Unmanned aerial vehicle intelligent interception system based on image communication

Abstract

The invention discloses an unmanned aerial vehicle intelligent interception system based on image communication, and belongs to the technical field of intelligent control. Comprising a target unmanned aerial vehicle identification module which is used for obtaining original image data of a target unmanned aerial vehicle through monitoring equipment, performing threat identification on the original image data, copying the original image data after determining that threats exist, and storing the copied original image data; performing unmanned aerial vehicle image recognition and contour extraction on the two copied images to obtain an unmanned aerial vehicle image and an environment image; the intelligent interception module is used for performing environment identification on the environment image to determine environment positioning after receiving the unmanned aerial vehicle image and the environment image, and calling monitoring equipment to perform real-time positioning on the target unmanned aerial vehicle according to the unmanned aerial vehicle image and the environment positioning; compared with an existing civil enterprise adopting a low-precision radar scanning device for positioning the unmanned aerial vehicle due to the cost reason, the method is more beneficial to improving the interception precision of the illegal unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control technology, and in particular relates to an intelligent interception system for unmanned aerial vehicles based on image communication. Background Art

[0002] A drone is an unmanned aerial vehicle controlled by a radio remote control device or its own program control device. With the development and popularization of drone technology, drones are increasingly used in the civilian field. However, the abuse of drones also brings security issues, such as privacy infringement and illegal reconnaissance. When facing illegal drones, the existing method is to intercept illegal drones through a drone interception system. However, when tracking drones, the existing drone interception system, such as an invention patent published with publication number CN106709498A, uses radar to conduct real-time scanning and monitoring of the target airspace. However, drones have the characteristics of flying at low and ultra-low altitudes, flying at a slow speed and not being easily detected by radar. Considering that private enterprises cannot use high-precision radars to quickly confirm illegal drones due to cost constraints, the efficiency of existing private enterprises in intercepting drones is low. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a drone intelligent interception system based on image communication to solve the above technical problems.

[0004] In order to achieve the above object, the present invention provides the following technical solutions: An intelligent UAV interception system based on image communication, comprising: The target drone identification module is used to obtain the original image data of the target drone through the monitoring equipment, perform threat identification on the original image data, copy the original image data after confirming the existence of a threat, and perform drone image identification and contour extraction on the two copied images to obtain the drone image and the environment image; The intelligent interception module is used to perform environmental recognition on the environmental image to determine the environmental positioning after receiving the drone image and the environmental image, and to call the monitoring equipment to perform real-time positioning of the target drone according to the drone image and the environmental positioning, and to control the interception drone in the corresponding area according to the real-time positioning to intercept the target drone.

[0005] Furthermore, a drone intelligent interception system based on image communication also includes a threat information storage module for storing original image data of target drones that pose a threat.

[0006] Furthermore, the target drone identification module includes: The self-warning unit is connected to all monitoring devices in the preset target airspace, and is used to call corresponding monitoring data when a drone appears in the monitoring data of the monitoring device as the original image data of the target drone; wherein the original image data is dynamic image data of a preset time length, and the dynamic image data includes the target drone and the surrounding environment data; The image preprocessing unit is used to perform threat identification on the original image data. After confirming the existence of the threat, the original image data is copied to obtain the first image and the second image, and drone image identification and contour extraction are performed on the first image and the second image respectively to obtain the drone image and the environment image; wherein the threat identification includes identifying the target drone information and identifying the environment data around the target drone.

[0007] Furthermore, threat identification is performed on the raw image data, including: Performing drone information recognition and environmental data recognition on the original image data to obtain a first recognition result and a second recognition result; Determining that all information of the first recognition result corresponds to the safety drone information in a preset safety database; If not, confirm that there is a threat; Determine whether the environmental information of the second recognition result is the same as the environmental information of any position in the environmental bird's-eye view of the preset target airspace; If so, obtaining the permission level in the first recognition result, and determining whether the permission level allows the target UAV to fly in the air corresponding to the environmental information; If not, confirm that there is a threat.

[0008] Furthermore, the intelligent interception module includes: An environment positioning unit is used to receive an environment image and determine the location of the environment image through an environment bird's-eye view of a preset target airspace as environment positioning; The UAV positioning unit is used to receive the UAV image, call the monitoring equipment in the preset target airspace according to the UAV image to capture the position of the target UAV in real time, and locate the target UAV in real time according to the multi-angle real-time captured image and environmental positioning; The interception unit is used to obtain real-time positioning, draw a predicted flight route map of the target UAV based on the real-time positioning, calculate the optimal interception point of the interception UAV as the target interception point based on the predicted flight route map, flight speed and interception UAV calling speed, and call the interception UAVs in the area where the target interception point is located and the interception UAVs in the adjacent areas to form an interception network to intercept the target UAV.

[0009] Furthermore, the monitoring equipment in the preset target airspace is called according to the drone image to capture the position of the target drone in real time, and the target drone is positioned in real time according to the multi-angle real-time captured images and environmental positioning, including: Calling the multi-angle initial image data of all monitoring devices in the area to which the environmental positioning belongs when the target UAV is first photographed, and calculating the initial positioning of the target UAV based on the multi-angle initial image data and the device data of the monitoring devices; Call the monitoring equipment in the preset target airspace, quickly identify and lock the target drone in the preset target airspace based on the drone image, and capture the action image of the target drone in real time; Obtain multi-angle action images of the target UAV at every moment captured by all monitoring devices to draw the action trajectory of the target UAV; According to the initial positioning and action trajectory of the target UAV, the real-time positioning of the target UAV is generated.

[0010] Furthermore, a flight route prediction map of the target UAV is drawn according to the real-time positioning, and the optimal interception point of the intercepted UAV is calculated as the target interception point according to the flight route prediction map, the flight speed, and the intercepting UAV calling speed, including: Obtain the action trajectory corresponding to the real-time positioning, and use machine learning methods to predict the flight path of the target UAV based on the action trajectory to obtain a flight path prediction map; The average flight speed of the target UAV is obtained to calculate the first moment of each optimal interception point of the target UAV passing through the flight route prediction map; Obtain the interception drone call speed in each optimal interception point area to calculate the second moment when the interception drone reaches the interception position corresponding to the optimal interception point from the start of the call; According to the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point, the optimal interception degree of each optimal interception point is calculated; The optimal interception point with the highest optimal interception degree is obtained as the target interception point.

[0011] Further, according to the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point, the optimal interception degree of each optimal interception point is calculated, including: obtaining the interception urgency of the optimal interception point ; Among them, the closer the optimal interception point is to the preset central area, the smaller the interception urgency value; Get the first moment corresponding to the optimal interception point and the second moment ; when When the optimal interception degree of the current optimal interception point is is equal to infinitesimal; when When the optimal interception degree of the current optimal interception point is The calculation formula is as follows: Wherein, K is a preset initial value of the urgency. Further, calling the interception drones in the area where the target interception point is located and the interception drones in the adjacent areas to form an interception network to intercept the target drone, including: Obtain the target UAV control equipment in the area where the target interception point is located, and the adjacent UAV control equipment in the area adjacent to the target interception point; Receive data packets sent by the interception unit to several drone control devices at the same time, and extract drone images, environment images and designated drone control devices in the data packets; wherein the designated drone control devices include target drone control devices and adjacent drone control devices; Prevent drone images from being displayed on unspecified drone control devices; and enable drone images to be displayed on designated drone control devices; Combine all drone control devices that display drone images to build a temporary drone control device group; the temporary drone control device group uses the target drone control device as the main device and the adjacent drone control devices as the auxiliary devices, and the main device sends overall control instructions to the auxiliary devices; According to the temporary drone control equipment group, the interception drones in the corresponding area are controlled to form an interception network to intercept the target drone.

[0012] The beneficial effects of the present invention are: The present invention proposes an intelligent drone interception system based on image communication. The system adopts image communication and combines the image monitoring equipment of the target airspace to quickly lock the illegal drone, and dispatches an interception drone to accurately intercept the illegal drone according to the image features of the illegal drone transmitted by image communication. Compared with the low-precision radar scanning devices used by existing private enterprises, the system is more conducive to improving the interception accuracy of illegal drones. At the same time, compared with military enterprises, the intelligent drone interception system using image communication provided by the present invention has lower cost.

[0013] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or they may be taught from the practice of the present invention. The purposes and other advantages of the present invention may be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0014] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 Schematic diagram of system modules of a UAV intelligent interception system based on image communication in an embodiment of the present invention; Figure 2 Schematic diagram of a threat identification process of raw image data in a UAV intelligent interception system based on image communication in an embodiment of the present invention; Figure 3 The present invention is a schematic diagram of a real-time positioning process of a target UAV in an intelligent UAV interception system based on image communication in an embodiment of the present invention; Figure 4 It is a schematic diagram of a calculation process for calculating a target interception point in a UAV intelligent interception system based on image communication in an embodiment of the present invention; Figure 5 The present invention is a schematic diagram of a calling process for calling an intercepting drone to intercept a target drone in an intelligent drone interception system based on image communication in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0017] like Figure 1 As shown, the present invention proposes an intelligent drone interception system based on image communication, comprising: The target drone identification module is used to obtain the original image data of the target drone through the monitoring equipment, perform threat identification on the original image data, copy the original image data after confirming the existence of a threat, and perform drone image identification and contour extraction on the two copied images to obtain the drone image and the environment image; The intelligent interception module is used to perform environmental recognition on the environmental image to determine the environmental location after receiving the drone image and the environmental image, and to call the monitoring equipment to perform real-time location of the target drone according to the drone image and the environmental location, and to control the interception drone in the corresponding area to intercept the target drone according to the real-time location; The working principle of the above technical solution is as follows: in order to reduce the radar scanning cost paid by enterprises when intercepting drones, the present invention proposes a drone intelligent interception system based on image communication. In combination with the monitoring equipment in the target airspace, the image communication method is used to transmit the identified drone equipment image to the interception system, and the interception system intercepts the illegal drone according to the illegal drone image information. Specifically, the system includes a target drone identification module and an intelligent interception module, wherein the target drone identification module is mainly used to obtain the original image data of the target drone by using the monitoring equipment, and to identify threats to the original image data. It is worth mentioning that the monitoring equipment preferably uses a high-speed camera to facilitate image acquisition of the target drone; when it is determined that the current original image data has a threat, the original image data is copied, Two copies of data are obtained, and drone image recognition and contour extraction are performed on the two copies of data respectively to obtain drone images and environmental images, wherein the environmental image is the airspace environmental image after the drone is removed; this module adopts the image communication method, which is more conducive to improving the recognition accuracy of illegal drones compared with the low-precision radar scanning device used by existing private enterprises; the intelligent interception module is mainly used to perform environmental recognition of the target airspace on the environmental image after receiving the drone image and environmental image transmitted by the target drone identification module to determine the environmental location of the target drone when it is first discovered, and call the relevant monitoring equipment according to the environmental location to perform real-time positioning of the target drone according to the relevant features of the transmitted drone image, and finally control the interception drone in the corresponding area according to the real-time positioning to intercept the target drone; The beneficial effects of the above technical solution are as follows: through the above technical solution, image communication is adopted in combination with the image monitoring equipment of the target airspace to quickly lock the illegal drone, and an interception drone is dispatched to accurately intercept the illegal drone according to the image features of the illegal drone transmitted by image communication. Compared with the existing private enterprises using low-precision radar scanning devices, it is more conducive to improving the interception accuracy of illegal drones. At the same time, compared with military enterprises, the drone intelligent interception system using image communication provided by the present invention has lower cost.

[0018] In one embodiment, a drone intelligent interception system based on image communication further includes: a threat information storage module for storing raw image data of a target drone that poses a threat; The working principle and beneficial effects of the above technical solution are as follows: in order to enhance the control of illegal drones and make interception information traceable, the system also provides a threat information storage module for storing the original image data of target drones that are judged to be threatening. It is worth noting that the environmental bird's-eye view of the target airspace and other relevant interception data are also stored in the threat information storage module.

[0019] In one embodiment, the target drone identification module includes: The self-warning unit is connected to all monitoring devices in the preset target airspace, and is used to call corresponding monitoring data when a drone appears in the monitoring data of the monitoring device as the original image data of the target drone; wherein the original image data is dynamic image data of a preset time length, and the dynamic image data includes the target drone and the surrounding environment data; An image preprocessing unit is used to perform threat identification on the original image data, and after confirming the existence of a threat, copy the original image data to obtain a first image and a second image, and respectively perform drone image identification and contour extraction on the first image and the second image to obtain a drone image and an environment image; wherein threat identification includes identifying target drone information and identifying environment data surrounding the target drone; The working principle of the above technical solution is as follows: the system includes a target drone identification module, wherein the module includes a self-warning unit and an image preprocessing unit, the self-warning unit is connected to all monitoring devices in a preset target airspace, and when a drone appears in the monitoring data of any monitoring device, the corresponding monitoring data is called as the original image data of the target drone; wherein, in order to better analyze the target drone, the acquired original image data is preferably a dynamic image of a preset duration, the dynamic image includes the target drone and the surrounding environmental data, and it is sent to the image preprocessing unit for threat identification of the original image data, and after confirming the existence of the threat, the original image data is copied to obtain the first image and the second image, and the original image data is transmitted to the threat information storage module for storage, it is worth noting that threat identification includes identification of target drone information and identification of the surrounding environmental data of the target drone; after obtaining the copied image, drone image recognition and contour extraction are performed on the first image and the second image respectively to obtain the drone image and the environmental image, which are transmitted to the intelligent interception module; The beneficial effect of the above technical solution is: through the above technical solution, the target drone is identified by image communication, and the identification result is transmitted to the intelligent interception module for interception operation. Compared with the use of low-precision radar scanning device, the monitoring accuracy of this module is higher.

[0020] like Figure 2 As shown, in one embodiment, performing threat identification on raw image data includes: S101, performing drone information recognition and environmental data recognition on the original image data to obtain a first recognition result and a second recognition result; S102, determining that all information of the first recognition result corresponds to the safety drone information in a preset safety database; If not, go to S105, if so, execute S103; S103, determining whether the environmental information of the second recognition result is the same as the environmental information of any position in the preset target airspace environmental bird's-eye view, if not, go to S105, if yes, execute S104; S104, obtaining the permission level in the first recognition result, and determining whether the permission level allows the target UAV to fly in the air corresponding to the environmental information. If not, proceed to S105. If so, feedback that there is no threat. S105. Confirm the existence of a threat; The working principle of the above technical solution is as follows: when the image preprocessing unit performs threat identification on the original image data, it first performs drone information identification and environmental data identification on the original image data, wherein drone information identification refers to identifying the model characteristics and surface coating mark of the drone to obtain a first identification result, and environmental data identification refers to identifying inherent characteristics such as buildings and trees in the original image data to obtain a second identification result; after obtaining the first identification result, it is determined whether all identification information of the first identification result corresponds one-to-one with the safety drone information in the preset safety database, that is, it is determined that the model characteristics, mark identification results, etc. are the same as one of the safety drone information in the preset safety database, and the preset safety database is preferably the same as the threat information storage. The storage module is the same database. If the judgment information obtained from the first recognition result is no, it is confirmed that there is a threat. Otherwise, it continues to judge whether the environmental information of the second recognition result is the same as the environmental information of any position in the environmental bird's-eye view of the preset target airspace, that is, it is judged whether the current target UAV is flying within the preset target airspace to avoid false alarms. If the judgment information obtained from the second recognition result is no, it is confirmed that there is a threat. Otherwise, it continues to obtain the authority level of the security UAV information fed back by the preset security database in the first recognition result, and judges whether the authority level supports the target UAV to have the corresponding authority to carry out activities in the airspace corresponding to the current environmental information. If the judgment result is no, it is confirmed that there is a threat. Otherwise, it is fed back that there is no threat in the current UAV activity. The beneficial effect of the above calculation scheme is: through the above technical scheme, a multiple recognition method is used to identify threats in the original image data, which is beneficial to reduce the probability of misidentification, improve the accuracy of threat identification, and thus improve the efficiency of intercepting illegal drones.

[0021] In one embodiment, the intelligent interception module includes: An environment positioning unit is used to receive an environment image and determine the location of the environment image through an environment bird's-eye view of a preset target airspace as environment positioning; The UAV positioning unit is used to receive the UAV image, call the monitoring equipment in the preset target airspace according to the UAV image to capture the position of the target UAV in real time, and locate the target UAV in real time according to the multi-angle real-time captured image and environmental positioning; The interception unit is used to obtain real-time positioning, draw a flight route prediction map of the target UAV based on the real-time positioning, calculate the optimal interception point of the interception UAV as the target interception point based on the flight route prediction map, the flight speed of the target UAV and the interception UAV calling speed, and call the interception UAVs in the area where the target interception point is located and the interception UAVs in the adjacent areas to form an interception network to intercept the target UAV; The working principle of the above technical solution is: the system includes an intelligent interception module, wherein the intelligent interception module includes an environmental positioning unit, a UAV positioning unit and an interception unit. After receiving the environmental image transmitted by the target UAV identification module, the environmental positioning unit determines the current position of the environmental image through the environmental bird's-eye view of the preset target airspace, and then determines the environmental positioning of the current target UAV. It is worth noting that in order to better perform environmental positioning on the target UAV, the target airspace is divided into environmental areas in advance, and the division rules are determined according to the monitoring equipment deployed within the target airspace. It is necessary to ensure that the monitoring equipment in the divided area can achieve full monitoring of the current area; after determining the environmental positioning, the UAV image transmitted by the target UAV identification module is received by the UAV positioning unit, so as to According to the characteristic information of the drone image, all monitoring equipment in the preset target airspace is called to capture the position of the target drone in real time. At the same time, the multi-angle real-time captured image during environmental positioning is called to determine the initial positioning of the drone, and the flight route of the target drone is determined according to the subsequent multi-angle real-time captured images to complete the real-time positioning of the target drone; finally, the interception unit draws a flight route prediction map of the target drone according to the real-time positioning, and calculates the optimal interception point of the intercepted drone as the target interception point based on the flight route prediction map, the flight speed of the target drone and the interception drone calling speed, and then calls the interception drones in the area where the target interception point is located and the interception drones in the adjacent areas to form an interception network to intercept the target drone; the formation of the interception network is defined by the user; The beneficial effects of the above technical solution are: through the above technical solution, the illegal drones are identified, located and intercepted through the data of image communication, and the illegal drones are intercepted according to the calculated target interception point. Compared with the interception after scanning with a low-precision radar scanning device, the interception success rate of this module is higher.

[0022] like Figure 3 As shown, in one embodiment, the monitoring equipment in the preset target airspace is called according to the drone image to capture the position of the target drone in real time, and the target drone is positioned in real time according to the multi-angle real-time captured images and environmental positioning, including: S201, calling the multi-angle initial image data of all monitoring devices in the area to which the environmental positioning belongs when the target UAV is first photographed, and calculating the initial positioning of the target UAV based on the multi-angle initial image data and the device data of the monitoring devices; S202, calling the monitoring equipment in the preset target airspace, based on the drone image, quickly identifying and locking the target drone in the preset target airspace, and capturing the action image of the target drone in real time; S203, obtaining multi-angle action images of the target UAV captured by all monitoring devices at every moment, for drawing the action trajectory of the target UAV; S204, generating a real-time positioning of the target UAV according to the initial positioning and action trajectory of the target UAV; The working principle and beneficial effects of the above technical solution are as follows: when the drone positioning unit locates the target drone, the first thing to consider is the initial position of the target drone, and then predicts and confirms its real-time positioning based on its constantly moving trajectory. Therefore, when this unit confirms that the target drone is a threat, it calls the multi-angle initial image data of the target drone when it is first photographed in all monitoring devices in the area to which the environmental positioning belongs. Multi-angle refers to the target drone image taken from different angles by different monitoring devices at the same time, and then the initial positioning of the target drone is calculated based on the multi-angle initial image data and the device data of the monitoring device. The calculation method preferably adopts a method based on computer vision and image processing for calculation. The device data includes the focal length of the monitoring camera, and the multi-angle initial image data includes the pixel width of the target drone in each image data. According to the following formula, multiple equations can be obtained, and the distance between each monitoring camera and the target drone is calculated by the simultaneous equations. Finally, the position of the target drone is deduced based on the layout data of the monitoring camera. The formula is: in, is the distance between each surveillance camera and the target UAV, W is the actual width of the target UAV, F is the focal length of the camera, and P is the pixel width of the target UAV in the initial image data; When calculating the initial position, the monitoring equipment in the preset target airspace is called synchronously. Based on the drone image, the target drone in the preset target airspace is quickly identified and locked, and the action image of the target drone is captured in real time. Then, the multi-angle action images of the target drone at each moment captured by all monitoring devices are obtained to draw the action trajectory of the target drone. Finally, the real-time positioning of the target drone is generated according to the initial positioning and action trajectory of the target drone. Compared with accurately positioning the position of the target drone at each moment, this method determines the initial positioning, and then uses the action trajectory combined with the initial positioning to predict the real-time positioning of the target drone. There is no need to perform complex positioning calculations again, and the positioning efficiency is higher.

[0023] like Figure 4 As shown, in one embodiment, a flight route prediction map of the target UAV is drawn according to real-time positioning, and an optimal interception point of the intercepted UAV is calculated as the target interception point according to the flight route prediction map, the flight speed of the target UAV and the calling speed of the intercepted UAV, including: S301, obtaining an action trajectory corresponding to the real-time positioning, and predicting the flight path of the target UAV using a machine learning method according to the action trajectory to obtain a flight path prediction map; S302, obtaining the average flight speed of the target UAV, so as to calculate the first moment when the target UAV passes through each optimal interception point in the flight route prediction graph; S303, obtaining the calling speed of the intercepting drone in each optimal interception point area, so as to calculate the second moment when the intercepting drone reaches the interception position corresponding to the optimal interception point from the start of the calling time; S304, calculating the optimal interception degree of each optimal interception point according to the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point; S305, obtaining an optimal interception point with the highest optimal interception degree as a target interception point; The working principle and beneficial effects of the above technical solution are as follows: when calculating the target interception point, the interception unit first obtains the action trajectory calculated by the drone positioning unit, and predicts the flight route of the target drone using a machine learning method based on the action trajectory to obtain a subsequent flight route prediction map. The prediction method is relatively mature in the prior art and will not be described in detail here. After obtaining the flight route prediction map, the first moment of each optimal interception point on the flight route prediction map passed by the target drone is calculated based on the calculated average flight speed of the target drone, and the interception drone calling speed in each optimal interception point area is obtained at the same time to calculate the interception drone from the time it is called to the second moment when it arrives at the designated interception position corresponding to the optimal interception point. The second moment refers to the moment when the last interception drone arrives at the corresponding interception position. Finally, according to the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point, the optimal interception degree of each optimal interception point is calculated, and the optimal interception point with the highest optimal interception degree is screened as the target interception point. point, intercept the target drone at the target interception point, and accurately intercept illegal drones through the above technical solution, reduce the number of invalid calls of interception drones, and improve the interception efficiency of illegal drones; it is worth noting that the optimal interception point involved in this solution refers to the point where the interception drone can complete the formation of the interception network within the preset interception time. When designing the optimal interception point, the entire target airspace is pre-divided into a three-dimensional grid diagram including multiple cube grids. It is assumed that the target drone is in any grid, and then the drones in the current area and the adjacent area are called for the target drone for simulation calls to determine whether the call time for the interception drone to form an interception network meets the preset preset interception time threshold. If it meets, the grid is defined as the optimal interception point. If not, continue to judge the next network until the traversal judgment of all grids is completed, and several optimal interception points are obtained. The first moment refers to the time when the target drone just enters the grid corresponding to the optimal interception point. The design of the optimal interception point is beneficial to improve the interception probability of the interception drone to accurately intercept the target drone.

[0024] In one embodiment, the optimal interception degree of each optimal interception point is calculated based on the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point, including: obtaining the interception urgency of the optimal interception point ; Among them, the closer the optimal interception point is to the preset central area, the smaller the interception urgency value; Get the first moment corresponding to the optimal interception point and the second moment ; when When the optimal interception degree of the current optimal interception point is is equal to infinitesimal; when When the optimal interception degree of the current optimal interception point is The calculation formula is as follows: Among them, K is a pre-set initial value of the urgency; the beneficial effect of the above technical solution is: by defining and calculating the optimal interception degree and determining the appropriate interception time, the target UAV can be intercepted at a long distance outside the preset central area, which is beneficial to improving the reliability of the interception system.

[0025] like Figure 5 As shown, in one embodiment, calling the interception drones in the area where the target interception point is located and the interception drones in the adjacent area to form an interception network to intercept the target drone includes: S401, obtaining target UAV control equipment in the area where the target interception point is located, and adjacent UAV control equipment in the area adjacent to the target interception point; S402, receiving data packets sent by the interception unit to several drone control devices at the same time, and extracting drone images, environment images and designated drone control devices in the data packets; wherein the designated drone control devices include target drone control devices and adjacent drone control devices; S403, preventing the drone image from being displayed on an unspecified drone control device; and causing the drone image to be displayed on a designated drone control device; S404, combining all drone control devices that display drone images to build a temporary drone control device group; wherein the temporary drone control device group has the target drone control device as the main device and the adjacent drone control devices as the auxiliary devices, and the main device sends an overall control command to the auxiliary devices; S405, according to the temporary drone control equipment group, control the interception drones in the corresponding area to form an interception network to intercept the target drone; The working principle of the above technical solution is as follows: when the interception unit calls the interception drone to intercept the target drone, it first obtains the target drone control equipment in the area where the target interception point is located and the adjacent drone control equipment in the area adjacent to the target interception point, defines them as designated equipment, and then sends a data packet and designated equipment information to the drone control equipment in the entire preset target airspace. Then, each drone control equipment in the preset target airspace receives the data packet sent by the interception unit to all drone control equipment at the same time, and extracts the drone image, environmental image and designated drone control equipment in the data packet; wherein, the designated drone control equipment includes the target drone control equipment and the adjacent drone control equipment, and at the same time makes the drone image unable to be viewed in the undesignated drone control equipment. The UAV control device displays the image on the drone control device; and the drone image is displayed on the designated drone control device, that is, the drone control device that does not need to be mobilized receives information that there is no drone. At this time, the drone control device will continue to standby, and the control device that receives the drone information will start to form an interception network for intercepted drones. In the process of forming the interception network, all drone control devices that display drone images are combined to build a temporary drone control device group; among them, the temporary drone control device group uses the target drone control device as the main device and the adjacent drone control devices as the auxiliary devices. The main device sends the overall control command to the auxiliary device. Finally, according to the temporary drone control device group, the intercepted drones in the corresponding area are controlled to form an interception network to intercept the target drone. The beneficial effects of the above technical solution are as follows: through the above technical solution, the formation of interception instructions and the control of drones are delegated to the drone management and control equipment, and the drone management and control equipment completes the control of the intercepted drone. At the same time, the image data is sent globally in the form of designated sending of image communication, and then the display content is controlled by designated information, thereby reducing the time error in the call of intercepted drones by different drone management and control equipment caused by point-to-point sending. At the same time, there is no need to mobilize all intercepting drones for interception, which reduces the frequency of invalid calls of drones and is beneficial to improving the intelligence level of the drone interception system.

[0026] Finally, it should be noted that the above preferred 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 through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An intelligent drone interception system based on image communication, characterized in that: include: The target drone identification module is used to obtain the original image data of the target drone through the monitoring equipment, perform threat identification on the original image data, copy the original image data after confirming the existence of a threat, and perform drone image identification and contour extraction on the two copied images to obtain the drone image and the environment image; The intelligent interception module is used to perform environmental recognition on the environmental image to determine the environmental positioning after receiving the drone image and the environmental image, and to call the monitoring equipment to perform real-time positioning of the target drone according to the drone image and the environmental positioning, and to control the interception drone in the corresponding area according to the real-time positioning to intercept the target drone.

2. According to claim 1, the intelligent drone interception system based on image communication is characterized in that: Also includes: The threat information storage module is used to store the original image data of the target drone that poses a threat.

3. The intelligent drone interception system based on image communication according to claim 1 is characterized in that: The target drone identification module includes: The self-warning unit is connected to all monitoring devices in the preset target airspace, and is used to call corresponding monitoring data when a drone appears in the monitoring data of the monitoring device as the original image data of the target drone; wherein the original image data is dynamic image data of a preset time length, and the dynamic image data includes the target drone and the surrounding environment data; The image preprocessing unit is used to perform threat identification on the original image data, and after confirming the existence of the threat, the original image data is copied to obtain the first image and the second image, and the first image and the second image are respectively subjected to drone image identification and contour extraction to obtain the drone image and the environment image; wherein the threat identification includes identifying the target drone information and identifying the environment data surrounding the target drone.

4. The intelligent drone interception system based on image communication according to claim 3 is characterized in that: Perform threat identification on raw image data, including: Performing drone information recognition and environmental data recognition on the original image data to obtain a first recognition result and a second recognition result; Determining that all information of the first recognition result corresponds to the safety drone information in a preset safety database; If not, confirm that there is a threat; Determine whether the environmental information of the second recognition result is the same as the environmental information of any position in the environmental bird's-eye view of the preset target airspace; If yes, obtain the permission level in the first recognition result, and determine whether the permission level allows the target UAV to fly in the air corresponding to the environmental information; If not, confirm that there is a threat.

5. The intelligent drone interception system based on image communication according to claim 1 is characterized in that: The intelligent interception module includes: An environment positioning unit is used to receive an environment image and determine the location of the environment image through an environment bird's-eye view of a preset target airspace as environment positioning; The UAV positioning unit is used to receive the UAV image, call the monitoring equipment in the preset target airspace according to the UAV image to capture the position of the target UAV in real time, and locate the target UAV in real time according to the multi-angle real-time captured image and environmental positioning; The interception unit is used to obtain real-time positioning, draw a predicted flight route map of the target UAV based on the real-time positioning, calculate the optimal interception point of the interception UAV as the target interception point based on the predicted flight route map, the flight speed of the target UAV and the interception UAV calling speed, and call the interception UAVs in the area where the target interception point is located and the interception UAVs in the adjacent areas to form an interception network to intercept the target UAV.

6. The intelligent drone interception system based on image communication according to claim 5 is characterized in that: Based on the drone image, the monitoring equipment in the preset target airspace is called to capture the position of the target drone in real time, and the target drone is positioned in real time based on the multi-angle real-time captured images and environmental positioning, including: Calling the multi-angle initial image data of all monitoring devices in the area to which the environmental positioning belongs when the target UAV is first photographed, and calculating the initial positioning of the target UAV based on the multi-angle initial image data and the device data of the monitoring devices; Call the monitoring equipment in the preset target airspace, quickly identify and lock the target drone in the preset target airspace based on the drone image, and capture the action image of the target drone in real time; Obtain multi-angle action images of the target UAV at every moment captured by all monitoring devices to draw the action trajectory of the target UAV; According to the initial positioning and action trajectory of the target UAV, the real-time positioning of the target UAV is generated.

7. The intelligent drone interception system based on image communication according to claim 5 is characterized in that: Draw a flight route prediction map of the target UAV based on real-time positioning. According to the flight route prediction map, the flight speed of the target UAV and the calling speed of the intercepting UAV, calculate the optimal interception point of the intercepting UAV as the target interception point, including: Obtain the action trajectory corresponding to the real-time positioning, and use machine learning methods to predict the flight path of the target UAV based on the action trajectory to obtain a flight path prediction map; The average flight speed of the target UAV is obtained to calculate the first moment of each optimal interception point of the target UAV passing through the flight route prediction map; Obtain the interception drone call speed in each optimal interception point area to calculate the second moment when the interception drone reaches the interception position corresponding to the optimal interception point from the start of the call; According to the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point, the optimal interception degree of each optimal interception point is calculated; The optimal interception point with the highest optimal interception degree is obtained as the target interception point.

8. The intelligent drone interception system based on image communication according to claim 7 is characterized in that: According to the interception urgency of the optimal interception point and the time matching degree between the first moment and the second moment corresponding to the optimal interception point, the optimal interception degree of each optimal interception point is calculated, including: obtaining the interception urgency of the optimal interception point ; Among them, the closer the optimal interception point is to the preset central area, the smaller the interception urgency value; Get the first moment corresponding to the optimal interception point and the second moment ; when When the optimal interception degree of the current optimal interception point is is equal to infinitesimal; when When the optimal interception degree of the current optimal interception point is The calculation formula is as follows: Wherein, K is a preset initial value of urgency.

9. The intelligent drone interception system based on image communication according to claim 5 is characterized in that: Calling interception drones in the area where the target interception point is located and interception drones in adjacent areas to form an interception network to intercept the target drone, including: Obtain the target UAV control equipment in the area where the target interception point is located, and the adjacent UAV control equipment in the area adjacent to the target interception point; Receive data packets sent by the interception unit to several drone control devices at the same time, and extract drone images, environment images and designated drone control devices in the data packets; wherein the designated drone control devices include target drone control devices and adjacent drone control devices; Preventing the drone image from being displayed on an unspecified drone control device; and enabling the drone image to be displayed on a specified drone control device; Combine all drone control devices that display drone images to build a temporary drone control device group; the temporary drone control device group uses the target drone control device as the main device and the adjacent drone control devices as the auxiliary devices, and the main device sends overall control instructions to the auxiliary devices; According to the temporary drone control equipment group, the interception drones in the corresponding area are controlled to form an interception network to intercept the target drone.

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