Distributed low-slow small target photoelectric detection identification system and method

Abstract

The invention relates to a distributed low-slow small target photoelectric detection and identification system, and provides a distributed short-range photoelectric detection mode for solving the problems of weak protection capability, high protection cost and the like of radar, radio detection equipment and the like in an ultra-near low-altitude airspace in a low-slow small target prevention and control system taking an unmanned aerial vehicle as a main part. A plurality of low-cost short-range photoelectric detection devices are erected in a distributed networking manner, so that the functions of detection discovery, tracking identification, data fusion processing, situation display and the like of a threat target in an ultra-near low-altitude airspace are realized, and the coping requirements of ultra-near low-altitude defense are met. The deployment mode introduced by the system is an effective technical means for blind compensation detection in a conventional protection system, the detection loopholes of traditional detection equipment are made up, the detection efficiency and the equipment safety are improved, meanwhile, the deployment cost and difficulty of the ultra-near airspace are reduced, and an open networking mode is provided for protection of the ultra-near airspace.

Description

TECHNICAL FIELD

[0001] The present application relates to the computer peripheral manufacturing technical field of image recognition, human-computer interaction device, graphic image output device and the like, in particular to a distributed low, slow and small target photoelectric detection and recognition system. BACKGROUND

[0002] At present, low, slow and small targets mainly including unmanned aerial vehicles are easy to obtain, use and hide, and suddenly take off, and are difficult to detect and dispose, so they are likely to be used by hostile forces to implement peeping and spying on large-scale activities and key areas, and even to implement dangerous activities, seriously interfering with and damaging the development of large-scale activities and the safety of key areas. The protection requirements of these key places are usually the protection of urban complex environments or super-close low-altitude airspace, but in the traditional protection system, the radar, radio detection and other equipment are weak in protection ability and have protection defects due to the limitation of equipment technology system. How to protect the low-altitude safety of key areas and large-scale gatherings in China, solve the protection problem of low, slow and small targets in urban complex environments or super-close low-altitude airspace, and consider the protection cost and equipment erection difficulty are the main problems to be solved at present.

[0003] To realize the protection of low, slow and small targets in urban complex environments or super-close low-altitude airspace, it is necessary to break through the detection defects of radar and radio equipment in the traditional detection system and give play to the detection and recognition advantages of photoelectric equipment. In the past, although single or multiple sets of equipment were used for detection and recognition of targets in urban complex environments or super-close low-altitude airspace, a detection and recognition system combining multiple sets of "static" panoramic / area monitoring photoelectric equipment with a single set of photoelectric tracking equipment was not used. SUMMARY

[0004] In order to solve the problems existing in the prior art, the present application provides a distributed low, slow and small target photoelectric detection and recognition system, which comprises a command and control subsystem, photoelectric tracking and recognition equipment and static panoramic / area detection equipment, the photoelectric tracking and recognition equipment is located at the center of the protected area, the static panoramic / area detection equipment is distributed around the photoelectric tracking equipment, and the command and control subsystem is network-connected or physically connected with other equipment by optical fiber; The static panoramic / area detection equipment is used for covering the specified detection area, realizing the search, detection and alarm of targets in the specified airspace, and transmitting the alarm information to the photoelectric tracking and recognition equipment and the command and control subsystem respectively; The photoelectric tracking and identification device includes a servo turntable, a visible light or infrared sensor, and a laser rangefinder. Driven by the servo turntable, it realizes the angle change of the azimuth and pitch directions. The photoelectric tracking and identification device uses image detection technology and automatic control strategy to track and identify targets detected by static panoramic / regional detection equipment. The photoelectric tracking and identification device receives alarm information from static panoramic / regional detection equipment and control commands from the command and control subsystem. According to the alarm information or control commands, it turns the servo turntable to the target position, so that the visible light or infrared sensor can capture the threatening target and obtain the target image information. The command and control subsystem receives raw image information and target alarm information reported by static panoramic / regional detection equipment. It also receives target location, distance, and type information reported by photoelectric tracking and identification equipment. Based on the reported information, it performs data fusion, analysis, and key information extraction to generate real-time comprehensive perception situational data of targets within the protected area. It displays the real-time situational perception results of the protected area, sorts the target threat levels according to predetermined judgment criteria, and completes target information distribution command and system resource scheduling.

[0005] Furthermore, the static panoramic / regional detection device uses multiple visible light / infrared sensors stitched together, employs image processing technology to stitch together the acquired images, uses image detection algorithms to detect targets, and displays the target detection results on the display and control terminal.

[0006] Furthermore, the relationship between the detection distance of the photoelectric tracking and identification device and the protected area is as follows: in, This represents the maximum detection distance of the photoelectric tracking and identification device. The side length of the protected area.

[0007] Furthermore, the deployment of the static panoramic / regional detection equipment satisfies the following conditions: the combined detection range of all static panoramic / regional detection equipment completely covers the prevention and control area, and adjacent static panoramic / regional detection equipment fills in each other's blind spots.

[0008] Furthermore, the center distance between two adjacent static panoramic / regional detection devices satisfies the following relationship: in, The center distance between two adjacent static panoramic / regional detection devices. This represents the maximum detection distance for static panoramic / regional detection equipment. This refers to the blind zone radius of static panoramic / regional detection equipment.

[0009] Furthermore, when adopting Protective equipment for static panoramic / area detection The static panoramic / area detection device arrangement satisfies the following relationship: Wherein, L is the length of the protected area, Lmax is the maximum detection distance of the static panoramic / area detection device, Lc is the center distance between two adjacent static panoramic / area detection devices, N is the number of devices arranged in a single row along the length of the protected area, N is the number of devices arranged in a single row along the length of the protected area, N is the number of devices arranged in a single row along the length of the protected area. N is the number of devices arranged in a single row along the length of the protected area.

[0010] The present application aims to solve the problems of weak protection capability and high protection cost of radar, radio detection and other devices in the low, slow and small target prevention and control system based on unmanned aerial vehicles in the ultra-low altitude airspace, and proposes a distributed short-range photoelectric detection mode. Multiple low-cost short-range photoelectric detection devices are arranged in a distributed networking manner to realize the detection and discovery, tracking and identification, data fusion processing and situation display of threat targets in the ultra-low altitude airspace, and meet the response needs of ultra-low altitude defense. The defense arrangement mode introduced by the system is an effective technical means for blind detection in conventional protection systems, which fills the detection gap of traditional detection devices, improves the detection efficiency and device safety, and also reduces the defense arrangement cost and difficulty of the ultra-low altitude airspace, providing an open networking mode for ultra-low altitude protection. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is the device composition structure relationship diagram of the present application; Figure 2 is the device connection relationship diagram in a specific embodiment of the present application; Figure 3 is a distributed photoelectric defense schematic diagram in a specific embodiment of the present application (taking the protection of a 500m*500m*30m area as an example). DETAILED DESCRIPTION

[0012] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described below through specific embodiments and drawings.

[0013] In view of the protection problem of low, slow and small targets in complex urban environments or ultra-low altitude airspace, the present application discloses a distributed low, slow and small target photoelectric detection and identification system. The system is an open structure, which includes 1 set of command and control subsystem, 1 set of photoelectric tracking and identification equipment, N (N is an integer greater than or equal to 1) sets of short-range photoelectric detection equipment, and 1 set of data fusion and situation display equipment. The static panoramic / area detection device is used for searching targets, wherein the static panoramic / area detection device does not rotate in the elevation and azimuth directions during the operation, so as to realize the coverage of a certain detection range, complete the search and discovery of the specified area targets, and improve the search efficiency and concealment of the system. Figure 1

[0014] The number and deployment position of the static panoramic / area detection device in the system can be designed according to the requirements of the control area, and the detection range of multiple devices is combined to achieve the coverage of the specified detection area, realize the search, detection and alarm of the targets in the specified airspace, and transmit the alarm information to the photoelectric tracking and identification device and the command and control subsystem, respectively. The static panoramic / area detection device usually uses a plurality of low-cost visible light / infrared sensors in a splicing and combination manner to realize the coverage of 360°, 180°, 90°, etc. Image processing technology is used to splice and process the collected images to realize the image splicing and processing in the panoramic 360° or specified angle range. Image detection algorithm is used to detect the targets, and the target detection result is displayed by the display and control terminal, so as to realize the monitoring and alarm of the low, slow and small targets in the coverage airspace of the static panoramic / area monitoring device.

[0015] The photoelectric tracking and identification device includes a servo turntable, a visible light or infrared sensor and a laser range finder. The infrared and visible light sensors are driven by the servo turntable to realize the angle change in the azimuth and elevation directions. Image detection technology and automatic control strategy are used to realize stable tracking and identification of the targets detected by the panoramic / area monitoring device. The photoelectric tracking and identification device can receive the alarm information of any static panoramic / area detection device and the control instruction of the command and control subsystem, and turn the servo turntable to the target position according to the alarm information or the control instruction, so that the visible light or infrared sensor can capture the threat target and obtain the target image information. Intelligent signal processing architecture and advanced deep learning algorithm are used to realize stable tracking, identification and judgment of the threat target and information reporting.

[0016] The command and control subsystem receives the image and other original information and target alarm information reported by the static panoramic / area detection device, and also receives the target position, distance, type and other information reported by the photoelectric tracking and identification device. According to the reported information, data fusion, analysis and key information extraction are completed, real-time comprehensive perception situation data of the targets in the protection area are generated, the real-time situation perception result of the protection area is displayed, the target threat level is sorted according to the predetermined judgment criteria, the target information distribution command and system resource scheduling are completed.

[0017] ​The distributed low-speed, small-target photoelectric detection and identification system of this invention is specifically deployed as follows: the photoelectric tracking and identification equipment is located at the center of the protected area, and static panoramic / regional detection equipment is distributed around the photoelectric tracking equipment. The number and distribution of these devices depend on the size of the protected area and the protection range of a single set of static panoramic / regional detection equipment. The command and control subsystem can be deployed at any location, requiring only a network or fiber optic physical connection with other devices. When selecting photoelectric tracking and identification equipment, the relationship between its detection distance and the protected area is as follows: —Maximum detection distance of photoelectric tracking and identification equipment —Side length of the protected area When deploying static panoramic / area detection equipment, the following principles should be followed: 1. The combined detection range of all static panoramic / regional detection devices can completely cover the control area; 2. Two adjacent static panoramic / regional detection devices can fill in each other's blind spots.

[0018] The center-to-center distance between two adjacent static panoramic / regional detection devices satisfies the following relationship: —Center-to-center distance between two adjacent static panoramic / regional detection devices —Maximum detection distance for static panoramic / area detection equipment —Blind zone radius of static panoramic / area detection equipment If adopted Protective equipment for static panoramic / area detection The arrangement of static panoramic / regional detection equipment in a given area should satisfy the following relationship: —Side length of the protected area —Maximum detection distance for static panoramic / area detection equipment —Center-to-center distance between two adjacent static panoramic / regional detection devices —along the side length of the protected area Number of devices arranged in a single direction —along the side length of the protected area Number of devices arranged in a single column in a direction In summary, when selecting the indexes of the devices in the system and designing the deployment, the indexes of the devices and the protection area are comprehensively considered to optimize the deployment difficulty and cost.

[0019] In order to better understand the content of the present application, an embodiment is given.

[0020] An embodiment of the present application provides a device selection and deployment method of a distributed low, slow and small target photoelectric detection and identification system with a rectangular ultra-near space area of 500m*500m*30m as a protection area. Figure 2 As shown in the figure, the system is composed of four panoramic detection devices, one photoelectric tracking and identification device and one command and control subsystem.

[0021] The panoramic detection device mainly includes low-cost visible light and infrared sensors and supporting software. The visible light and infrared sensors obtain the visible light or infrared image of the target in the 360° airspace through multiple combinations, complete the search, detection and alarm of the airspace target, and transmit the alarm information to the photoelectric tracking and identification device and the command and control subsystem. The panoramic detection device determines the number and arrangement of the sensors according to the horizontal field of view of the visible light or infrared sensor, and realizes 360° horizontal detection coverage without rotation. The panoramic detection device has mature post-image processing technology, can realize 360° image splicing processing of panoramic monitoring, and presents the target detection information result to the display and control terminal through the image detection algorithm, so as to realize the early warning of the low, slow and small target in the airspace covered by the panoramic monitoring device.

[0022] The photoelectric tracking and identification device includes a servo turntable, a visible light or infrared sensor, a laser range finder and supporting software. The servo turntable is adjusted according to the target alarm information, so that the visible light or infrared sensor captures the threat target and obtains the target image information, adopts an intelligent signal processing architecture and an advanced deep learning algorithm, realizes stable tracking, identification and judgment of the threat target and information reporting. The photoelectric tracking and identification device can realize large-angle range coverage in the vertical direction through the servo turntable, and can realize 360° coverage range through the horizontal scanning in the horizontal direction. When the power is selected, only the tracking and identification distance index needs to be considered. In the embodiment of the present application, the circular area covered by the photoelectric tracking and identification device in the horizontal direction is larger than the boundary of the protection area, so that the tracking and identification distance requirement of the discovered target in the protection area can be met.

[0023] The command control subsystem is the information center of the distributed photoelectric detection and identification system, extracts the target information reported by the photoelectric equipment, extracts, fuses and processes the target information, presents the real-time situation awareness based on the protection area, and plays an auxiliary judgment and decision-making role, so as to realize the information interconnection and collaborative scheduling among distributed devices. The command control subsystem needs to have a certain expansion capacity, and the ability of linkage interaction and data reporting with other protection systems, so as to improve the combat effectiveness.

[0024] For the protection requirement of 500m*500m*30m, combined with the power indicators of various low-cost photoelectric equipment and the working mode of the distributed photoelectric detection and identification system, the photoelectric equipment in the embodiment of the application is arranged in a "1:4" mode (1 tracking and identification device, 1 command control subsystem and 4 panoramic monitoring devices). The panoramic detection device has a detection alarm distance greater than 250m, a vertical angle greater than 30° and a horizontal angle sum greater than 360°, so as to meet the coverage of the 30m airspace in the 500m*500m rectangular area. The distance indicator of the photoelectric tracking and identification device is better than 353.5m, so as to cover the 500m*500m rectangular area. In addition, the command control subsystem needs to have sufficient photoelectric equipment access capacity and data processing capacity.

[0025] When deploying in the example area, especially when deploying the panoramic detection device, the device blind area needs to be considered. The pitch angle of a single panoramic detection device is 30°, which will inevitably form a conical detection blind area above the device, so the blind area problem needs to be fully considered when deploying the device, that is, the full coverage of the specified area needs to be solved, and the number of devices, system capacity and cost also need to be considered.

[0026] Figure 3 A typical deployment mode of the distributed photoelectric detection and identification system is given, the detection and identification ranges of various devices are indicated, and the indicators of the selected various photoelectric devices are also easy to realize, so as to meet the protection requirements of low cost, modularization and miniaturization in the ultra-low airspace.

[0027] The above only describes the preferred embodiments of the application, and it should be noted that for ordinary skilled persons in the technical field, some improvements and modifications can be made without departing from the technical principles of the application, and these improvements and modifications should also be considered as the protection scope of the application.

Claims

1. A distributed photoelectric detection and identification system for low-speed, small targets, characterized in that, It includes a command and control subsystem, photoelectric tracking and identification equipment, and static panoramic / area detection equipment. The photoelectric tracking and identification equipment is located in the center of the protected area, and the static panoramic / area detection equipment is distributed around the photoelectric tracking equipment. The command and control subsystem is connected to other equipment via network or physical fiber optic connection. The static panoramic / regional detection equipment is used to cover a designated detection area, realize the search, detection and alarm of targets in the designated airspace, and transmit the alarm information to the photoelectric tracking and identification equipment and the command and control subsystem respectively. The photoelectric tracking and identification device includes a servo turntable, a visible light or infrared sensor, and a laser rangefinder. Driven by the servo turntable, it realizes the angle change of the azimuth and pitch directions. The photoelectric tracking and identification device uses image detection technology and automatic control strategy to track and identify targets detected by static panoramic / regional detection equipment. The photoelectric tracking and identification device receives alarm information from static panoramic / regional detection equipment and control commands from the command and control subsystem. According to the alarm information or control commands, it turns the servo turntable to the target position, so that the visible light or infrared sensor can capture the threatening target and obtain the target image information. The command and control subsystem receives raw image information and target alarm information reported by static panoramic / regional detection equipment. It also receives target location, distance, and type information reported by photoelectric tracking and identification equipment. Based on the reported information, it performs data fusion, analysis, and key information extraction to generate real-time comprehensive perception situational data of targets within the protected area. It displays the real-time situational perception results of the protected area, sorts the target threat levels according to predetermined judgment criteria, and completes target information distribution command and system resource scheduling.

2. The distributed photoelectric detection and identification system for low-speed, small targets as described in claim 1, characterized in that, The static panoramic / regional detection device uses multiple visible light / infrared sensors stitched together, employs image processing technology to stitch together the acquired images, uses image detection algorithms to detect targets, and displays the target detection results on the display and control terminal.

3. The distributed photoelectric detection and identification system for low-speed, small targets as described in claim 1, characterized in that, The relationship between the detection distance of the photoelectric tracking and identification device and the protected area is as follows: in, This represents the maximum detection distance of the photoelectric tracking and identification device. The side length of the protected area.

4. The distributed photoelectric detection and identification system for low-speed, small targets as described in claim 1, characterized in that, The deployment of the static panoramic / regional detection equipment satisfies the following conditions: the combined detection range of all static panoramic / regional detection equipment completely covers the prevention and control area, and adjacent static panoramic / regional detection equipment fills in each other's blind spots.

5. The distributed photoelectric detection and identification system for low-speed, small targets as described in claim 4, characterized in that, The center-to-center distance between two adjacent static panoramic / regional detection devices satisfies the following relationship: in, The center distance between two adjacent static panoramic / regional detection devices. This represents the maximum detection distance for static panoramic / regional detection equipment. This refers to the blind zone radius of static panoramic / regional detection equipment.

6. The distributed photoelectric detection and identification system for low-speed, small targets as described in claim 5, characterized in that, When using Protective equipment for static panoramic / area detection When dealing with a region, the arrangement of static panoramic / regional detection equipment should satisfy the following relationship: in, To protect the side length of the area, This represents the maximum detection distance for static panoramic / regional detection equipment. The center distance between two adjacent static panoramic / regional detection devices. For the length of the protected area The number of devices arranged in a single row in a specific direction. For the length of the protected area The number of devices arranged in a single column in a specific direction.

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