Low-altitude safety supervision system and device based on frequency-electricity integration and storage medium
By combining radio spectrum analysis and image processing technology from optical observation equipment, the problems of insufficient accuracy in identifying the location of flying objects and poor anti-interference capability in low-altitude safety supervision have been solved, and the accurate acquisition of the flight trajectory of flying objects has been achieved.
Patent Information
- Application Number
- CN202511063776.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-31
- Publication Date
- 2025-10-31
AI Technical Summary
Existing low-altitude safety monitoring technologies suffer from insufficient accuracy in identifying the location of flying objects and poor resistance to interference, resulting in the inability to obtain accurate flight trajectories of flying objects.
By combining a radio spectrum analyzer and optical observation equipment, the position and images of flying objects are acquired in real time. Image processing is performed to obtain a binarized image, and boundary pixels and reference points are obtained. The corrected coordinates are then used to determine whether the object has entered the no-fly zone.
It improves the accuracy and anti-interference capability of aircraft location identification, ensuring the accuracy of obtaining aircraft flight trajectories.
Smart Images
Figure CN120877211A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of low-altitude safety monitoring technology, specifically to a low-altitude safety monitoring system, device, and storage medium based on frequency and electrical integration. Background Technology
[0002] With the rapid development and widespread application of drone technology, the low-altitude airspace has gradually become an important part of the economy, society and public safety. However, the disorderly flight, illegal intrusion and potential security threats of drones pose a serious challenge to the supervision of low-altitude safety.
[0003] Existing low-altitude surveillance methods include radio monitoring technology and photoelectric detection technology. However, existing radio monitoring technology lacks accuracy in identifying the position signals of flying objects. Photoelectric monitoring technology is more accurate than radio monitoring technology, but it is more affected by environmental factors. Therefore, combining radio monitoring technology and photoelectric detection technology can make the acquired information about flying objects more accurate, thereby making the identification of disorderly flight and illegal intrusion of flying objects more precise. Existing low-altitude safety surveillance technologies suffer from insufficient accuracy in identifying the position of flying objects and poor anti-interference capabilities, resulting in the inability to obtain accurate flight trajectories of flying objects. Summary of the Invention
[0004] This invention aims to at least partially solve one of the technical problems in the prior art. It involves: acquiring the position of a transmitting object in real time using a radio spectrum analyzer and marking it as the signal position; adjusting an optical observation device in real time to the direction of the signal detection position to acquire an image of the object and marking it as the object image; processing the object image to obtain a binarized image of the object; acquiring boundary pixels based on the binarized image; acquiring reference points for the object based on the binarized image; acquiring equipment reference points based on the binarized image; acquiring corrected coordinate points based on the object reference points and equipment reference points; and determining whether the object has entered a no-fly zone based on the corrected coordinate points. This invention addresses the problem in existing low-altitude safety monitoring technologies where insufficient accuracy and poor anti-interference capabilities in object position identification lead to the inability to obtain accurate flight trajectories of objects.
[0005] To achieve the above objectives, the present invention provides a low-altitude safety monitoring system based on frequency and electrical integration, comprising:
[0006] The system includes a location acquisition module, an image acquisition module, an image processing module, a boundary pixel acquisition module, a flying object reference point acquisition module, an equipment reference point acquisition module, a correction module, and an early warning module.
[0007] The location acquisition module is used to acquire the location of the transmitting object in real time based on the radio spectrum analyzer and mark it as the signal location;
[0008] The image acquisition module is used to adjust the optical observation equipment to the direction of the signal detection position in real time, acquire images of the flying object, and mark them as flying object images;
[0009] The image processing module is used to process the image of the flying object to obtain a binarized image of the flying object.
[0010] The boundary pixel acquisition module is used to acquire boundary pixels based on the binary image of the flying object.
[0011] The flying object reference point acquisition module is used to acquire flying object reference points based on the binary image of the flying object;
[0012] The device reference point acquisition module is used to acquire device reference points based on the binary image of the flying object.
[0013] The correction module is used to obtain correction coordinate points based on the reference point of the flying object and the reference point of the equipment;
[0014] The early warning module is used to determine whether a flying object has entered the no-fly zone based on the corrected coordinate points.
[0015] Furthermore, the image processing module is configured with a grayscale strategy, which includes:
[0016] Obtain the red, green, and blue color channel values of each pixel in the image of the flying object. Combine the red, green, and blue color channel values of each pixel in the image of the flying object into a grayscale channel value using a weighted average method to obtain the grayscale image of the flying object.
[0017] Furthermore, the image processing module is configured with a binarization strategy, which includes:
[0018] Divide the grayscale values from 0 to 255 into M equal intervals, and mark them as equal intervals; where M is an integer greater than or equal to 3, and set the initial M to 3;
[0019] Mark the grayscale values of the pixels in the grayscale image of the flying object as pixel grayscale values;
[0020] The number of pixel grayscale values in each equal interval of the grayscale image of the flying object is marked as the number of intervals;
[0021] A histogram is plotted with pixel grayscale values on the X-axis, the number of intervals on the Y-axis, and equal intervals as histogram intervals. This histogram is then labeled as the flying object histogram.
[0022] The intervals in the histogram of the flying object with a greater number of intervals than the intervals on the left and right sides are marked as peak intervals;
[0023] Obtain the number of peak intervals in the histogram of the flying object and mark them as the number of peaks;
[0024] Determine if the number of peaks is less than 2. If so, repeatedly increase the specific value of M by 1 until the number of peaks is greater than or equal to 2. Obtain the corrected histogram of the flying object and mark it as the corrected histogram.
[0025] In the corrected histogram, find the first peak interval from left to right and mark it as the first interval; then find the first peak interval from right to left and mark it as the second interval.
[0026] Find the interval with the smallest number of equal intervals between the first interval and the second interval, and mark it as the threshold interval; find the median of the threshold interval and mark it as the binarization threshold.
[0027] In the grayscale image of the flying object, the grayscale values of pixels greater than or equal to the binarization threshold are set to 255, and the grayscale values of pixels less than the binarization threshold are set to 0, thus obtaining the binarized image of the flying object.
[0028] Furthermore, the boundary pixel acquisition module is configured with a boundary pixel acquisition strategy, which includes:
[0029] The binary image of the aircraft is scanned from top to bottom and left to right. The first pixel whose grayscale value changes from 1 to 0 is captured and marked as the starting pixel. The eight pixels adjacent to the starting pixel are captured and marked as adjacent pixels. The pixel to the left of the starting pixel is marked as the left adjacent pixel. Starting from the starting pixel and the left adjacent pixel, the first newly appearing adjacent pixel with a grayscale value of 0 is captured in a counterclockwise direction and marked as the search pixel. If there is no adjacent pixel with a grayscale value of 0, the starting pixel is deleted and a new starting pixel is captured until a search pixel appears. The process of capturing the corresponding search pixel with the search pixel as the center is repeated until the newly captured search pixel is the same as the starting pixel. The operation stops when the starting pixel and all search pixels are captured and marked as boundary pixels.
[0030] Furthermore, the object reference point acquisition module is configured with an object reference point acquisition strategy, which includes:
[0031] Establish a Cartesian coordinate system, labeled as the position coordinate system, and place the binarized image of the aircraft in the first quadrant of the position coordinate system, while ensuring that two sides of the observed binarized image are parallel to the X-axis and Y-axis of the position coordinate system, respectively.
[0032] Get the maximum and minimum x-coordinates of the boundary pixels and label them as maximum x-coordinate and minimum x-coordinate, respectively; get the maximum and minimum y-coordinates of the boundary pixels and label them as maximum y-coordinate and minimum y-coordinate, respectively.
[0033] Mark the point with the x-coordinate being the minimum x-coordinate and the y-coordinate being the maximum y-coordinate as the first coordinate point; mark the point with the x-coordinate being the minimum x-coordinate and the y-coordinate being the minimum y-coordinate as the second coordinate point; mark the point with the x-coordinate being the maximum x-coordinate and the y-coordinate being the minimum y-coordinate as the third coordinate point; connect the first coordinate point and the second coordinate point to obtain the first line segment; connect the second coordinate point and the third coordinate point to obtain the second line segment; draw a straight line perpendicular to the first line segment through the midpoint of the first line segment and mark it as the first straight line; draw a straight line perpendicular to the second line segment through the midpoint of the second line segment and mark it as the second straight line; obtain the intersection of the first straight line and the second straight line and mark it as the reference point of the flying object.
[0034] Furthermore, the device reference point acquisition module is configured with a device reference point acquisition strategy, which includes:
[0035] Obtain the maximum and minimum values of the x-coordinate of the binary image of the aircraft, and label them as the first maximum and the first minimum, respectively; obtain the maximum and minimum values of the y-coordinate of the binary image of the aircraft, and label them as the second maximum and the second minimum, respectively.
[0036] Calculate the average of the first maximum and the first minimum values, and mark it as the first average; calculate the average of the second maximum and the second minimum values, and mark it as the second average; mark the coordinate point with the first average as the x-axis and the second average as the y-axis as the equipment reference point.
[0037] Furthermore, the correction module is configured with a correction strategy, which includes:
[0038] Treating the reference point of the flying object as a fixed point, the optical observation equipment is adjusted so that the reference point of the equipment coincides with the reference point of the flying object. The three-dimensional coordinates of the flying object observed by the adjusted optical observation equipment are obtained and marked as the corrected coordinate points.
[0039] Furthermore, the early warning module is configured with an early warning strategy, which includes:
[0040] Establish a three-dimensional coordinate system, labeled as the flight path coordinate system, and plot all corrected coordinate points in the flight path coordinate system;
[0041] The flight path function is obtained by performing polynomial fitting on all corrected coordinate points.
[0042] Plot the no-fly zone in the flight path coordinate system and mark it as the coordinate system no-fly zone;
[0043] Determine if the flight path function intersects with the no-fly zone of the coordinate system. If they do, send a warning signal to the ground control center.
[0044] The beneficial effects of this invention are as follows: This invention acquires the position of a transmitting object in real time using a radio spectrum analyzer and marks it as the signal position; it adjusts an optical observation device in real time to the direction of the signal detection position to acquire an image of the object and marks it as the object image; it performs image processing on the object image to obtain a binary image of the object; it obtains boundary pixels based on the binary image; it obtains reference points for the object based on the binary image; it obtains equipment reference points based on the binary image; it obtains corrected coordinate points based on the object reference points and equipment reference points; and it determines whether the object has entered a no-fly zone based on the corrected coordinate points. The advantage lies in its ability to combine radio monitoring technology and photoelectric detection technology to acquire the object's position, improving the accuracy of identification and reducing interference, thus making the acquisition of the object's position more accurate and improving the accuracy of acquiring the object's flight trajectory.
[0045] This invention obtains boundary pixels based on the binary image of the flying object. Its advantage is that it can reduce the number of interfering pixels in the image and obtain the pixels at the outline of the flying object, thereby increasing the anti-interference ability and improving the accuracy of flying object position recognition.
[0046] This invention obtains corrected coordinate points based on the reference points of the flying object and the equipment. Its advantage lies in the ability to combine the flying object position obtained by the radio spectrum analyzer and the flying object position obtained by the optical observation equipment to obtain a more accurate flying object position, thereby improving the accuracy of flying object position identification. Attached Figure Description
[0047] Figure 1 This is a schematic diagram of the system of the present invention;
[0048] Figure 2 This is a schematic diagram of the modified histogram of the present invention;
[0049] Figure 3 This is a schematic diagram of the search pixels of the present invention;
[0050] Figure 4 This is a schematic diagram of the reference point for the flying object of the present invention. Detailed Implementation
[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0052] Example 1, please refer to Figure 1As shown, the low-altitude safety monitoring system based on frequency and electronic integration includes: a location acquisition module, an image acquisition module, an image processing module, a boundary pixel acquisition module, a flying object reference point acquisition module, an equipment reference point acquisition module, a correction module, and an early warning module;
[0053] The location acquisition module is used to acquire the location of the transmitting object in real time based on the radio spectrum analyzer and mark it as the signal location; the signal location is the location of the transmitting object, which can more quickly and accurately adjust the optical observation equipment to acquire images of the object;
[0054] The image acquisition module is used to adjust the optical observation equipment to the direction of the signal detection position in real time, acquire images of the flying object, and mark them as flying object images;
[0055] The image processing module is used to process images of flying objects to obtain binarized images of the flying objects;
[0056] The image processing module is configured with a grayscale strategy, which includes:
[0057] Obtain the red, green, and blue color channel values of each pixel in the image of the flying object, and combine the red, green, and blue color channel values of each pixel in the image of the flying object into a grayscale channel value using a weighted average method to obtain the grayscale image of the flying object.
[0058] In practical applications, based on the human eye's sensitivity to different colors, the weighted average formula for assigning different weights to the RGB channels is H=0.299×R+0.587×G+0.114×B, where R, G, and B are the red, green, and blue color channel values of a pixel, respectively, and H is the grayscale channel value. For example, when the R, G, and B values of a pixel are 135, 206, and 235, respectively, H is 188. The calculation result is rounded to the nearest integer.
[0059] The image processing module is configured with a binarization strategy, which includes:
[0060] The grayscale values from 0 to 255 are divided into M equal intervals, which are marked as equal intervals; where M is an integer greater than or equal to 3, and the initial M is set to 3; in order to distinguish between the blue sky and flying objects, the grayscale value distribution of the blue sky and flying objects must occupy at least two equal intervals, and two distribution peaks are required after constructing the histogram, so M is set to an integer greater than or equal to 3.
[0061] Mark the grayscale values of the pixels in the grayscale image of the flying object as pixel grayscale values;
[0062] The number of pixel grayscale values in each equal interval of the grayscale image of the flying object is marked as the number of intervals;
[0063] A histogram is plotted with pixel grayscale values on the X-axis, the number of intervals on the Y-axis, and equal intervals as histogram intervals. This histogram is then labeled as the flying object histogram.
[0064] The intervals in the histogram of the flying object with a greater number of intervals than the intervals on the left and right sides are marked as peak intervals;
[0065] Obtain the number of peak intervals in the histogram of the flying object and mark them as the number of peaks;
[0066] Determine if the number of peaks is less than 2. If so, repeatedly increase the specific value of M by 1 until the number of peaks is greater than or equal to 2. Obtain the corrected histogram of the flying object and mark it as the corrected histogram. The gray values of the blue sky and the flying object in the histogram should have two distribution ranges, so the number of peaks must be greater than or equal to 2.
[0067] In the corrected histogram, find the first peak interval from left to right and mark it as the first interval; then find the first peak interval from right to left and mark it as the second interval.
[0068] Find the interval with the smallest number of equal intervals between the first interval and the second interval, and mark it as the threshold interval; find the median of the threshold interval and mark it as the binarization threshold.
[0069] In the grayscale image of the flying object, the grayscale values of pixels greater than or equal to the binarization threshold are set to 255, and the grayscale values of pixels less than the binarization threshold are set to 0 to obtain the binarized image of the flying object.
[0070] For practical applications, please refer to Figure 2 As shown, M is 8 at this time, the first interval is 31 to 63, the second interval is 159 to 191, the interval with the smallest number of equal intervals between the first interval and the second interval is 95 to 127, then the threshold interval is 95 to 127, the median of the threshold interval is 111, then the binarization threshold is 111, the grayscale value of the pixels in the grayscale image of the flying object is set to 255 for pixels greater than or equal to 111, and the grayscale value of the pixels less than 111 is set to 0, thus obtaining the binarized image of the flying object.
[0071] The boundary pixel acquisition module is used to acquire boundary pixels based on the binary image of the flying object;
[0072] The boundary pixel acquisition module is configured with a boundary pixel acquisition strategy, which includes:
[0073] The binary image of the aircraft is scanned from top to bottom and left to right. The first pixel whose grayscale value changes from 1 to 0 is identified and marked as the starting pixel. The eight pixels adjacent to the starting pixel are identified and marked as adjacent pixels. The pixel to the left of the starting pixel is marked as the left adjacent pixel. Starting from the starting pixel and the left adjacent pixel, the first newly appearing adjacent pixel with a grayscale value of 0 is identified in a counterclockwise direction and marked as the search pixel. If there is no adjacent pixel with a grayscale value of 0, the starting pixel is deleted and a new starting pixel is identified. This process continues until a search pixel appears. The process is repeated, identifying the corresponding search pixels centered on the search pixel, until the newly identified search pixel matches the starting pixel. The process stops when the starting pixel and all search pixels are identified and marked as boundary pixels. This method can delete isolated individual pixels to obtain a closed outline of the aircraft.
[0074] For practical applications, please refer to Figure 3 As shown, the process of obtaining the first search pixel is repeated, and then the corresponding search pixel is obtained with the search pixel as the center, until the newly obtained search pixel is the same as the starting pixel. When the operation stops, the loop is closed, and the boundary of the flying object is obtained.
[0075] The flying object reference point acquisition module is used to acquire flying object reference points based on the flying object binarized image;
[0076] The object reference point acquisition module is configured with an object reference point acquisition strategy, which includes:
[0077] Establish a Cartesian coordinate system, labeled as the position coordinate system, and place the binarized image of the aircraft in the first quadrant of the position coordinate system, while ensuring that two sides of the observed binarized image are parallel to the X-axis and Y-axis of the position coordinate system, respectively.
[0078] Get the maximum and minimum x-coordinates of the boundary pixels and label them as maximum x-coordinate and minimum x-coordinate, respectively; get the maximum and minimum y-coordinates of the boundary pixels and label them as maximum y-coordinate and minimum y-coordinate, respectively.
[0079] Mark the point with the x-coordinate being the minimum x-coordinate and the y-coordinate being the maximum y-coordinate as the first coordinate point; mark the point with the x-coordinate being the minimum x-coordinate and the y-coordinate being the minimum y-coordinate as the second coordinate point; mark the point with the x-coordinate being the maximum x-coordinate and the y-coordinate being the minimum y-coordinate as the third coordinate point; connect the first coordinate point and the second coordinate point to obtain the first line segment; connect the second coordinate point and the third coordinate point to obtain the second line segment; draw a straight line perpendicular to the first line segment through the midpoint of the first line segment and mark it as the first straight line; draw a straight line perpendicular to the second line segment through the midpoint of the second line segment and mark it as the second straight line; obtain the intersection of the first straight line and the second straight line and mark it as the reference point of the flying object.
[0080] For practical applications, please refer to Figure 4 As shown, the maximum and minimum horizontal values are 3.1 and 1.6 respectively; the maximum and minimum vertical values are 2.9 and 1.3 respectively. The first coordinate point is (1.6, 2.9), the second coordinate point is (1.6, 1.3), and the third coordinate point is (3.1, 1.3). Connecting (1.6, 2.9) and (1.6, 1.3) yields the first line segment. Connecting (1.6, 1.3) and (3.1, 1.3) yields the second line segment. A line perpendicular to the first line segment is drawn through its midpoint and marked as the first line. A line perpendicular to the second line segment is drawn through its midpoint. The straight line perpendicular to the second line segment is marked as the second straight line. The intersection of the first and second straight lines is obtained, and the position of the reference point of the flying object is (2.3, 2.1). Because different flying objects have different shapes, and the angle image of the image is also obtained, the outline of the flying object is irregular. In order to obtain more accurate flying object position information, it is usually necessary to align the optical observation equipment with the flying object. Therefore, it is necessary to set a reference point for the flying object so that the optical observation equipment can better align with the flying object and obtain more accurate flying object position information.
[0081] The equipment reference point acquisition module is used to acquire equipment reference points based on the binary image of the flying object;
[0082] The device reference point acquisition module is configured with a device reference point acquisition strategy, which includes:
[0083] Obtain the maximum and minimum values of the x-coordinate of the binary image of the aircraft, and label them as the first maximum and the first minimum, respectively; obtain the maximum and minimum values of the y-coordinate of the binary image of the aircraft, and label them as the second maximum and the second minimum, respectively.
[0084] Calculate the average of the first maximum and the first minimum values, and mark it as the first average; calculate the average of the second maximum and the second minimum values, and mark it as the second average; mark the coordinate point with the first average as the x-axis and the second average as the y-axis as the equipment reference point;
[0085] In practical applications, the first maximum and the first minimum values are obtained as 8 and 0 respectively; the second maximum and the second minimum values are obtained as 4 and 0 respectively. The average of 8 and 0 is 4, so the first average is 4. The average of 4 and 0 is 2, so the second average is 2. The reference point of the device is (4, 2). To enable the optical observation device to better align with the flying object, it is necessary to set not only the reference point of the flying object, but also the reference point of the optical observation device.
[0086] The correction module is used to obtain corrected coordinate points based on the reference points of the flying object and the equipment.
[0087] The correction module is configured with correction strategies, which include:
[0088] Treating the reference point of the flying object as a fixed point, the optical observation equipment is adjusted so that the reference point of the equipment coincides with the reference point of the flying object. The three-dimensional coordinates of the flying object observed by the adjusted optical observation equipment are obtained and marked as the correction coordinate point. By using the optical observation equipment and treating the reference point of the flying object as a fixed point, the optical observation equipment is quickly adjusted so that it is aligned with the flying object, making the acquisition of the three-dimensional coordinates of the flying object observed by the optical observation equipment more accurate.
[0089] The early warning module is used to determine whether a flying object has entered the no-fly zone based on the corrected coordinates.
[0090] The early warning module is configured with early warning strategies, which include:
[0091] Establish a three-dimensional coordinate system, labeled as the flight path coordinate system, and plot all corrected coordinate points in the flight path coordinate system;
[0092] The flight path function is obtained by performing polynomial fitting on all corrected coordinate points; the flight path can be obtained by fitting the corrected coordinate points, and the flight path is the flight path function.
[0093] Plot the no-fly zone in the flight path coordinate system and mark it as the coordinate system no-fly zone;
[0094] Determine whether the flight path function intersects with the no-fly zone of the coordinate system. If it does, send a warning signal to the ground control center. If the flight path function intersects with the no-fly zone of the coordinate system, it means that the aircraft has entered the no-fly zone, so send a warning signal to the ground control center.
[0095] Example 2: This application also provides a low-altitude safety monitoring method based on radio frequency integration, including the following steps: Step S1: Real-time acquisition of the position of the flying object transmitting the signal based on a radio spectrum analyzer, and marking it as the signal position;
[0096] Step S2: Adjust the optical observation equipment to the direction of the signal detection position in real time, acquire an image of the flying object, and mark it as a flying object image;
[0097] Step S3 involves image processing of the flying object image to obtain a binarized image of the flying object; Step S3 includes the following sub-steps:
[0098] Step S301: Obtain the red, green, and blue color channel values of each pixel in the image of the flying object, and combine the red, green, and blue color channel values of each pixel in the image of the flying object into a grayscale channel value using a weighted average method to obtain the grayscale image of the flying object.
[0099] Step S302: Divide the gray values from 0 to 255 into M equal intervals and mark them as equal intervals; where M is an integer greater than or equal to 3, and set the initial M to 3. Mark the gray values of the pixels in the grayscale image of the flying object as pixel gray values. Mark the number of pixel gray values in each equal interval of the grayscale image of the flying object as the number of intervals.
[0100] Step S303: Draw a histogram with pixel grayscale value as the X-axis, number of intervals as the Y-axis, and equal intervals as histogram intervals, and mark it as the flying object histogram. Mark the equal intervals in the flying object histogram that have more intervals than the number of intervals on the left and right sides as peak intervals. Obtain the number of peak intervals in the flying object histogram and mark them as peak counts.
[0101] Step S304: Determine if the number of peaks is less than 2. If so, repeatedly increase the specific value of M by 1 until the number of peaks is greater than or equal to 2. Obtain the corrected histogram of the flying object and mark it as the corrected histogram. In the corrected histogram, obtain the first peak interval from left to right and mark it as the first interval. Then find the first peak interval from right to left and mark it as the second interval.
[0102] Step S305: Obtain the interval with the smallest number of equal intervals between the first interval and the second interval, and mark it as the threshold interval; obtain the median of the threshold interval and mark it as the binarization threshold; set the gray values of pixels in the grayscale image of the flying object that are greater than or equal to the binarization threshold to 255, and set the gray values of pixels that are less than the binarization threshold to 0, to obtain the binarized image of the flying object.
[0103] Step S4: Obtain boundary pixels based on the binary image of the flying object; Step S4 includes the following sub-steps:
[0104] Step S401: Scan the binary image of the aircraft from top to bottom and from left to right, obtain the first pixel whose grayscale value changes from 1 to 0, mark it as the starting pixel, obtain the eight pixels adjacent to the starting pixel, mark them as adjacent pixels, and mark the pixels to the left of the starting pixel as the left adjacent pixels.
[0105] Step S402: Taking the starting pixel as the center and the left adjacent pixel as the starting point, obtain the first newly appearing adjacent pixel with a gray value of 0 in a counterclockwise direction and mark it as the search pixel. If there is no adjacent pixel with a gray value of 0, delete this starting pixel and obtain a new starting pixel until a search pixel appears. Repeat the process of obtaining the corresponding search pixel with the search pixel as the center until the newly obtained search pixel is the same as the starting pixel. Stop the operation when the starting pixel and all search pixels are obtained and marked as boundary pixels.
[0106] Step S5: Obtain the reference point of the flying object based on the binary image of the flying object; Step S5 includes the following sub-steps:
[0107] Step S501: Establish a Cartesian coordinate system and mark it as the position coordinate system. Place the binarized image of the aircraft in the first quadrant of the position coordinate system, while ensuring that two sides of the observed binarized image are parallel to the X-axis and Y-axis of the position coordinate system, respectively.
[0108] Step S502: Obtain the maximum and minimum values of the horizontal coordinates of the boundary pixels, and mark them as the maximum horizontal value and the minimum horizontal value, respectively; obtain the maximum and minimum values of the vertical coordinates of the boundary pixels, and mark them as the maximum vertical value and the minimum vertical value, respectively.
[0109] Step S503: Mark the point with the minimum horizontal coordinate and the maximum vertical coordinate as the first coordinate point; mark the point with the minimum horizontal coordinate and the minimum vertical coordinate as the second coordinate point; mark the point with the maximum horizontal coordinate and the minimum vertical coordinate as the third coordinate point; connect the first coordinate point and the second coordinate point to obtain the first line segment; connect the second coordinate point and the third coordinate point to obtain the second line segment; draw a straight line perpendicular to the first line segment through the midpoint of the first line segment and mark it as the first straight line; draw a straight line perpendicular to the second line segment through the midpoint of the second line segment and mark it as the second straight line; obtain the intersection of the first straight line and the second straight line and mark it as the reference point of the flying object.
[0110] Step S6: Obtain the device reference point based on the binary image of the flying object; Step S6 includes the following sub-steps:
[0111] Step S601: Obtain the maximum and minimum values of the abscissa of the binary image of the aircraft, and mark them as the first maximum value and the first minimum value, respectively; obtain the maximum and minimum values of the ordinate of the binary image of the aircraft, and mark them as the second maximum value and the second minimum value, respectively.
[0112] Step S602: Calculate the average of the first maximum value and the first minimum value, and mark it as the first average; calculate the average of the second maximum value and the second minimum value, and mark it as the second average; mark the coordinate point with the first average value as the horizontal axis and the second average value as the equipment reference point.
[0113] Step S7: Obtain the corrected coordinate point based on the reference point of the flying object and the reference point of the equipment. Step S7 includes the following sub-steps: Treat the reference point of the flying object as a fixed point, adjust the optical observation equipment to make the reference point of the equipment coincide with the reference point of the flying object, obtain the three-dimensional coordinates of the flying object observed by the adjusted optical observation equipment, and mark it as the corrected coordinate point.
[0114] Step S8: Determine whether an object has entered the no-fly zone based on the corrected coordinates; Step S8 includes the following sub-steps:
[0115] Step S801: Establish a three-dimensional coordinate system, label it as the flight path coordinate system, and draw all the corrected coordinate points in the flight path coordinate system;
[0116] Step S802: Perform polynomial fitting on all corrected coordinate points to obtain the flight path function;
[0117] Step S803: Draw the no-fly zone in the route coordinate system and mark it as the coordinate system no-fly zone;
[0118] Step S804: Determine whether the flight path function intersects with the no-fly zone of the coordinate system. If they intersect, send a warning signal to the ground control center.
[0119] Example 3: This application also provides an apparatus, which may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, steps such as those in the low-altitude safety monitoring method based on frequency and radio integration are performed to achieve the following functions: real-time acquisition of the position of the transmitting object based on a radio spectrum analyzer, and marking it as the signal position; real-time adjustment of the optical observation equipment to the direction of the signal detection position, acquisition of an image of the object, and marking it as an image of the object; image processing of the object image to obtain a binary image of the object; acquisition of boundary pixels based on the binary image of the object; acquisition of a reference point of the object based on the binary image of the object; acquisition of a device reference point based on the binary image of the object; acquisition of corrected coordinate points based on the object reference point and the device reference point; and determination of whether the object has entered the no-fly zone based on the corrected coordinate points.
[0120] Furthermore, when the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0121] Example 3: This application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute the low-altitude safety monitoring method based on frequency and radio integration provided by the above methods. The method includes: acquiring the position of a flying object transmitting a signal in real time using a radio spectrum analyzer and marking it as the signal position; adjusting an optical observation device to the direction of the signal detection position in real time to acquire an image of the flying object and marking it as the flying object image; performing image processing on the flying object image to obtain a binary image of the flying object; acquiring boundary pixels based on the binary image of the flying object; acquiring a reference point of the flying object based on the binary image of the flying object; acquiring a device reference point based on the binary image of the flying object; acquiring corrected coordinate points based on the flying object reference point and the device reference point; and determining whether the flying object has entered a no-fly zone based on the corrected coordinate points.
[0122] Example 4: This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the steps of the above-mentioned low-altitude safety monitoring method based on frequency and electrical integration to achieve the following functions: real-time acquisition of the position of the transmitting object based on a radio spectrum analyzer, and marking it as the signal position; real-time adjustment of the optical observation equipment to the direction of the signal detection position to acquire an image of the object, and marking it as an image of the object; image processing of the object image to obtain a binarized image of the object; acquisition of boundary pixels based on the binarized image of the object; acquisition of reference points for the object based on the binarized image of the object; acquisition of equipment reference points based on the binarized image of the object; acquisition of corrected coordinate points based on the object reference points and the equipment reference points; and determination of whether the object has entered the no-fly zone based on the corrected coordinate points.
[0123] Based on the above description of the embodiments, the embodiments of the present invention can be provided as methods, systems, or computer program products. Based on this understanding, the above technical solutions, in essence or in terms of their contribution to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or certain parts of the embodiments.
[0124] In the embodiments provided in this application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces. The indirect coupling or communication connection between systems, modules, and units may be electrical, mechanical, or other forms.
[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A low-altitude safety monitoring system based on frequency and electrical integration, characterized in that: include: The system includes a location acquisition module, an image acquisition module, an image processing module, a boundary pixel acquisition module, a flying object reference point acquisition module, an equipment reference point acquisition module, a correction module, and an early warning module. The location acquisition module is used to acquire the location of the transmitting object in real time based on the radio spectrum analyzer and mark it as the signal location; The image acquisition module is used to adjust the optical observation equipment to the direction of the signal detection position in real time, acquire images of the flying object, and mark them as flying object images; The image processing module is used to process the image of the flying object to obtain a binarized image of the flying object. The boundary pixel acquisition module is used to acquire boundary pixels based on the binary image of the flying object. The flying object reference point acquisition module is used to acquire flying object reference points based on the binary image of the flying object; The device reference point acquisition module is used to acquire device reference points based on the binary image of the flying object. The correction module is used to obtain correction coordinate points based on the reference point of the flying object and the reference point of the equipment; The early warning module is used to determine whether a flying object has entered the no-fly zone based on the corrected coordinate points.
2. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 1, characterized in that, The image processing module is configured with a grayscale strategy, which includes: Obtain the red, green, and blue color channel values of each pixel in the image of the flying object. Combine the red, green, and blue color channel values of each pixel in the image of the flying object into a grayscale channel value using a weighted average method to obtain the grayscale image of the flying object.
3. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 2, characterized in that, The image processing module is configured with a binarization strategy, which includes: Divide the grayscale values from 0 to 255 into M equal intervals, and mark them as equal intervals; where M is an integer greater than or equal to 3, and set the initial M to 3; Mark the grayscale values of the pixels in the grayscale image of the flying object as pixel grayscale values; The number of pixel grayscale values in each equal interval of the grayscale image of the flying object is marked as the number of intervals; A histogram is plotted with pixel grayscale values on the X-axis, the number of intervals on the Y-axis, and equal intervals as histogram intervals. This histogram is then labeled as the flying object histogram. The intervals in the histogram of the flying object with a greater number of intervals than the intervals on the left and right sides are marked as peak intervals; Obtain the number of peak intervals in the histogram of the flying object and mark them as the number of peaks; Determine if the number of peaks is less than 2. If so, repeatedly increase the specific value of M by 1 until the number of peaks is greater than or equal to 2. Obtain the corrected histogram of the flying object and mark it as the corrected histogram. In the corrected histogram, find the first peak interval from left to right and mark it as the first interval; then find the first peak interval from right to left and mark it as the second interval. Find the interval with the smallest number of equal intervals between the first interval and the second interval, and mark it as the threshold interval; find the median of the threshold interval and mark it as the binarization threshold. In the grayscale image of the flying object, the grayscale values of pixels greater than or equal to the binarization threshold are set to 255, and the grayscale values of pixels less than the binarization threshold are set to 0, thus obtaining the binarized image of the flying object.
4. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 3, characterized in that, The boundary pixel acquisition module is configured with a boundary pixel acquisition strategy, which includes: The binary image of the aircraft is scanned from top to bottom and left to right. The first pixel whose grayscale value changes from 1 to 0 is captured and marked as the starting pixel. The eight pixels adjacent to the starting pixel are captured and marked as adjacent pixels. The pixel to the left of the starting pixel is marked as the left adjacent pixel. Starting from the starting pixel and the left adjacent pixel, the first newly appearing adjacent pixel with a grayscale value of 0 is captured in a counterclockwise direction and marked as the search pixel. If there is no adjacent pixel with a grayscale value of 0, the starting pixel is deleted and a new starting pixel is captured until a search pixel appears. The process of capturing the corresponding search pixel with the search pixel as the center is repeated until the newly captured search pixel is the same as the starting pixel. The operation stops when the starting pixel and all search pixels are captured and marked as boundary pixels.
5. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 4, characterized in that, The object reference point acquisition module is configured with an object reference point acquisition strategy, which includes: Establish a Cartesian coordinate system, labeled as the position coordinate system, and place the binarized image of the aircraft in the first quadrant of the position coordinate system, while ensuring that two sides of the observed binarized image are parallel to the X-axis and Y-axis of the position coordinate system, respectively. Get the maximum and minimum x-coordinates of the boundary pixels and label them as maximum x-coordinate and minimum x-coordinate, respectively; get the maximum and minimum y-coordinates of the boundary pixels and label them as maximum y-coordinate and minimum y-coordinate, respectively. Mark the point with the x-coordinate being the minimum x-coordinate and the y-coordinate being the maximum y-coordinate as the first coordinate point; mark the point with the x-coordinate being the minimum x-coordinate and the y-coordinate being the minimum y-coordinate as the second coordinate point; mark the point with the x-coordinate being the maximum x-coordinate and the y-coordinate being the minimum y-coordinate as the third coordinate point; connect the first coordinate point and the second coordinate point to obtain the first line segment; connect the second coordinate point and the third coordinate point to obtain the second line segment; draw a straight line perpendicular to the first line segment through the midpoint of the first line segment and mark it as the first straight line; draw a straight line perpendicular to the second line segment through the midpoint of the second line segment and mark it as the second straight line; obtain the intersection of the first straight line and the second straight line and mark it as the reference point of the flying object.
6. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 5, characterized in that, The device reference point acquisition module is configured with a device reference point acquisition strategy, which includes: Obtain the maximum and minimum values of the x-coordinate of the binary image of the aircraft, and label them as the first maximum and the first minimum, respectively; obtain the maximum and minimum values of the y-coordinate of the binary image of the aircraft, and label them as the second maximum and the second minimum, respectively. Calculate the average of the first maximum and the first minimum values, and mark it as the first average; calculate the average of the second maximum and the second minimum values, and mark it as the second average; mark the coordinate point with the first average as the x-axis and the second average as the y-axis as the equipment reference point.
7. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 6, characterized in that, The correction module is configured with a correction strategy, which includes: Treating the reference point of the flying object as a fixed point, the optical observation equipment is adjusted so that the reference point of the equipment coincides with the reference point of the flying object. The three-dimensional coordinates of the flying object observed by the adjusted optical observation equipment are obtained and marked as the corrected coordinate points.
8. The low-altitude safety monitoring system based on frequency and electrical integration according to claim 7, characterized in that, The early warning module is configured with an early warning strategy, which includes: Establish a three-dimensional coordinate system, labeled as the flight path coordinate system, and plot all corrected coordinate points in the flight path coordinate system; The flight path function is obtained by performing polynomial fitting on all corrected coordinate points. Plot the no-fly zone in the flight path coordinate system and mark it as the coordinate system no-fly zone; Determine if the flight path function intersects with the no-fly zone of the coordinate system. If they do, send a warning signal to the ground control center.