Portable single-soldier unmanned aerial vehicle detection early warning device and method

Abstract

The invention provides a portable single-soldier unmanned aerial vehicle detection and early warning device. The portable single-soldier unmanned aerial vehicle detection and early warning device comprises an image detection device, edge detection equipment, a Zigbee module and a LoRa module, the Zigbee module comprises a Zigbee terminal and a Zigbee coordinator, and the LoRa module comprises a LoRa transmitter and a LoRa receiver; the image detection device is connected with the edge detection equipment, and the edge detection equipment is in communication connection with the Zigbee terminal, the LoRa receiver and the LoRa transmitter through serial ports; the Zigbee terminal and the Zigbee coordinator form a Zigbee network, and the LoRa receiver and the LoRa transmitter form a LoRa communication network. According to the invention, the image is rapidly processed and analyzed through the edge detection device, stable communication coverage in a short distance and a long distance is ensured in combination with the Zigbee module and the LoRa module, and real-time and efficient unmanned aerial vehicle detection and early warning functions are realized.

Description

Technical Field

[0001] This application relates to the technical field of individual air defense and anti-drone, and specifically, to a portable individual drone detection and early warning device and method. Background Art

[0002] In the field of drone detection, common detection instruments include radars, optoelectronic detection devices, spectrum detection devices, etc. However, radars are limited by the detection altitude and are difficult to detect "low, slow, and small" flying vehicles flying at low altitudes. At the same time, due to their volume and energy consumption, they are not convenient for individual soldiers to carry and deploy. Optoelectronic detection devices have complex mechanical structures, large volumes, heavy weights, limited concealment, and cannot be carried and deployed by individual soldiers. At the same time, it is necessary to support communication cables or optical cables to upload image information to a large computing unit, increasing the exposure risk of the device. Spectrum detection devices cannot detect flying vehicles in a radio silence state and those communicating through optical fibers.

[0003] In addition, current fixed-point drone detection devices, after detecting low-altitude flying vehicles, need to first upload the information to the command center through the information chain, and then the command center issues it to front-line combat personnel for drone early warning. There is a lack of direct and timely information communication among front-line combat personnel. In extreme cases, after front-line combat personnel break away from the command chain, they will not be able to obtain the drone early warning information issued by the command center.

[0004] In summary, a portable individual device for low-altitude flying vehicle early warning that can realize the mutual transmission of early warning information among front-line combat personnel is very necessary. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of this application is to provide a portable individual drone detection and early warning device, which adopts Zigbee and LoRa communication technologies and can realize the rapid transmission of aircraft detection information within medium and short distances, solving the problem of difficult transmission of aircraft detection information between teams and within teams.

[0006] One aspect of this application provides a portable individual drone detection and early warning device, including: an image detection device, an edge detection device, a Zigbee module, and a LoRa module;

[0007] The Zigbee module includes a Zigbee terminal and a Zigbee coordinator, and the LoRa module includes a LoRa transmitter and a LoRa receiver;

[0008] The image detection device is connected to the edge detection device. The edge detection device is respectively connected to the Zigbee terminal, the LoRa receiver, and the LoRa transmitter through serial communication, and is used to receive the image information collected by the image acquisition device, detect the low-altitude aircraft target in the image, and send the target information to the Zigbee terminal after detecting the target;

[0009] The Zigbee terminal and the Zigbee coordinator form a Zigbee network, and the LoRa receiver and the LoRa transmitter form a LoRa communication network.

[0010] Further, the image acquisition device includes a first image acquisition device and a second image acquisition device, which are used to collect environmental optical information, generate an electrical signal of the image, and transmit it to the edge detection device;

[0011] The edge detection device is provided with a drone target detection algorithm, which is used to receive the image information collected by the image acquisition device, run the drone target detection algorithm to detect the low-altitude aircraft target in the image, and send the target information to the Zigbee terminal after detecting the target;

[0012] The edge detection device includes a first edge detection device and a second edge detection device.

[0013] Further, the detection and warning device includes a plurality of team member devices and a plurality of team leader devices;

[0014] A plurality of the team member devices establish a communication connection with one of the team leader devices, and a communication connection is established between the plurality of team leader devices;

[0015] The first image acquisition device, the Zigbee terminal, and the first edge detection device are provided on the team member device;

[0016] The first edge detection device is connected to the first image acquisition device and is used to receive the image information collected by the first image acquisition device and detect the low-altitude aircraft target information;

[0017] The Zigbee terminal is connected to the first edge detection device and is used to receive the low-altitude aircraft information sent by the first edge detection device and send it to the team leader device through the Zigbee network.

[0018] Further, the Zigbee coordinator, the second edge detection device, the LoRa receiver, the LoRa transmitter, and the second image acquisition device are provided on the team leader device;

[0019] The Zigbee coordinator is communicatively connected to the Zigbee terminals to form a Zigbee network, which is used to receive low-altitude aircraft information sent by the Zigbee terminals and send the information to the second edge detection device;

[0020] The second edge detection device receives the low-altitude aircraft information sent by the Zigbee coordinator and the image information of the second image acquisition device, runs the UAV target detection algorithm to detect the low-altitude aircraft target in the image information. After detecting a low-altitude aircraft, it integrates the detected low-altitude aircraft information with the low-altitude aircraft information received from the Zigbee coordinator and sends it to the LoRa transmitter;

[0021] The LoRa receiver is used to receive the low-altitude aircraft information sent by the LoRa transmitter.

[0022] Further, it further includes a pan-tilt and a video transmission line;

[0023] The pan-tilt includes a first pan-tilt and a second pan-tilt. The first pan-tilt is arranged on the team member device, and the first image acquisition device is arranged on the first pan-tilt, which is used to fix the first image acquisition device so that the lens of the first image acquisition device always faces upward;

[0024] The second pan-tilt is arranged on the team leader device, and the second image acquisition device is arranged on the second pan-tilt, which is used to fix the second image acquisition device so that the lens of the second image acquisition device always faces upward;

[0025] The video transmission line is used to connect the first image acquisition device to the first edge detection device and the second image acquisition device to the second edge detection device, and is used as a communication information transmission channel.

[0026] Further, the LoRa receiver and the LoRa transmitter are used to establish a long-distance communication network between the team leader devices for sharing target information between the team leader devices.

[0027] Further, a star communication network program is provided in the Zigbee module to implement an in-team star communication network;

[0028] A communication program with a mesh topology structure is provided in the LoRa module to implement a mesh topology communication network between the team leaders.

[0029] Further, it further includes an FR4 substrate. The edge detection device communicates with the Zigbee module and the LoRa module through a serial port and is fixed on the FR4 substrate together.

[0030] In the second aspect of the present application, a method for a portable individual drone detection and warning device is provided, including:

[0031] Collect environmental optical image information through an image acquisition device, generate an image electrical signal, and send the image information to an edge detection device;

[0032] Receive the image information through the edge detection device, run a drone target detection algorithm, and detect low-altitude aircraft targets in the image information;

[0033] When a low-altitude aircraft is detected, the edge detection device sends the information of the low-altitude aircraft to a Zigbee terminal;

[0034] The Zigbee terminal sends the low-altitude aircraft information to a Zigbee coordinator through a Zigbee network;

[0035] The Zigbee coordinator forwards the received low-altitude aircraft information to the edge detection device of the team leader device;

[0036] After integrating the information, the edge detection device of the team leader device sends it to a LoRa receiver through a LoRa transmitter to achieve information sharing among teams.

[0037] Further, the drone target detection algorithm is a trained YOLOV11 detection model;

[0038] The YOLOV11 detection model includes: obtaining 2663 pictures of aircraft in low-altitude flight through the Internet and on-site shooting for use as a data set;

[0039] Train the YOLOV11 model with the data set to obtain the YOLOV11 detection model;

[0040] After converting the YOLOV11 detection model into the.rknn format, deploy it in the edge detection device.

[0041] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0042] By adopting the flight target detection technology based on edge devices, the present application can achieve the lightweight and miniaturization of the aircraft detection device, solve the problems of large volume, high energy consumption and difficulty in portability of traditional aircraft detection devices. At the same time, by adopting Zigbee and LoRa communication technologies, it can achieve the rapid transmission of aircraft detection information within a medium and short distance, and solve the problem of difficult transmission of aircraft detection information among teams and within teams. Description of the Drawings

[0043] Other features, objectives, and advantages of the present application will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 It is a block diagram of a portable single-soldier UAV detection and warning device in an embodiment of the present application.

[0045] Figure 2 It is a block diagram of the detection and warning devices of the team member device and the team leader device in an embodiment of the present application.

[0046] Figure 3 It is a schematic diagram of the installation of a portable single-soldier UAV detection and warning device on a team member's individual deployment in an embodiment of the present application.

[0047] Figure 4 It is a schematic diagram of the installation of a portable single-soldier UAV detection and warning device on a team leader's individual deployment in an embodiment of the present application.

[0048] Figure 5 It is a schematic diagram of the communication method of a portable single-soldier UAV detection and warning device in an embodiment of the present application.

[0049] Figure 6 It is a flowchart of the method of a portable single-soldier UAV detection and warning device in an embodiment of the present application.

[0050] In the figure: 1. Image acquisition device; 11. First image acquisition device; 12. Second image acquisition device; 2. Pan-tilt; 21. First pan-tilt; 22. Second pan-tilt; 3. Video transmission line; 4. Zigbee module; 41. Zigbee terminal; 42. Zigbee coordinator; 5. Edge detection device; 51. First edge detection device; 52. Second edge detection device; 6. LoRa module; 61. LoRa transmitter; 62. LoRa receiver; 100. Team member device; 200. Team leader device. Detailed implementation manners

[0051] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made. These all fall within the protection scope of the present application.

[0052] Refer to Figure 1 As shown, a portable single-soldier UAV detection and warning device in an embodiment of the present application includes: an image detection device, an edge detection device 5, a Zigbee module 4, and a LoRa module 6.

[0053] The Zigbee module 4 includes a Zigbee terminal 41 and a Zigbee coordinator 42, and the LoRa module 6 includes a LoRa transmitter 61 and a LoRa receiver 62; the image detection device is connected to the edge detection device 5, and the edge detection device 5 is respectively connected to the Zigbee terminal 41 and the LoRa receiver 62 and the LoRa transmitter 61 through serial communication, and is used to receive the image information collected by the image acquisition device 1, detect the low-altitude aircraft target in the image, and send the target information to the Zigbee terminal 41 after detecting the target; the Zigbee terminal 41 and the Zigbee coordinator 42 form a Zigbee network, and the LoRa receiver 62 and the LoRa transmitter 61 form a LoRa communication network.

[0054] The portable single-soldier UAV detection and early warning device of the present application realizes efficient and real-time UAV detection and early warning functions by integrating an image detection device, an edge detection device 5, and Zigbee and LoRa modules 6. Among them, the image detection device can quickly capture UAV images, and the edge detection device 5 quickly processes and analyzes the images, reducing data transmission and processing delays; at the same time, the dual communication design of the Zigbee module 4 and the LoRa module 6 not only ensures fast data transmission within a short distance (Zigbee), but also realizes stable communication coverage over a long distance (LoRa), significantly improving the transmission efficiency and reliability of early warning information, and providing strong air threat early warning support for single-soldier operations.

[0055] Specifically, during operation, first, the image detection device captures the image information of the surrounding environment in real time and transmits this image information to the edge detection device 5 for processing. The edge detection device 5 quickly analyzes the images, identifies potential UAV targets, and after detecting the UAV, the edge detection device 5 immediately sends the early warning information to the Zigbee terminal 41 and the LoRa transmitter 61 through serial communication; the Zigbee terminal 41 quickly spreads the early warning information within the Zigbee network to nearby nodes or coordinators to achieve instant early warning within a short distance; at the same time, the LoRa transmitter 61 sends the early warning information to other receiving devices over a long distance through the LoRa communication network, so that both the team leader and the team members can obtain the UAV early warning information in the shortest time, and thus take countermeasures in time.

[0056] In some specific embodiments, the image acquisition device 1 includes a first image acquisition device 11 and a second image acquisition device 12, which are used to acquire environmental optical information and generate an electrical signal of the image, which is transmitted to the edge detection device 5; the edge detection device 5 is provided with a drone target detection algorithm, which is used to receive the image information acquired by the image acquisition device 1, and run the drone target detection algorithm to detect low-altitude aircraft targets in the image, and send the target information to the Zigbee terminal 41 after detecting the target.

[0057] The first image acquisition device 11 and the second image acquisition device 12 collect environmental optical information during monitoring, and the generated image electrical signal is transmitted to the edge detection device 5. The UAV target detection algorithm in the edge detection device 5 detects and identifies the low-altitude aircraft target in the image, and then sends the target information to the Zigbee terminal 41. Then the Zigbee terminal 41 sends the target information to the Zigbeb coordinator to achieve the transmission of the target information. The Zigbee communication technology can realize the rapid transmission of UAV detection information within a short distance, solving the problem of information decentralization delay in the traditional command chain.

[0058] The image acquisition device 1 may be a camera, and in other embodiments, other image acquisition devices may also be used.

[0059] Reference Figure 2 As shown, in some specific embodiments, the detection and warning device includes multiple team member devices 100 and multiple team leader devices 200; multiple team member devices 100 establish communication connections with one team leader device 200, and multiple team leader devices 200 establish communication connections with each other. The edge detection device 5 includes a first edge detection device 51 and a second edge detection device 52.

[0060] For example, in a specific application, the two opposing parties are referred to as the first party and the second party, then: a captain device 200 can establish internal communication with multiple team member devices 100. Through the Zigbee communication technology, when a drone enters the monitoring range of a team member device 100, the image acquisition device 1 sends the image to the edge detection device 5, the edge detection device 5 identifies the drone information, and the drone identification information is automatically sent to the Zigbee coordinator 42 through the Zigbee terminal 41, and is sent to the second edge detection device 52 on the helmet of the captain of the friendly party, i.e. the first party, through the Zigbee coordinator 42. The captain learns the second party drone information through the second edge detection device 52, and issues a drone avoidance command to each team member in the team through Zigbee communication and the team member device 100.

[0061] Among them, a first image acquisition device 11, a Zigbee terminal 41, and a first edge detection device 51 are provided on the team member device 100; the first edge detection device 51 is connected to the first image acquisition device 11, and is used to receive the image information collected by the first image acquisition device 11 and detect the low-altitude aircraft target information; the Zigbee terminal 41 is connected to the first edge detection device 51, and is used to receive the low-altitude aircraft information sent by the first edge detection device 51 and send it to the team leader device 200 through the Zigbee network.

[0062] When there is a drone in the image collected by the first image acquisition device 11 on the team member device 100, the first edge detection device 51 receives the image information sent by the camera, runs the drone target detection algorithm, detects the low-altitude aircraft target in the image information, and after detecting the low-altitude aircraft, sends the information of the low-altitude aircraft to the Zigbee terminal 41. The Zigbee terminal 41 receives the low-altitude aircraft information sent by the first edge detection device 51 and sends it to the Zigbee coordinator 42 of the team leader device 200 through the Zigbee network, and sends it to the second edge detection device 52 on the team leader device 200 through the Zigbee coordinator 42. The team leader learns the information of the second-party drone through the second edge detection device 52 and issues instructions to the team members.

[0063] In some specific embodiments, a Zigbee coordinator 42, a second edge detection device 52, a LoRa receiver 62, a LoRa transmitter 61, and a second image acquisition device 12 are provided on the team leader device 200.

[0064] The Zigbee coordinator 42 is communicatively connected to the Zigbee terminal 41 to form a Zigbee network, and is used to receive the low-altitude aircraft information sent by the Zigbee terminal 41 and send the information to the second edge detection device 52; the second edge detection device 52 receives the low-altitude aircraft information sent by the Zigbee coordinator 42 and the image information of the second image acquisition device 12, runs the drone target detection algorithm, detects the low-altitude aircraft target in the image information, and after detecting the low-altitude aircraft, integrates the detected low-altitude aircraft information with the low-altitude aircraft information received by the Zigbee coordinator 42 and sends it to the LoRa transmitter 61; the LoRa receiver 62 is used to receive the low-altitude aircraft information sent by the LoRa transmitter 61.

[0065] Specifically, the Zigbee coordinator 42 receives the low-altitude aircraft information sent from the Zigbee terminal 41 and sends the information to the second edge detection device 52. Among them, the second edge detection device 52 can receive the low-altitude aircraft information sent from the Zigbee coordinator 42. At the same time, it can receive the image information sent from the camera, run the UAV target detection algorithm, detect the low-altitude aircraft target in the image information, and after detecting the low-altitude aircraft, integrate the detected low-altitude aircraft information with the low-altitude aircraft information received from the Zigbee coordinator 42 and send it to the LoRa transmitter 61; the LoRa receiver 62 on other team leader devices 200 receives the low-altitude aircraft detection information sent from the LoRa transmitter 61 to achieve synchronous sharing.

[0066] In some preferred embodiments, on the basis of the above embodiments, a pan-tilt 2 and a video transmission line 3 may further be included.

[0067] Specifically, the pan-tilt 2 includes a first pan-tilt 21 and a second pan-tilt 22. The first pan-tilt 21 is arranged on the team member device 100, and the first image acquisition device 11 is arranged on the first pan-tilt 21 to fix the first image acquisition device 11 so that the lens of the first image acquisition device 11 always faces upward; the second pan-tilt 22 is arranged on the team leader device 200, and the second image acquisition device 12 is arranged on the second pan-tilt 22 to fix the second image acquisition device 12 so that the lens of the second image acquisition device 12 always faces upward; the video transmission line 3 is used to connect the first image acquisition device 11 with the first edge detection device 51 and the second image acquisition device 12 with the second edge detection device 52 and is used as a communication information transmission channel.

[0068] Among them, the LoRa receiver 62 and the LoRa transmitter 61 are used to establish a long-distance communication network between the team leader devices 200 to achieve target information sharing between the team leader devices 200.

[0069] In some specific embodiments, a star communication network program is provided in the Zigbee module 4 to implement an in-team star communication network; a communication program with a mesh topology structure is provided in the LoRa module 6 to implement a mesh topology structure communication network between the team leaders.

[0070] Specifically, the UAV detection and warning device can establish an in-team Zigbee communication network. First, burn a program with an in-team star communication network into the Zigbee module 4. After the program is burned, a star communication network can be formed within the team, and the Zigbee terminal 41 of the team members can send the received UAV detection information to the Zigbee coordinator 42 of the team leader.

[0071] Next, when there are multiple teams, the LoRa communication network between teams is established through the LoRa module 6. This includes: burning a communication program with a mesh topology structure into the LoRa module 6. After the program is burned, communication between team leaders can be achieved. Each team leader can send UAV detection information to other team leaders through the LoRa transmitter 61, and can also receive UAV detection information sent by other team leaders through the LoRa receiver 62.

[0072] Specifically, it also includes an FR4 substrate. The edge detection device 5 communicates with the Zigbee module 4 and the LoRa module 6 through serial ports and is fixed on the FR4 substrate together.

[0073] Specifically, the individual deployment of the equipment. Such as Figure 3 , Figure 4 As shown, the device is deployed on the individual's helmet. Among them, the pan-tilt 2 is fixed above the helmet, the camera is fixed on the pan-tilt 2 with the lens always facing up, and the camera is connected to the edge detection device 5 through the video transmission line 3.

[0074] The edge detection device 5 communicates with the Zigbee module 4 / LoRa receiver 62 and the LoRa transmitter 61 through serial ports and is fixed on the FR4 substrate together. The FR4 substrate is directly fixed on the helmet.

[0075] For example, in a specific application, the two sides in the battle are called the first party and the second party. Then: when a first-line combat team crosses the UAV activity area of the second party, a combat team of the first party wears a helmet as shown in Figure 3 , Figure 4 and enters the UAV activity area of the second party. The team members form a loose formation. When the UAV enters the airspace above a team member, the UAV is recognized by the detection device installed on his helmet. The recognition information of the UAV is automatically sent to the Zigbee coordinator 42 on the team leader's helmet through the Zigbee terminal 41 and is sent to the edge detection device 5 on the team leader's helmet through the Zigbee coordinator 42. When the team leader learns the UAV information of the second party through the edge detection device 5, he can issue an order to avoid the UAV to each team member within the team.

[0076] In another specific application, multiple teams cross the low UAV activity area together.

[0077] Multiple combat teams of the first party enter the UAV activity area of the second party. Each team follows as shown in Figure 5As shown, they enter their respective activity areas, and the team members form a loose formation. Suppose there are three teams: Team A, Team B, and Team C. When the drone enters the airspace above a member of Team B, the drone is recognized by the detection device installed on the member's helmet. The recognition information of the drone is automatically sent to the Zigbee coordinator 42 on the helmet of the Team B captain through the Zigbee terminal 41, and then sent to the edge detection device 5 on the captain's helmet through the Zigbee coordinator 42. The edge detection device 5 of the Team B captain sends the detected drone information to the LoRa receivers 62 of the captains of Team A and Team C through the LoRa transmitter 61. After receiving the drone information, the LoRa receivers 62 of the captains of Team A and Team C send the information to the edge detection device 5. Then the two team captains can issue orders to their respective team members to avoid the drone according to the received drone information.

[0078] Referring to Figure 6 As shown, in the second aspect of the present application, a method for a portable single-soldier drone detection and early warning device is provided, including:

[0079] Collect environmental optical image information through the image acquisition device 1, generate an image electrical signal, and send the image information to the edge detection device 5;

[0080] Receive the image information through the edge detection device 5, run the drone target detection algorithm, and detect the low-altitude aircraft target in the image information;

[0081] When a low-altitude aircraft is detected, the edge detection device 5 sends the information of the low-altitude aircraft to the Zigbee terminal 41;

[0082] The Zigbee terminal 41 sends the low-altitude aircraft information to the Zigbee coordinator 42 through the Zigbee network;

[0083] The Zigbee coordinator 42 forwards the received low-altitude aircraft information to the edge detection device 5 of the captain device 200;

[0084] After integrating the information, the edge detection device 5 of the captain device 200 sends it to the LoRa receiver 62 through the LoRa transmitter 61 to achieve information sharing among teams.

[0085] In some specific embodiments, the drone target detection algorithm is a trained YOLOV11 detection model; the YOLOV11 detection model includes: obtaining various pictures of aircraft in low-altitude flight through the Internet and on-site shooting as a dataset; training the YOLOV11 model with the dataset and obtaining the YOLOV11 detection model; after converting the YOLOV11 detection model into the.rknn format, it is deployed in the edge detection device 5.

[0086] Specifically, 2,663 pictures of aircraft in low-altitude flight are obtained through the Internet and on-site shooting. After marking the aircraft, they are used as a dataset. The dataset is trained to obtain the YOLOV11 detection model. After converting the model into an.rknn model, it is deployed on the edge detection device 5, such as the Orange Pi 5 Pro or the Luban Cat 4 development board.

[0087] Among them, the training process of the YOLO model. The complete process of YOLO (You Only Look Once) object detection includes three main stages: dataset establishment, model training, and object detection. First, in the dataset establishment stage, pictures containing the target object need to be collected and annotated (such as using tools like LabelImg), generating YOLO format label files (including target categories, bounding box coordinates, etc.). Then, in the model training stage, transfer learning is performed using a pre-trained model (such as the YOLOV11 model), and hyperparameters are adjusted (such as learning rate, batch size, data augmentation strategy, etc.). Training is carried out through the PyTorch or Ultralytics YOLO library, and the model continuously optimizes the loss function (such as CIoU, mAP) to improve the detection accuracy. Finally, in the object detection stage, the trained model is used for inference, and targets can be detected on pictures, videos, and real-time camera streams, outputting detection results including categories, confidence levels, and bounding boxes, and the performance of multi-object detection can be optimized by combining NMS (Non-Maximum Suppression).

[0088] The following further illustrates the present application in combination with specific application examples / comparative examples to better understand the above technical solutions of the present application. It should be understood that the following are only partial examples and are not used to limit the present application.

[0089] For example: The warning device is set on the helmet, and the specific implementation process includes.

[0090] The first step: Establishment of the aircraft target dataset.

[0091] 2,663 pictures of aircraft in low-altitude flight are obtained through the Internet and on-site shooting. After marking the aircraft, they are used as a dataset. The YOLOV11 model is trained using the dataset to obtain the YOLOV11 detection model. After converting the model into an.rknn model, it is deployed on the edge detection device 5, such as the Orange Pi 5 Pro or the Luban Cat 4 development board.

[0092] The second step: Individual deployment of the equipment.

[0093] Such as Figure 3 、 Figure 4As shown in the figure, the device is deployed on a single soldier's helmet. Among them, the pan-tilt 2 is fixed above the helmet, and the camera is fixed on the pan-tilt 2 with the lens always facing upward. The camera is connected to the edge detection device 5 through the video transmission line 3. The edge detection device 5 communicates with the Zigbee module 4 / LoRa module 6 through the serial port and is fixed on the FR4 substrate together. The FR4 substrate is directly fixed on the helmet.

[0094] Step 3: Establishment of the in-team Zigbee communication network.

[0095] Burn the program with the in-team star communication network into the Zigbee module 4. After the program is burned, an in-team star communication network can be formed within the team, and the Zigbee terminal 41 of the team members can send the detected information of the drone received to the Zigbee coordinator 42 of the team leader.

[0096] Step 4: Establishment of the inter-team LoRa communication network.

[0097] Burn the communication program with the mesh topology structure into the LoRa module 6. After the program is burned, the communication between the team leaders can be realized. Each team leader can send the detected information of the drone to other team leaders through the LoRa transmitter 61 and can also receive the detected information of the drone sent by other team leaders through the LoRa receiver 62.

[0098] In the above application example, by constructing a special data set for low-altitude flying vehicles to train the YOLOv11 model, the detection accuracy of drones in complex battlefield environments is realized. Combined with RKNN lightweight deployment on edge devices, lightweight and real-time detection are achieved. Deployed on individual soldier equipment, a pan-tilt stabilized camera is adopted to ensure stable acquisition in dynamic scenarios; at the same time, a Zigbee star network and a LoRa mesh network are used to realize the communication connection within the team and between teams, ensuring network reliability, and integrating to form a three-level situation awareness architecture of individual soldier - squad - detachment, improving the battlefield collaborative defense effectiveness and tactical flexibility.

[0099] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific implementation manners. Those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present application. The above preferred features can be combined arbitrarily without conflict.

Claims

1. A portable single-soldier UAV detection and early warning device, characterized in that Including: An image detection device, an edge detection device, a Zigbee module, and a LoRa module; The Zigbee module includes a Zigbee terminal and a Zigbee coordinator, and the LoRa module includes a LoRa transmitter and a LoRa receiver; The image detection device is connected to the edge detection device, and the edge detection device is respectively connected to the Zigbee terminal and the LoRa receiver and the LoRa transmitter through serial communication, and is used to receive the image information collected by the image acquisition device, detect the low-altitude aircraft target in the image, and send the target information to the Zigbee terminal after detecting the target; The Zigbee terminal and the Zigbee coordinator form a Zigbee network, and the LoRa receiver and the LoRa transmitter form a LoRa communication network.

2. The portable single-soldier UAV detection and early warning device according to claim 1, characterized in that The image acquisition device includes a first image acquisition device and a second image acquisition device, which are used to collect environmental optical information, generate an electrical signal of the image, and transmit it to the edge detection device; The edge detection device is provided with a UAV target detection algorithm, which is used to receive the image information collected by the image acquisition device, run the UAV target detection algorithm to detect the low-altitude aircraft target in the image, and send the target information to the Zigbee terminal after detecting the target; The edge detection device includes a first edge detection device and a second edge detection device.

3. The portable single-soldier UAV detection and early warning device according to claim 2, characterized in that, The detection and early warning device includes a plurality of team member devices and a plurality of team leader devices; A communication connection is established between a plurality of the team member devices and one of the team leader devices, and a communication connection is established between a plurality of the team leader devices; The first image acquisition device, the Zigbee terminal, and the first edge detection device are provided on the team member device; The first edge detection device is connected to the first image acquisition device, and is used to receive the image information collected by the first image acquisition device and detect the low-altitude aircraft target information; The Zigbee terminal is connected to the first edge detection device, and is used to receive the low-altitude aircraft information sent by the first edge detection device and send it to the team leader device through the Zigbee network.

4. The portable single-soldier UAV detection and early warning device according to claim 3, wherein, The team leader device is provided with the Zigbee coordinator, the second edge detection device, the LoRa receiver, the LoRa transmitter, and the second image acquisition device; The Zigbee coordinator is communicatively connected to the Zigbee terminal to form a Zigbee network, and is used to receive the low-altitude aircraft information sent by the Zigbee terminal and send the information to the second edge detection device; The second edge detection device receives the low-altitude aircraft information sent by the Zigbee coordinator, receives the image information of the second image acquisition device, runs the UAV target detection algorithm to detect the low-altitude aircraft target in the image information. After detecting the low-altitude aircraft, it integrates the detected low-altitude aircraft information with the low-altitude aircraft information received from the Zigbee coordinator and sends it to the LoRa transmitter; The LoRa receiver is used to receive the low-altitude aircraft information sent by the LoRa transmitter.

5. The portable single-soldier UAV detection and early warning device according to claim 4, characterized in that, It also includes a pan-tilt and a video transmission line; The pan-tilt includes a first pan-tilt and a second pan-tilt. The first pan-tilt is set on the team member device, and the first image acquisition device is set on the first pan-tilt to fix the first image acquisition device so that the lens of the first image acquisition device always faces upward; The second pan-tilt is set on the team leader device, and the second image acquisition device is set on the second pan-tilt to fix the second image acquisition device so that the lens of the second image acquisition device always faces upward; The video transmission line is used to connect the first image acquisition device to the first edge detection device and the second image acquisition device to the second edge detection device, and is used as a communication information transmission channel.

6. The portable single-soldier UAV detection and early warning device according to claim 4, characterized in that, The LoRa receiver and the LoRa transmitter are used to establish a long-distance communication network between the team leader devices for sharing target information between the team leader devices.

7. A portable individual soldier UAV detection and early warning device according to claim 4, characterized in that, The Zigbee module is equipped with a star communication network program to implement an in-team star communication network; The LoRa module is equipped with a communication program with a mesh topology structure to implement a mesh topology structure communication network between the team leaders.

8. A portable single-soldier UAV detection and early warning device according to claim 1, characterized in that, It also includes an FR4 substrate. The edge detection device communicates with the Zigbee module and the LoRa module through a serial port and is fixed on the FR4 substrate together.

9. A method for a portable single-soldier UAV detection and early warning device according to any one of claims 1-8, characterized in that, It includes: Through the image acquisition device, collect environmental optical image information, generate an image electrical signal, and send the image information to the edge detection device; Receive the image information through the edge detection device, run the UAV target detection algorithm, and detect the low-altitude aircraft target in the image information; When detecting a low-altitude aircraft, the edge detection device sends the information of the low-altitude aircraft to the Zigbee terminal; The Zigbee terminal sends the low-altitude aircraft information to the Zigbee coordinator through the Zigbee network; The Zigbee coordinator forwards the received low-altitude aircraft information to the edge detection device of the team leader device; After integrating the information, the edge detection device of the team leader device sends it to the LoRa receiver through the LoRa transmitter to achieve inter-team information sharing.

10. The method of a portable individual drone detection and warning device according to claim 9, characterized in that, The UAV target detection algorithm is a trained YOLOV11 detection model; The YOLOV11 detection model includes: obtaining various pictures of aircraft in low-altitude flight through the Internet and on-site shooting as a data set for use; Train the YOLOV11 model with the data set to obtain the YOLOV11 detection model; After converting the YOLOV11 detection model into the.rknn format, it is deployed in the edge detection device.

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