Method and related device for cooperative control of unmanned aerial vehicles for low-altitude security

Abstract

The application provides a kind of unmanned aerial vehicle cooperative control method and related device for low altitude security, obtains the multi-source data of flight object in jurisdiction area, and processes to obtain low altitude real-time situation information, analyzes the identification determination result of flight object, when flight object is non-cooperative target, generates alarm information, generates cooperative disposal task package according to alarm information, controls multiple unmanned aerial vehicles according to cooperative disposal task package to cooperate to dispose non-cooperative target. That is, the technical solution obtains track, radio frequency, image / video and other multi-source data and processes to form low altitude real-time situation information, realizes the rapid identification determination and alarm generation of flight object, and generates a cooperative disposal task package automatically when identifying non-cooperative target that needs to be disposed, controls unmanned aerial vehicles according to the task package to cooperate to complete the disposal, improves the response speed and disposal efficiency of sudden and multi-target scene, makes the disposal process more controllable, more efficient and has stronger engineering cooperative ability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) monitoring technology, specifically to UAV collaborative control methods, systems, equipment, and media for low-altitude security. Background Technology

[0002] With the rapid popularization of low-altitude aircraft and consumer drones, drones are widely used in aerial surveying, logistics, and inspection. However, incidents of unauthorized drones intruding into key areas are also on the rise. Such "black flights" may pose potential risks to security for major events, protection of key urban areas, safety of critical infrastructure, and the personal and property safety of the public. Therefore, security monitoring and countermeasures technologies for low-altitude airspace are gradually becoming an important research and application direction for public safety and industry protection.

[0003] In related technologies, most anti-drone solutions can be broadly categorized into two types: The first type is countermeasures systems based on a single technological means. These systems typically employ radio frequency interference and navigation signal deception to interfere with the communication or navigation links of target drones, causing them to lose contact, return to base, or make forced landings. Because these methods rely on the coverage of electromagnetic signals, their effective range and impact boundaries are significantly affected by environmental conditions, power, and propagation conditions, making it difficult to precisely define the affected area. In complex electromagnetic environments or densely populated scenarios, their use may cause unintended impacts on surrounding legitimate communication equipment, electronic facilities, and other normal aircraft, leading to secondary risks. The second type is systems where monitoring and response are relatively separated and primarily manual. These systems typically consist of a ground monitoring center and several response units, which may include jamming equipment and net-catching devices. Their typical operating mode involves personnel detecting and assessing targets on a monitoring interface, then manually selecting the response method and controlling the response equipment to execute it. Because the target discovery, identification, and decision-making processes rely heavily on human intervention and have limited automation, response efficiency and success rates are easily affected by factors such as personnel experience, information timeliness, and command and control links when facing high-speed targets, sudden intrusions, or concurrent multi-target scenarios.

[0004] Therefore, existing technologies need to be improved. Summary of the Invention

[0005] The main objective of this invention is to propose a collaborative control method and related device for unmanned aerial vehicles (UAVs) for low-altitude security, so as to at least solve the technical problems mentioned in the related art.

[0006] A first aspect of the present invention provides a method for cooperative control of unmanned aerial vehicles (UAVs) for low-altitude security, comprising: The system acquires multi-source data of flying objects within its jurisdiction and processes the multi-source data to obtain real-time low-altitude situational information corresponding to the flying objects; wherein the multi-source data includes at least one of flight track data, radio frequency signal data, optical images, and video data. The real-time low-altitude situational information is analyzed to obtain the identification and judgment results of the flying object; When the identification and determination result indicates that the flight object is a non-cooperative target that needs to be dealt with, an alarm message corresponding to the non-cooperative target is generated; A collaborative response task package is generated based on the alarm information; wherein, the collaborative response task package includes the target location, the identifiers of multiple drones participating in the response task, and the sequence of response task steps; According to the collaborative handling task package, multiple drones are controlled to cooperate in order to handle the non-cooperative target.

[0007] A second aspect of the present invention provides a collaborative control system for unmanned aerial vehicles (UAVs), comprising: The intelligent terminal and facility layer is used to collect multi-source data on flying objects within the jurisdiction area; The data and service support layer is used to process the multi-source data and obtain low-altitude real-time situational information corresponding to the flight object. The intelligent application and business layer is used to analyze the real-time low-altitude situational information to obtain the identification and judgment result of the flight object. When the identification and judgment result indicates that the flight object is a non-cooperative target that needs to be dealt with, an alarm message corresponding to the non-cooperative target is generated. A collaborative handling task package is generated based on the alarm message. Multiple corresponding UAVs are controlled to cooperate in accordance with the collaborative handling task package to deal with the non-cooperative target. The collaborative handling task package includes the target location, the identifiers of multiple UAVs participating in the handling task, and the sequence of handling task steps.

[0008] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a bus; The bus is used to enable communication between the memory and the processor; The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the UAV collaborative control method for low-altitude security provided in the first aspect.

[0009] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the UAV collaborative control method for low-altitude security provided in the first aspect.

[0010] This invention provides a method, system, device, and medium for collaborative control of unmanned aerial vehicles (UAVs) in low-altitude security. By acquiring and processing multi-source data such as flight paths, radio frequencies, and images / videos, it generates real-time low-altitude situational information, enabling rapid identification and alarm generation of flying objects. When a non-cooperative target is identified as requiring intervention, a collaborative intervention task package is automatically generated, containing the target's location, identifiers of multiple UAVs involved in the intervention, and a sequence of task steps. Based on the task package, multiple UAVs are controlled to cooperate and complete the intervention. This transforms the traditional "manually sequential" discovery-identification-decision-intervention process into an automated and structured collaborative control closed loop, significantly improving the response speed and intervention efficiency in sudden and multi-target scenarios. It also enhances the information communication and resource scheduling capabilities between the sensing and intervention units, making the intervention process more controllable, efficient, and possessing stronger engineering collaboration capabilities. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A basic flowchart illustrating the UAV collaborative control method for low-altitude security provided in this application embodiment; Figure 2 A schematic diagram of the program modules of the UAV collaborative control system for low-altitude security provided in an embodiment of this application; Figure 3 This is an architecture block diagram of the UAV collaborative control system provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0013] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0014] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0016] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The term "multiple" means two or more, unless otherwise explicitly specified. The term "comprising" indicates the presence of the described feature, whole, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or sets thereof. The term "and / or" describes the relationship between related objects, indicating that three relationships may exist. For example, A and / or B may include three cases: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0017] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art; the terms used in the embodiments of this application are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification, claims and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0018] Furthermore, terms such as "exemplary," "for example," and "optional" are used to indicate illustrative purposes. Any technical solution described by the above terms in the embodiments of this application should not be construed as being more preferred or advantageous than other technical solutions. Specifically, these terms are intended to present the relevant technical concepts in terms of specific implementation methods.

[0019] Please see Figure 1 , Figure 1 This invention illustrates a collaborative control method for unmanned aerial vehicles (UAVs) for low-altitude security, comprising the following steps: Step S101: Obtain multi-source data of flying objects in the jurisdiction area, and process the multi-source data to obtain low-altitude real-time situation information corresponding to the flying objects.

[0020] In this embodiment, ground-based heterogeneous sensing devices are deployed within the jurisdiction, and patrol drones are configured as aerial gap-filling nodes. These ground-based heterogeneous sensing devices may include one or more of radar, radio spectrum monitoring equipment, and photoelectric detection equipment. Each sensing node completes device registration and parameter configuration upon startup. Parameters include at least device identification, installation location, coordinate system type, time reference, and operating frequency band / field of view, to facilitate subsequent unified data access and spatiotemporal alignment. In other words, the aforementioned detection devices are used to monitor flying objects (such as drones, low-altitude aircraft, or other aerial moving targets) within the jurisdiction in real-time or near real-time to obtain at least one of the following: flight path data, radio frequency signal data, and optical image or video data. This provides a data foundation for generating real-time low-altitude situational information corresponding to the flying objects.

[0021] It should be noted that the radar outputs target trajectory observations periodically. These observations include at least timestamps, azimuth / distance / altitude or latitude / longitude, radial velocity, and may also include quality fields such as track number and measurement error. Radio spectrum monitoring equipment scans and acquires target control links or telemetry links, outputting target-related radio frequency signal data. This data may include at least one of the following: center frequency, bandwidth, signal strength, modulation characteristics, time-spectrum feature vector, or radio frequency fingerprint characteristics, and carries a timestamp and device identifier. Optoelectronic detection equipment and / or the onboard optoelectronic payload of patrol drones acquire target images (optical images) / video data and simultaneously output timestamps, gimbal attitude, camera intrinsic / extrinsic parameters, or line-of-sight direction information corresponding to frames / segments. In some embodiments, the optoelectronic end can output intermediate results such as detection frames, target angle / pixel coordinates, and tracking confidence in parallel to reduce bandwidth pressure. The above data is uploaded to the data processing side (edge / cloud) via wired or wireless links. The upload protocol can use a unified data access interface to achieve compatible access to data from different manufacturers and in different formats.

[0022] In one optional implementation, "processing multi-source data (including at least one of trajectory data, radio frequency signal data, optical image, and video data)" is used to unify, correlate, and fuse trajectory data, radio frequency signal data, and optical image / video data from different sensing sources, and output low-altitude real-time situational information for subsequent identification, judgment, and collaborative handling; that is, the low-altitude real-time situational information can characterize the real-time comprehensive status of the flight object within the jurisdiction area, including at least the target identifier, time information, spatial location, and motion state information of the flight object. The motion state information includes at least one of speed, heading, and / or altitude change information, and optionally further characterizes the observation source, fusion confidence level, and target feature summary extracted from radio frequency signal data and / or optical image and video data.

[0023] Step S102: Analyze the real-time situational information at low altitudes to obtain the identification and judgment results of the flying objects.

[0024] Specifically, the system first extracts multi-dimensional features for identification from real-time low-altitude situational information. These multi-dimensional features include at least kinematic features (such as at least one of speed, acceleration, rate of change of heading, and rate of change of altitude) and behavioral pattern features (such as at least one of hovering, circling, rushing, and abnormal maneuvering) obtained by fusing track and motion state. Optionally, radio frequency features (such as frequency band / bandwidth, modulation features, time-spectrum features, or radio frequency fingerprint summaries) obtained from radio frequency signal data and / or visual features (such as detection boxes, appearance feature vectors, or target size features) obtained from optical images and video data can be extracted. Subsequently, the multi-dimensional features are input into a pre-configured identification and / or rule base for matching and classification to obtain the identification and judgment results of the flying object. The identification and judgment results include at least target type identification, cooperative / non-cooperative determination, and confidence level and / or risk score.

[0025] In some embodiments, the cooperation / non-cooperation determination can also be generated by combining the matching results of remote identification information, registration whitelists, or task authorization information, thereby improving the accuracy of identifying non-cooperative targets and reducing the false alarm rate.

[0026] It should be understood that the "cooperative / non-cooperative" determination in the identification results is based on the authorized list. Cooperative targets refer to flight objects whose identification information matches the preset whitelist. The whitelist is used to characterize objects that have been registered, authorized, or permitted to fly within the jurisdiction. Non-cooperative targets refer to flight objects whose identification information matches the preset blacklist. The blacklist is used to characterize unauthorized "black flight" objects or objects listed for key attention / handling. In some embodiments, objects that do not match either the whitelist or the blacklist can be determined as "unknown targets / targets to be verified" and further processed in conjunction with risk scoring or alarm strategies based on real-time low-altitude situational information.

[0027] Step S103: When the identification and judgment result indicates that the flight object is a non-cooperative target that needs to be dealt with, generate alarm information corresponding to the non-cooperative target.

[0028] Specifically, after obtaining the identification and judgment result output in step S102, the system first determines whether the flight target meets the non-cooperative target conditions. The non-cooperative target conditions include at least matching the identification information with the blacklist and / or the identification confidence reaching a preset threshold. When the non-cooperative target conditions are met, the system reads the target's current position and motion status from the low-altitude real-time situation information and calculates the alarm level by combining risk factors such as the target entering a sensitive area, approaching a critical facility, abnormal flight altitude, abnormal speed, or continuous circling. The alarm level can be in the form of multi-level classification or risk scoring. Subsequently, alarm information corresponding to the non-cooperative target is generated. The alarm information includes at least the target identifier, target position, alarm level, and alarm timestamp, and may optionally include target type, predicted trajectory, evidence index (related video clips / RF feature summaries), and recommended handling strategy identifier. After generating the alarm information, the system writes the alarm information to the alarm log and pushes it to the integrated management interface. At the same time, the alarm information is passed as input to the collaborative handling task generation module to form a closed-loop handling process.

[0029] For example, in a certain jurisdictional area, the system detects a target track, confirming that the target is located about 600 meters east of the venue, at an altitude of about 120 meters, and is continuously circling. At the same time, the spectrum monitoring equipment captures the control link radio frequency fingerprint associated with the target, and the fingerprint matches the "fingerprint of a certain type of consumer drone" in the preset blacklist, that is, the identification confidence reaches the threshold. Therefore, step S103 triggers the generation of alarm information: the alarm information records the target identifier (track ID), target location (latitude and longitude / altitude), alarm timestamp (20:15:06), and alarm level (e.g., "high"), and may also include the target type (suspected consumer drone), predicted track, and associated evidence index (corresponding video keyframes and radio frequency feature summaries). Subsequently, the alarm is pushed to the management and control platform interface and enters the subsequent collaborative handling task generation process.

[0030] Step S104: Generate a collaborative handling task package based on the alarm information.

[0031] Specifically, the collaborative response task package may include the target location, the identifiers of multiple drones participating in the response task, and a sequence of response task steps. That is, the system reads alarm information to determine the target location of the target to be responded to, and selects multiple drones from available response resources based on the target location to participate in the response task, generating a corresponding set of drone identifiers. Simultaneously, the response process is arranged according to a preset response strategy template to form a sequence of response task steps. Then, the target location, multiple drone identifiers, and the sequence of response task steps are encapsulated into a structured collaborative response task package, and the collaborative response task package is output to the collaborative control module to drive subsequent response execution.

[0032] For example, after generating an alarm message at 20:15:06, the alarm message indicates the target location as "approximately 600 meters east of the venue (latitude and longitude A, B), altitude approximately 120 meters," with an alarm level of "high." Based on this, the system selects two drones from the resource pool that are closest to the target and meet the deployment conditions: patrol drone U1 and response drone U2 (fully charged, with normal communication, and U2 equipped with physical response payload). The system then generates and encapsulates a collaborative response task package, with the following content: target location (latitude and longitude A, B, altitude 120m), drone identifiers (U1, U2), and the sequence of response steps (Step 1: U1 takes off / arrives at the target area and tracks and locates; Step 2: U1 continuously transmits target guidance information; Step 3: U2 approaches the target according to the guidance information and performs physical response actions; Step 4: After response, U1 / U2 returns and reports the results). This task package is then sent to the collaborative control module for subsequent parsing, path planning, and command issuance.

[0033] Step S105: Control multiple drones to cooperate in accordance with the collaborative disposal task package to deal with non-cooperative targets.

[0034] Specifically, after receiving the collaborative handling task package, the system parses the task package to determine the target location, the identifiers of multiple UAVs participating in the handling, and the sequence of handling task steps. Subsequently, the system decomposes the sequence of handling task steps into control sub-tasks corresponding to each UAV, and generates collaborative control commands based on the target location and the current location of each UAV. The collaborative control commands include at least takeoff, navigation, arrival at a designated area, tracking / locking, handling action triggering, and return-to-home commands. The system sends corresponding control commands to each UAV through the communication link and monitors its status, enabling some UAVs to arrive at the target area first according to the commands and continuously track and locate non-cooperative targets, transmitting target guidance information in real time. The target guidance information includes at least the target's real-time location and / or predicted trajectory. At the same time, the system controls another group of UAVs to approach the non-cooperative targets based on the target guidance information, and executes physical handling actions to control the non-cooperative targets when preset triggering conditions are met. During the handling process, the system continuously receives status data and handling result information transmitted by each UAV, and controls the participating UAVs to return to home after the handling is completed, while outputting the handling results for task closure.

[0035] As can be seen, the UAV collaborative control method for low-altitude security in this application embodiment acquires and processes multi-source data such as flight paths, radio frequencies, and images / videos to form real-time low-altitude situational information, enabling rapid identification and judgment of flying objects and alarm generation. When identified as a non-cooperative target requiring handling, it automatically generates a collaborative handling task package containing the target location, identifiers of multiple UAVs involved in the handling, and a sequence of task steps. Furthermore, it controls multiple UAVs to cooperate and complete the handling based on the task package, thereby transforming the traditional "manually connected" discovery-identification-decision-handling process into an automated and structured collaborative control closed loop. This significantly improves the response speed and handling efficiency in sudden and multi-target scenarios, enhances the information communication and resource scheduling capabilities between the sensing unit and the handling unit, and makes the handling process more controllable, more efficient, and possesses stronger engineering collaborative capabilities.

[0036] In an optional embodiment of this application, acquiring multi-source data of flying objects in the jurisdiction area and processing the multi-source data to obtain low-altitude real-time situation information corresponding to the flying objects includes: collecting multi-source data of flying objects through ground heterogeneous sensing devices and / or patrol drones, preprocessing the multi-source data, performing spatiotemporal registration and target association on the preprocessed multi-source data to form an associated observation set corresponding to the same flying object, performing fusion estimation based on the associated observation set, and outputting low-altitude real-time situation information of the flying objects.

[0037] Specifically, ground-based heterogeneous sensing equipment includes radar, spectrum monitoring equipment, and / or optoelectronic devices, while patrol drones are used to fill in blind spots and acquire images or videos. After the system receives data reported by each device, it first cleans and denoises the data and unifies the format. Then, it performs time alignment and coordinate unification on data from different sources. Within the same time window, it correlates radar tracks, radio frequency observations, and image / video detection results based on the consistency of target position and movement trend to determine whether they correspond to the same flying object. Finally, it fuses the correlated data and outputs the low-altitude real-time situational information of the flying object. The low-altitude real-time situational information includes target identification, time, position, and motion status information such as speed, heading, and altitude.

[0038] For example, at 20:15:03, the radar detected a target track (at an altitude of approximately 120m), the spectrum monitoring equipment captured the control link signal in the same area at 20:15:04, and the patrol drone detected a drone target in the video at 20:15:05. The system aligns the three types of data by time and coordinates and determines that they are the same flying object, and then merges and outputs its situational information: Target ID=Track-001, Time=20:15:05, Position=(latitude and longitude A, B), Speed=12m / s, Heading=Northeast, Altitude 120m.

[0039] In an optional embodiment of this application, analyzing real-time low-altitude situational information to obtain identification and judgment results of flying objects includes: extracting multi-dimensional features for target identification based on real-time low-altitude situational information, and performing identification and judgment processing on the multi-dimensional features to output identification and judgment results of flying objects.

[0040] Specifically, after obtaining real-time low-altitude situational information, the system first establishes an entry to be identified for each flying object, and extracts multi-dimensional features from the real-time low-altitude situational information as identification input. These multi-dimensional features include at least one of the following: kinematic features, pattern features, radio frequency (RF) features, and visual features. Specifically: kinematic features are obtained by fusing track and motion state, and include at least one of velocity, acceleration, rate of change of heading, and rate of change of altitude; pattern features are obtained by fusing track, and include at least one of hovering, circling, sudden advance, and abnormal maneuvering; RF features are obtained from RF signal data, and include at least one of frequency band features, modulation features, signal time-domain / frequency-domain features, and RF fingerprint features; visual features are obtained from the optical image data and / or the video data, and include at least one of target detection boxes, appearance feature vectors, size features, and texture features.

[0041] In an optional embodiment of this application, generating a collaborative handling task package based on alarm information includes: reading the target location from the alarm information, obtaining available resource status and geographical environment information, determining the drone combination participating in the handling task based on the target location, available resource status, and geographical environment information, assigning collaborative roles to the drone combination, and determining the sequence of handling task steps. The available resource status includes at least the location, battery level, and payload status of candidate drones in a preset area; the geographical environment information includes no-fly zones, obstacle distribution, and navigable airspace constraints; the collaborative roles include a guiding drone and a handling drone. The target location, drone combination, collaborative roles, and sequence of handling task steps constitute the collaborative handling task package.

[0042] Specifically, after receiving an alarm message, the system first parses the target location from the alarm message and obtains the available resource status of candidate drones within a preset area from the device management module. Simultaneously, it obtains geographic environment information related to the target location from the geographic information module. Then, the system calculates the arrival cost based on the target location and the current location of the candidate drones, and selects drones that meet the deployment conditions by combining power thresholds and payload matching conditions, forming a drone combination to participate in the disposal task. Based on this, collaborative roles are assigned to the drone combination; for example, drones with continuous detection capabilities are assigned as guide drones, and drones with disposal payloads are assigned as disposal drones. At the same time, a sequence of disposal task steps is generated according to a preset disposal strategy template. Finally, the target location, drone combination, collaborative roles, and the sequence of disposal task steps are structurally encapsulated to form a collaborative disposal task package and output to the collaborative control module.

[0043] This implementation method constructs a collaborative handling mode of "mother drone + daughter drone". The "mother drone" acts as a guide drone to continuously detect, stably track and accurately locate the target area, and provides the target position and guidance information to the daughter drone in real time. The "daughter drone", as the handling drone, quickly approaches the target under the guidance of the mother drone and performs physical handling actions. This achieves a division of labor and collaboration between "detection and guidance - approach and handling", avoiding load conflicts and tracking instability caused by a single drone simultaneously undertaking detection and handling, and improving the handling response speed and hit accuracy. At the same time, the mother drone can maintain continuous observation and feedback of the target and handling scene throughout the entire handling process of the daughter drone, realizing visualized monitoring of the handling process and retention of key data, further improving the safety, controllability and post-event traceability of the handling.

[0044] In an optional embodiment of this application, the alarm information further includes an alarm level. Based on the target location, the status of available resources, and the geographical environment information, a combination of drones participating in the handling task is determined, and collaborative roles are assigned to the drone combination. A handling strategy and a sequence of handling task steps are also determined, including: determining the number of drones in the drone combination based on the target location, alarm level, status of available resources, and geographical environment information; assigning collaborative roles to all drones participating in the task; and determining a handling strategy and a sequence of handling task steps corresponding to the alarm level.

[0045] Specifically, after parsing the alarm information, the system not only obtains the target location, but also reads the alarm level and uses the alarm level as a control parameter for the task scale and handling intensity. Based on the available resource status of candidate drones in the target location and preset area, as well as the geographical environment information associated with the target location, the system determines the combination of drones participating in the handling task and its scale. The available resource status includes at least the location, battery level and payload status of candidate drones, and the geographical environment information includes no-fly zones, obstacle distribution and passable airspace constraints. Furthermore, the system determines the number of drones in the drone combination based on the alarm level: when the alarm level is high, more drones are selected to form redundancy or multi-directional encirclement; when the alarm level is low, the minimum drone set that meets the handling requirements is selected. Simultaneously, a collaborative role is assigned to each drone in the drone combination. The collaborative role includes at least a guide drone and a handling drone. The guide drone is used to arrive at the target area first, continuously track and locate it, and output target guidance information. The handling drone is used to approach the target with the support of the guidance information and perform physical handling actions. In addition, the system selects a corresponding handling strategy from a preset strategy library based on the alarm level and generates a sequence of handling task steps accordingly. The sequence of handling task steps includes at least the arrival and tracking location steps of the guide drone, the approach steps of the handling drone, and the physical handling action triggering steps. Subsequently, the drone combination, collaborative roles, handling strategies, and handling task step sequences are encapsulated into a collaborative handling task package for subsequent collaborative control and execution.

[0046] It should be noted that the alarm level is a graded identifier used to characterize the degree of threat posed by identified non-cooperative targets to the jurisdictional area and the urgency of handling. The system can automatically determine or calculate it based on real-time low-altitude situational information. The determination criteria may include the spatial relationship between the target and sensitive areas / no-fly zones, the approach trend and speed and altitude, the behavior patterns such as hovering, circling and sudden advances, blacklist matching and identification confidence, etc. The alarm level can be in the form of low / medium / high levels or a risk score mapped to a level. It is used to guide the selection of subsequent handling strategies and the configuration of the number of drones and the coordination method for participating in the handling task.

[0047] In an optional embodiment of this application, controlling multiple UAVs to coordinate and cooperate in handling non-cooperative targets according to a collaborative handling task package includes: parsing the collaborative handling task package to determine the task roles, task step sequences, and corresponding collaborative constraints of all UAVs; generating a collaborative planning result that meets the requirements of multi-UAV spatiotemporal coordination based on the target location, collaborative constraints, and the current location and status information of each UAV; generating a collaborative control command sequence based on the collaborative planning result; issuing control commands corresponding to their respective task roles to each UAV participating in the handling task through a communication link; controlling and guiding the UAVs to reach the target area according to the control commands; continuously tracking and locating the non-cooperative target and generating target guidance information; controlling the handling UAVs to approach the non-cooperative target based on the target guidance information and the collaborative planning result; and performing physical handling actions when preset trigger conditions are met to achieve control of the non-cooperative target. The collaborative planning result includes the waypoint sequence and arrival time window of each UAV, and the target guidance information includes the target's real-time location and / or predicted trajectory.

[0048] Specifically, after receiving the collaborative handling task package, the system first parses the package to obtain the target location, the identifiers of the participating UAVs, the task roles of each UAV, the sequence of handling task steps, and the corresponding collaborative constraints. Then, the system combines the target location, the collaborative constraints, and the current location and status information (e.g., battery level, payload, and link status) transmitted by each UAV to generate a collaborative planning result that meets the requirements of multi-UAV spatiotemporal collaboration. The collaborative planning result includes the waypoint sequence and arrival time window of each UAV. Based on this, the system generates a collaborative control command sequence according to the collaborative planning result and issues control commands corresponding to their respective task roles to each participating UAV through the communication link. During execution, the system guides the UAVs to arrive at the target area according to the control commands, continuously tracks and locates non-cooperative targets, and outputs target guidance information, including the target's real-time location and / or predicted trajectory. Simultaneously, the system controls the handling UAVs to approach the non-cooperative targets based on the target guidance information and the collaborative planning result, and performs physical handling actions when preset trigger conditions are met, thereby achieving control of the non-cooperative targets and transmitting the handling status and results back for task closure.

[0049] It should be noted here that "control of non-cooperative targets" refers to actions taken to disable a non-cooperative target's ability to continue its original flight mission, and to restrict, alter, or terminate its flight status as intended, thereby eliminating or reducing its security threat to the jurisdictional area. Specifically, this can include physical control of the target (e.g., netting, clamping, tethering, towing, etc. to capture, tow away, or restrict its movement) and controlled landing / recovery under the premise of safe handling (e.g., gently descent of the target to a designated area). The results are manifested as the target being intercepted, restricted in its flight, removed from a sensitive area, or safely recovered.

[0050] In an optional embodiment of this application, after controlling multiple drones to cooperate in coordination according to the collaborative handling task package to handle non-cooperative targets, the method further includes: Key data is automatically recorded and stored, and timestamp information and task identifiers are generated for the key data. After the handling task is completed, a standardized handling report is automatically generated based on the key data, and an electronic evidence chain is formed. The key data includes at least the original perception data, fused situational data, fused flight path data, identification and judgment results, alarm logs, UAV status data, control command records, and video data of the handling process. The handling report includes at least timeline information, key event information, and backtracking index information corresponding to the key data.

[0051] This implementation method automatically collects, synchronously records, and centrally stores raw perception data, fused situational / track data, identification and judgment results, alarm logs, UAV status data, control command records, and video data of the entire disposal process. It also uniformly associates task identifiers and timestamps with various types of data to establish cross-stage data correspondence. After the task is completed, it automatically aggregates and generates a standardized disposal report containing a timeline, key events, and retrospective index according to a preset template, thereby forming a traceable electronic evidence chain, which facilitates subsequent review and analysis and law enforcement evidence collection.

[0052] Please see Figure 2 The present application provides a drone collaborative control system, which adopts a "cloud-edge-device" layered architecture, mainly including a smart terminal and facility layer 201, a data and service support layer 202, and a smart application and business layer 203. The layers are connected by a communication link to achieve uplink of sensing data and downlink of control commands.

[0053] The intelligent terminal and facility layer 201 serves as an end-side execution unit, used to monitor flying objects in the jurisdiction area and collect multi-source data, including flight track data, radio frequency signal data, optical image data and / or video data.

[0054] The data and service support layer 202 is used to access, clean and denoise, align and coordinate the data from multiple sources, and perform target association and fusion processing on observations from different sources, thereby outputting real-time low-altitude situational information corresponding to the flight object. The real-time low-altitude situational information includes at least the identification information, location, time information and motion status information of the flight object.

[0055] The intelligent application and business layer 203 is used to perform identification and judgment based on real-time low-altitude situational information to obtain the identification and judgment results of the flying object. When the identification and judgment results indicate that the flying object is a non-cooperative target that needs to be dealt with, alarm information corresponding to the non-cooperative target is generated, and further, a collaborative handling task package is generated based on the alarm information. The collaborative handling task package includes at least the target location, the identifiers of multiple UAVs participating in the handling task, and the sequence of handling task steps. Subsequently, the intelligent application and business layer 203 issues control commands according to the collaborative handling task package to control the multiple UAVs to cooperate in accordance with the sequence of handling task steps to deal with the non-cooperative target, and receives status feedback and handling result feedback during the handling process to form a closed loop of handling. If necessary, the system can also record and store key data of the handling process to support post-event review and evidence collection.

[0056] Please see Figure 3 The system adopts a layered collaborative architecture of "cloud-edge / cloud-device": the intelligent terminal and facility layer 201 on the device side includes patrol drones "Yu Xun" (guidance drone), net-catching drones "Yu Qin" (disposal drone), ground radar, and spectrum monitoring stations, etc., used to monitor flying objects within the jurisdiction and collect at least one of trajectory data, radio frequency signal data, and image / video data, and upload the perceived data to the data and service support layer; the data and service support layer 202 provides communication management services, data fusion services, AI computing services, GIS services, resource scheduling services, and task scheduling services in a microservice cluster manner, supporting the upper... The system integrates and fuses multi-source data to generate real-time low-altitude situational information and provides interfaces to the upper layer. The cloud-side intelligent application and business layer 203 includes the "Qiyun" integrated management and control platform and the "Yu'an" anti-drone operation platform. The two interact through service interfaces. "Qiyun" is used to identify targets and manage alarms based on situational information and generate collaborative disposal tasks. "Yu'an" is used to receive tasks and generate control commands to send to the terminal drones, control "Yu Xun" to perform tracking and guidance, and control "Yu Qin" to perform disposal actions. At the same time, it sends the drone status and disposal results back to the upper layer, realizing closed-loop collaboration between the uplink of perception data and the downlink of control commands.

[0057] Figure 4 An electronic device according to a fourth embodiment of the present invention is shown. This electronic device can be used to implement the UAV cooperative control method for low-altitude security in any of the foregoing embodiments. The electronic device includes: The system includes a memory 401, a processor 402, a bus 403, and a computer program stored in the memory 401 and executable on the processor 402. The memory 401 and the processor 402 are connected via the bus 403. When the processor 402 executes the computer program, it implements the UAV cooperative control method for low-altitude security described in the foregoing embodiments. The number of processors can be one or more.

[0058] The memory 401 can be a high-speed random access memory (RAM) or a non-volatile memory, such as a disk storage device. The memory 401 is used to store executable program code, and the processor 402 is coupled to the memory 401.

[0059] Furthermore, embodiments of this application also provide a computer-readable storage medium, which may be disposed in the electronic device in the above embodiments, and the computer-readable storage medium may be a memory.

[0060] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the UAV collaborative control method for low-altitude security described in the foregoing embodiments. Furthermore, the computer-readable storage medium can also be a USB flash drive, external hard drive, read-only memory (ROM), RAM, magnetic disk, or optical disk, or any other medium capable of storing program code.

[0061] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0062] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0063] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0064] If the integrated module is implemented as a software functional module and sold or used as an independent product, it 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 all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable 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 of the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, external hard drives, ROM, RAM, magnetic disks, or optical disks.

[0065] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0066] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0067] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A collaborative control method for unmanned aerial vehicles (UAVs) for low-altitude security, characterized in that, include: The system acquires multi-source data of flying objects within its jurisdiction and processes the multi-source data to obtain real-time low-altitude situational information corresponding to the flying objects; wherein the multi-source data includes at least one of flight track data, radio frequency signal data, optical images, and video data. The real-time low-altitude situational information is analyzed to obtain the identification and judgment results of the flying object; When the identification and determination result indicates that the flight object is a non-cooperative target that needs to be dealt with, an alarm message corresponding to the non-cooperative target is generated; A collaborative response task package is generated based on the alarm information; wherein, the collaborative response task package includes the target location, the identifiers of multiple drones participating in the response task, and the sequence of response task steps; According to the collaborative handling task package, multiple drones are controlled to cooperate in order to handle the non-cooperative target.

2. The UAV cooperative control method for low-altitude security as described in claim 1, characterized in that, The step of acquiring multi-source data on flying objects within the jurisdiction area and processing the multi-source data to obtain low-altitude real-time situational information corresponding to the flying objects includes: Multi-source data of the flying object are collected through ground-based heterogeneous sensing devices and / or patrol drones; The multi-source data is preprocessed, and the preprocessed multi-source data is spatiotemporally registered and associated with the target to form an associated observation set corresponding to the same flight object; Based on the associated observation set, a fusion estimation is performed to output the low-altitude real-time situational information of the flight object; wherein, the low-altitude real-time situational information includes the identification information, location, time information and motion state information of the flight object, and the motion state information includes speed, heading and altitude.

3. The UAV cooperative control method for low-altitude security as described in claim 1, characterized in that, The analysis of the low-altitude real-time situational information to obtain the identification and judgment result of the flying object includes: Based on the real-time low-altitude situational information, multi-dimensional features for target identification are extracted, and identification and judgment processing is performed on the multi-dimensional features to output the identification and judgment result of the flying object. The multidimensional features include at least one of the following: kinematic features, pattern features, radio frequency features, and visual features; The kinematic characteristics are obtained by fusing the track and motion state, and the kinematic characteristics include at least one of velocity, acceleration, rate of change of heading, and rate of change of altitude; The pattern features are obtained by fusing flight paths, and the behavioral pattern features include at least one of hovering, circling, rushing, and abnormal maneuvering. The radio frequency (RF) features are obtained from RF signal data, and the RF features include at least one of frequency band features, modulation features, signal time-domain / frequency-domain features, and RF fingerprint features. The visual features are obtained from the optical image data and / or the video data, and the visual features include at least one of the following: target detection box, appearance feature vector, size feature, and texture feature.

4. The UAV cooperative control method for low-altitude security as described in any one of claims 1 to 3, characterized in that, The step of generating a collaborative handling task package based on the alarm information includes: Read the target location from the alarm information and obtain the available resource status and geographical environment information. The available resource status includes at least the location, battery level and payload status of the candidate UAV in the preset area. The geographical environment information includes no-fly zones, obstacle distribution and passable airspace constraints. Based on the target location, the status of available resources, and the geographical environment information, a combination of drones participating in the disposal task is determined, and collaborative roles are assigned to the combination of drones. The sequence of steps for the disposal task is also determined. The collaborative roles include guiding drones and disposal drones. The target location, the drone combination, the cooperating roles, and the sequence of handling task steps constitute the collaborative handling task package.

5. The UAV collaborative control method for low-altitude security as described in claim 4, characterized in that, The alarm information also includes the alarm level; Based on the target location, the status of available resources, and the geographical environment information, the process involves determining the drone ensemble participating in the disposal task, assigning collaborative roles to the drone ensemble, and determining the disposal strategy and the sequence of disposal task steps, including: Based on the target location, the alarm level, the available resource status, and the geographical environment information, the number of drones in the drone combination is determined, and collaborative roles are assigned to all drones participating in the task. Furthermore, a handling strategy and a sequence of handling task steps corresponding to the alarm level are determined. The sequence of handling task steps includes steps for guiding the arrival and tracking of the drones, steps for handling the drones approaching, and steps for triggering physical handling actions.

6. The UAV cooperative control method for low-altitude security as described in claim 4, characterized in that, The step of controlling multiple drones to cooperate in coordination according to the coordinated handling task package to handle the non-cooperative target includes: The collaborative processing task package is parsed to determine the task roles, task step sequences, and collaborative constraints corresponding to the task step sequences of all UAVs. Based on the target location, the cooperative constraints, and the current location and status information of each UAV, a cooperative planning result that meets the requirements of multi-UAV spatiotemporal cooperation is generated; wherein, the cooperative planning result includes the waypoint sequence and arrival time window of each UAV; Based on the collaborative planning results, a collaborative control command sequence is generated, and control commands corresponding to their respective task roles are issued to each of the UAVs participating in the task through a communication link. The system controls the guided drone to reach the target area according to the control commands, continuously tracks and locates the non-cooperative target, and generates target guidance information; wherein, the target guidance information includes the target's real-time position and / or predicted trajectory; The control drone approaches the non-cooperative target based on the target guidance information and the collaborative planning results, and performs physical actions to control the non-cooperative target when preset triggering conditions are met.

7. The UAV collaborative control method for low-altitude security as described in claim 1, characterized in that, After controlling multiple drones to cooperate in coordination according to the collaborative handling task package to handle the non-cooperative target, the method further includes: Automatically record and store key data; wherein, the key data includes at least raw perception data, fused situational data, fused flight path data, identification and judgment results, alarm logs, UAV status data, control command records, and video data of the handling process; Generate timestamp information and task identifiers for the key data; After the task is completed, a standardized handling report is automatically generated based on the key data, and an electronic evidence chain is formed; wherein, the handling report includes at least timeline information, key event information, and backtracking index information corresponding to the key data.

8. A collaborative control system for unmanned aerial vehicles (UAVs), characterized in that, include: The intelligent terminal and facility layer is used to collect multi-source data on flying objects within the jurisdiction area; The data and service support layer is used to process the multi-source data and obtain low-altitude real-time situational information corresponding to the flight object. The intelligent application and business layer is used to analyze the real-time low-altitude situational information to obtain the identification and judgment result of the flight object. When the identification and judgment result indicates that the flight object is a non-cooperative target that needs to be dealt with, an alarm message corresponding to the non-cooperative target is generated. A collaborative handling task package is generated based on the alarm message. Multiple corresponding UAVs are controlled to cooperate in accordance with the collaborative handling task package to deal with the non-cooperative target. The collaborative handling task package includes the target location, the identifiers of multiple UAVs participating in the handling task, and the sequence of handling task steps.

9. An electronic device, characterized in that, Includes memory, processor, and bus; The bus is used to enable communication between the memory and the processor; The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the UAV collaborative control method for low-altitude security as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the UAV collaborative control method for low-altitude security as described in any one of claims 1 to 7.

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