detection device according to claim 1, characterized in that: The first photoelectric turntable (1) is equipped with a first torque motor and a rotating table, and the rotating table is fixed on the output shaft of the first torque motor; The infrared thermal imaging core module (3), the second photoelectric turntable (2) and the visible light core module (4) are mounted side by side on a rotating table of the first photoelectric turntable (1); When the first torque motor of the first photoelectric turntable (1) drives the turntable to rotate, the infrared thermal imaging core module (3) and the visible light core module (4) can achieve 360° rotation on the turntable.

4. The low-altitude flying target detection device according to claim 3, characterized in that: The second photoelectric turntable (2) is equipped with a second torque motor, the second torque motor is equipped with a transmission mechanism, and the transmission mechanism is associated with the infrared thermal imaging core module (3) and the visible light core module (4); When the second torque motor of the second photoelectric turntable (2) is started, the second torque motor drives the infrared thermal imaging core module (3) and the visible light core module (4) to tilt downward or tilt upward through the transmission mechanism.

5. The low-altitude flying target detection device according to claim 4, characterized in that: It also comprises a box body (7), and the first photoelectric turntable (1) is arranged on the box body (7); A control board is arranged inside the box (7), and a high-performance AI processor is integrated on the control board; The first torque motor of the first photoelectric turntable (1), the second torque motor of the second photoelectric turntable (2), the infrared thermal imaging core module (3), the visible light core module (4), the radar turntable (5), and the air defense radar (6) are respectively connected to the control panel.

6. The low-altitude flying target detection device according to claim 5, characterized in that: A power supply system is also provided inside the box (7).

7. The low-altitude flying target detection device according to claim 6, characterized in that: It also includes a safe operation monitoring system. The safety operation monitoring system comprises a power supply real-time monitoring module, a control panel operation status real-time monitoring module, an air defense radar operation real-time monitoring module, an infrared thermal imaging core module operation real-time monitoring module, and a visible light core module operation real-time monitoring module, which are respectively connected to the control panel. The power supply real-time monitoring module is connected to the power supply system and is used to realize real-time monitoring of the operating status of the power supply system; The control panel operation status real-time monitoring module is used to realize real-time monitoring of the control panel operation status; The air defense radar operation real-time monitoring module, the infrared thermal imaging core module operation real-time monitoring module, and the visible light core module operation real-time monitoring module are respectively connected to the air defense radar (6), the infrared thermal imaging core module (3), and the visible light core module (4), and are respectively used to monitor the operation status of the air defense radar (6), the infrared thermal imaging core module (3), and the visible light core module (4) in real time.

8. The low-altitude flying target detection device according to claim 7, characterized in that: The safety operation monitoring system comprises four wide-angle monitoring cameras (70), The box (7) is a cubic box (7), and a wide-angle surveillance camera (70) is respectively arranged on the front, rear, left and right surfaces of the box, for a total of four wide-angle surveillance cameras (70); Four wide-angle monitoring cameras (70) are connected to the control panel, and the control panel is connected to the monitoring center; When a person approaches the low-altitude flying target detection device based on the safe operation monitoring system, four wide-angle monitoring cameras (70) take photos and record videos of the approaching person, and transmit the results of the photos and videos to the control panel in real time, and the control panel sends an early warning message to the monitoring center.

9. A low-altitude flying target detection method, using the low-altitude flying target detection device according to any one of claims 1 to 8, comprising: Step A: Driven by the rotation of the radar turntable (5), the air defense radar (6) preliminarily searches for low-altitude flying targets and obtains basic information of the low-altitude flying targets in real time, including the size, speed and spatial coordinates of the low-altitude flying targets; Step B: Based on the basic information of the low-altitude flying target, the first photoelectric turntable (1) is controlled to rotate and the second photoelectric turntable (2) is controlled to pitch, so as to guide the infrared thermal imaging core module (3) and the visible light core module (4) to identify and track the low-altitude flying target, and obtain the category and dynamic information of the low-altitude flying target in real time, wherein the dynamic information of the low-altitude flying target includes multiple spatial coordinates over a long period of time spanning day and night; Step C: The control panel obtains the heading trajectory of the low-altitude flying target using a target detection and recognition algorithm based on the basic information of the low-altitude flying target acquired by the air defense radar (6), the category and dynamic information of the low-altitude flying target acquired by the visible light core module (4) and the infrared thermal imaging core module (3).

10. The low-altitude flying target detection method according to claim 9, characterized in that: The step B comprises the following specific steps: Step B1: the control panel sends a command to the first torque motor of the first photoelectric turntable (1), so that the turntable of the first photoelectric turntable (1) rotates, driving the infrared thermal imaging core module (3) and the visible light core module (4) to rotate along with the turntable of the first photoelectric turntable (1). At the same time, the infrared thermal imaging core module (3) and the visible light core module (4) identify and track low-altitude flying targets, and obtain the category and dynamic information of the low-altitude flying targets. The dynamic information of the low-altitude flying targets includes multiple spatial coordinates over a long period of time spanning day and night; The visible light core module (4) can identify scenes during the day, and the infrared thermal imaging core module (3) can identify scenes that the visible light core module (4) cannot identify in a dark environment at night. Step B2: If the infrared thermal imaging core module (3) and the visible light core module (4) do not track the low-flying target during the circumferential rotation of the rotating table of the first photoelectric rotating table (1), the second torque motor of the second photoelectric rotating table (2) is started to make the infrared thermal imaging core module (3) and the visible light core module (4) tilt downward or tilt upward to a certain angle; Step B3: the control panel causes the rotating table of the first photoelectric rotating table (1) to rotate in a circumferential direction, and steps B1 and B2 are repeated until the infrared thermal imaging core module (3) and the visible light core module (4) identify and track the low-altitude flying target, and obtain the category and dynamic information of the low-altitude flying target; Step B4: the infrared thermal imaging core module (3) and the visible light core module (4) send the acquired category and dynamic information of the low-altitude flying target to the control panel.

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