A park low-altitude unmanned aerial vehicle hierarchical disposal strategy generation method and system

Abstract

The application discloses a kind of park low altitude unmanned aerial vehicle hierarchical disposal strategy generation method and system, it is related to low altitude security information processing and disposal control technical field.The method includes: platform server receives the intrusion target data in park low altitude monitoring area, park area data and disposal equipment feedback data;For each intrusion target, generate corresponding disposal token, and write in target distance state, approximation state, area sensitivity level, continuous detection state, equipment available state and artificial confirmation state in disposal token;According to the current state of disposal token, determine observation level, broadcast warning level, authorized technical disposal level or artificial disposal level;According to disposal level, generate corresponding disposal instruction, and receive the execution feedback returned by broadcast equipment, authorized technical disposal equipment or security terminal to update disposal token.

Description

Technical Field

[0001] This invention relates to the field of low-altitude security information processing and control technology, and in particular to a method and system for generating a graded disposal strategy for low-altitude drones in a park. Background Technology

[0002] With the widespread application of small low-altitude drones in scenarios such as aerial photography, logistics, inspection, and consumer entertainment, the risk of low-altitude intrusion around industrial parks, classified units, and critical infrastructure is gradually increasing. For property parks, research parks, government and enterprise parks, or classified parks, low-altitude drones may cause problems such as illegal filming, disorderly flight, and crossing boundaries or approaching core areas. Therefore, it is necessary to incorporate the handling process after the detection of low-altitude targets into the park's security platform for unified management.

[0003] Existing park security systems typically detect low-altitude targets using radar, cameras, photoelectric devices, or other monitoring equipment, and output data such as target distance, orientation, location, and detection time to the management platform. However, the handling of targets after detection often relies on fixed pre-set plans, such as triggering broadcast alerts or activating technical response equipment whenever a target enters a certain area. While this approach is simple to implement, it does not adequately consider whether the target is persistent, whether it is approaching a critical area, whether the response equipment is available, or whether security personnel have already intervened.

[0004] In actual park operations, different handling actions are applicable to different scenarios. Low-altitude targets that are far away and not continuously approaching sensitive areas may only require observation and recording; targets that continuously approach important areas may require broadcast warnings; authorized technical handling equipment should only be invoked when the risk further escalates and equipment is available; when equipment is unavailable, the target continues to approach after handling, or confirmation by security personnel is required, manual handling procedures must be initiated. Without a unified strategy generation mechanism, problems such as over-handling of low-risk targets, delayed handling of high-risk targets, and mismatch between equipment status and strategy output can easily occur.

[0005] Furthermore, in existing systems, the status of intrusion targets, the sensitivity level of the campus area, feedback from handling equipment, and manual confirmation results are typically maintained in different modules. Even if multiple modules can transfer data, there is often a lack of a unified status object indexed by the same intrusion target, resulting in a disconnect between policy generation and subsequent feedback updates. For example, the platform may have issued broadcast warnings or technical handling instructions, but information such as whether the equipment executed them, whether the target moved away, and whether security personnel confirmed the action is not promptly written back to the same target status, making it difficult to form a traceable feedback loop.

[0006] Therefore, it is necessary to provide a method for generating a hierarchical handling strategy for the same intrusion target, which unifies the intrusion target data, park area data, and handling equipment feedback data, and records key statuses through handling tokens, so that the platform server can determine the handling level based on the current status of the token, output the corresponding handling instructions, and update the token status after receiving execution feedback, thereby forming a clear, executable, and traceable hierarchical handling closed loop. Summary of the Invention

[0007] This invention aims to provide a method and system for generating graded disposal strategies for low-altitude unmanned aerial vehicles (UAVs) in industrial parks, which solves the problems of lack of a unified status object for disposal strategies after low-altitude targets are detected, disconnect between disposal level generation and equipment feedback updates, and difficulty in coordinating equipment status with manual confirmation processes.

[0008] To solve the above problems, see [link to relevant documentation]. Figure 1 This invention provides a method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles (UAVs) in a park. The method includes: a platform server receiving intrusion target data, park area data, and feedback data from disposal equipment within the low-altitude monitoring area of ​​the park; the platform server generating a corresponding disposal token for each intrusion target, and writing the target distance status, approach status, area sensitivity level, continuous detection status, equipment availability status, and manual confirmation status of the same intrusion target into the disposal token based on the intrusion target data, park area data, and disposal equipment feedback data; the platform server determining the disposal level based on the current status of the disposal token, the disposal level including observation level, broadcast warning level, authorized technical disposal level, and manual disposal level; the platform server generating corresponding disposal instructions based on the disposal level; when the disposal level is observation level, recording the intrusion target status; when the disposal level is broadcast warning level, authorized technical disposal level, or manual disposal level, sending corresponding disposal instructions to the broadcast equipment, authorized technical disposal equipment, or security terminal, respectively; the platform server receiving execution feedback from the broadcast equipment, authorized technical disposal equipment, or security terminal, and updating the disposal token based on the execution feedback, forming a feedback closed loop for generating the graded disposal strategy.

[0009] In one implementation, the intrusion target data includes target distance, target orientation, target location, and detection time; the park area data includes park map data, electronic fence data, and sensitivity level data for different areas within the park; the response equipment feedback data includes feedback data from broadcast equipment, authorized technical response equipment, and security terminal. The equipment availability status is determined by the platform server based on the response equipment feedback data, including available status, in-process status, fault status, and offline status; the manual confirmation status is written to the response token by the platform server and updated based on the manual confirmation result returned by the security terminal, including unconfirmed status, pending confirmation status, confirmed status, and manual response in progress status.

[0010] In one implementation, the target distance status is determined based on the distance between the intrusion target and the sensitive area of ​​the park, including long-distance, medium-distance, and short-distance status; the approaching status is determined based on the distance or position change of the intrusion target in two or more consecutive detections, including approaching, moving away, and hovering status. The area sensitivity level is determined based on park map data or electronic fence data, including ordinary areas, important areas, and core areas; when the intrusion target is located in an important area or core area, or when the intrusion target approaches an important area or core area, the platform server updates the area sensitivity level in the handling token to the corresponding level; the continuous detection status is determined based on the number of times the same intrusion target appears in consecutive detections.

[0011] In one implementation, the platform server calculates a handling score P based on the target distance status, approach status, area sensitivity level, and continuous detection status, where P = w1D + w2A + w3S + w4T. Here, D is the target distance status value, A is the approach status value, S is the area sensitivity level value, T is the continuous detection status value, and w1, w2, w3, and w4 are preset weighting coefficients, all greater than 0. The platform server determines the observation level, broadcast warning level, authorized technical handling level, or manual handling level based on the relationship between the handling score P and the first and second handling thresholds, and in conjunction with whether the authorized technical handling equipment is available.

[0012] In one implementation, the platform server updates the device availability status based on feedback data from the processing device. When the processing device sends back heartbeat information and is not in an executing or faulty state, the platform server updates the corresponding device availability status to available; when the processing device sends back information that it is executing the current processing instruction, the platform server updates the corresponding device availability status to executing; when the processing device sends back fault information, the platform server updates the corresponding device availability status to faulty; when the processing device fails to send back heartbeat information within a preset time, the platform server updates the corresponding device availability status to offline.

[0013] In one implementation, the authorized technical handling device is a low-altitude target handling device configured by the park management and authorized to be invoked by the platform server; the technical handling instruction includes target location information, handling level information, and handling duration information; the authorized technical handling device is used to perform preset technical handling actions on the intrusion target according to the technical handling instruction and send execution feedback back to the platform server.

[0014] In one implementation, the platform server updates the handling token based on execution feedback. When the intrusion target moves to a distant state after the broadcast warning or technical handling instruction is executed, the platform server lowers the handling level corresponding to the handling token or updates the handling level to the observation level. When the intrusion target continues to approach an important or core area after the broadcast warning or technical handling instruction is executed, or when confirmation by security personnel is required, the platform server updates the manual confirmation status in the handling token to a pending confirmation status and sends a manual handling prompt to the security terminal. After the security terminal sends back the manual confirmation result, the platform server updates the handling token to a manual handling in progress status or a handling completed status based on the manual confirmation result.

[0015] In one implementation, the platform server manages the termination of handling tokens. When the same intrusion target is not detected within a preset number of consecutive detections, or when the same intrusion target remains in a distant state and the handling level is observation level within a preset number of consecutive detections, the platform server updates the corresponding handling token to the handling termination state. After the handling token is updated to the handling termination state, the platform server stops generating new broadcast warning instructions, technical handling instructions, or manual handling prompts for that intrusion target, and saves the handling record corresponding to the handling token.

[0016] This invention also provides a system for generating a graded response strategy for low-altitude unmanned aerial vehicles (UAVs) in a park, including monitoring equipment, broadcasting equipment, authorized technical response equipment, security terminals, and a platform server. The monitoring equipment is used to collect data on intrusion targets, the broadcasting equipment is used to execute broadcast warning commands, the authorized technical response equipment is used to execute technical response commands, and the security terminal is used to receive manual response prompts and transmit manual confirmation results. The platform server includes a data receiving module, a response token generation module, a strategy generation module, a command output module, and a status update module, and is configured to implement the above methods.

[0017] Beneficial effects Compared with the prior art, the present invention has at least the following beneficial effects: First, the handling token uses the same intrusion target as an index to uniformly record the target distance status, approach status, area sensitivity level, continuous detection status, device availability status, and manual confirmation status, avoiding inconsistencies in strategy caused by the dispersion of target status, area information, device feedback, and manual confirmation results.

[0018] Second, the platform server determines the handling level based on the current status of the handling token, establishing a clear hierarchical relationship between observation, broadcast alerts, authorized technical handling, and manual handling. The handling score P incorporates target distance status, proximity status, regional sensitivity level, and continuous monitoring status, enabling handling strategies to match changes in target risk, rather than simply triggering fixed handling based on a single threshold.

[0019] Third, the availability status of the equipment is determined by the platform server based on the feedback data from the equipment. When the authorized technical equipment is unavailable or requires confirmation from security personnel, the platform server can switch to manual handling, reducing the probability of repeatedly issuing instructions to unavailable equipment.

[0020] Fourth, the platform server receives execution feedback from broadcasting equipment, authorized technical handling equipment, or security terminals, and updates the handling token based on the execution feedback, thus forming a feedback loop in the tiered handling process. Through the handling token termination management, the platform server can end the handling process and save the handling record when the target disappears or continues to move away, improving the traceability of the handling process. Attached Figure Description

[0021] Figure 1 A schematic diagram illustrating the process of generating a graded disposal strategy for low-altitude drones in the park. Figure 2 A diagram illustrating the data structure and processing score for token disposal; Figure 3 A schematic diagram of the system architecture for generating a graded disposal strategy for low-altitude drones in the park. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the following embodiments are used to illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention. Without departing from the concept of the present invention, those skilled in the art can make equivalent substitutions or conventional adjustments to the device type, threshold range, weight coefficient, communication method, and display method.

[0023] Example 1 Within the low-altitude monitoring area of ​​the park, monitoring equipment detects low-altitude intrusion targets. This equipment may include low-altitude monitoring radar, photoelectric cameras, video analysis equipment, or other devices capable of providing low-altitude target location or trajectory data. The monitoring equipment outputs intrusion target data to the platform server. This data includes at least the target distance, target azimuth, target location, and detection time. The target distance can be the distance between the intrusion target and the boundary of a sensitive area within the park, the boundary of an electronic fence, or a designated core point; the target location can be a two-dimensional location, a three-dimensional location, or a location projected onto a park map; the detection time is used to determine whether the target continues to appear.

[0024] The platform server also receives data on the park area. This data includes park map data, electronic fence data, and sensitivity level data for different areas within the park. The park map data can include boundaries for buildings, roads, entrances and exits, key equipment areas, core office areas, storage areas, and general access areas. The electronic fence data can include boundaries for no-fly zones, key protection zones, and general monitoring zones. The sensitivity levels of different areas within the park can be pre-configured as ordinary areas, important areas, and core areas. Ordinary areas can correspond to general public activity areas, important areas can correspond to key office areas, important storage areas, or the area surrounding core equipment, and core areas can correspond to classified areas, core control rooms, or other highly sensitive areas.

[0025] The platform server also receives feedback data from the handling equipment. This feedback data includes data from broadcast equipment, authorized technical handling equipment, and security terminals. Broadcast equipment feedback data may include the broadcast equipment's heartbeat information, online status, execution feedback, and fault information. Authorized technical handling equipment feedback data may include whether the device is online, whether it is executing the current handling instruction, its availability, whether it is malfunctioning, and its execution feedback. Security terminal feedback data may include terminal online status, security personnel confirmation results, manual handling takeover results, or manual handling completion results.

[0026] The platform server generates a corresponding handling token for each intrusion target. The handling token can be a database record, memory object, message object, or status table entry, and it uniquely corresponds to a single intrusion target. The role of the handling token is not to execute a single handling action, but rather to record the status of the same intrusion target in the current handling process, ensuring that subsequent handling level judgments, command outputs, and feedback updates all revolve around the same intrusion target. The handling token records at least the target distance status, proximity status, area sensitivity level, continuous monitoring status, device availability status, and manual confirmation status.

[0027] The target distance status is determined based on the distance between the intrusion target and the sensitive area of ​​the park. Preferably, the distance between the intrusion target and the boundary of the nearest highest sensitivity level area is used as the distance judgment basis. The target distance status can include long-distance status, medium-distance status, and short-distance status. Preferably, the long-distance status corresponds to a distance greater than 300m, the medium-distance status corresponds to a distance greater than 100m and less than or equal to 300m, and the short-distance status corresponds to a distance less than or equal to 100m. The above ranges can be adjusted according to the park area, the coverage of monitoring equipment, and security requirements. For example, the long-distance status can be set to greater than 200m to 500m, the medium-distance status can be set to 50m to 300m, and the short-distance status can be set to less than 50m to 150m.

[0028] The approaching state is determined based on the change in distance or position of the intrusion target in two or more consecutive detections. The platform server can receive intrusion target data with a detection period of 0.5s to 2s. If the distance between the intrusion target and the sensitive area continuously decreases in two or more consecutive detections, or the target position moves towards the boundary of the sensitive area, the approaching state is determined as an approaching state; if the distance continuously increases, or the target position moves away from the boundary of the sensitive area, the approaching state is determined as a moving away state; if the distance change is less than a preset change threshold, the approaching state is determined as a hovering state. Preferably, the preset change threshold is 5m to 10m, more preferably 5m.

[0029] The sensitivity level of an area is determined based on park map data or electronic fence data. The platform server maps the location of the intrusion target to the park map or electronic fence to determine which area the target is located in or which area the target is approaching. If the target is located in a general access area or a general monitoring area, the area sensitivity level can be determined as a normal area; if the target is located in a key office area, an important storage area, or near key equipment, the area sensitivity level can be determined as an important area; if the target is located in a classified area, a core equipment control area, or a core protection area preset by the management, the area sensitivity level can be determined as a core area. When the target has not yet entered an important area or a core area but is approaching it, the platform server can update the area sensitivity level to the sensitivity level of the area it is approaching based on the direction of the target's movement.

[0030] The continuous detection status is determined based on the number of times the same intrusion target appears in consecutive detections. To avoid triggering higher-level actions directly from a single false detection, the platform server can associate the same intrusion target with the detection time and target location. If the intrusion target appears only in one detection, the continuous detection status value T corresponds to 0; if the intrusion target appears in two consecutive detections, T corresponds to 1; if the intrusion target appears in three or more consecutive detections, T corresponds to 2. The interval between consecutive detections is preferably 0.5s to 2s, and the number of consecutive detections can be adjusted according to the refresh rate of the monitoring equipment.

[0031] The availability status of equipment is determined by the platform server based on feedback data from the handling equipment. For broadcasting equipment, authorized technical handling equipment, and security terminals, the platform server can update the availability status of the corresponding equipment based on heartbeat information, execution feedback, and fault information. When a device sends back heartbeat information and is not in an executing or faulty state, the platform server updates the corresponding device's availability status to available; when a device sends back information that it is executing the current handling instruction, the platform server updates the corresponding device's availability status to executing; when a device sends back fault information, the platform server updates the corresponding device's availability status to faulty; when a device fails to send back heartbeat information within a preset time, the platform server updates the corresponding device's availability status to offline. Preferably, the heartbeat cycle is 0.5s to 2s, and the preset time is 2 to 5 consecutive heartbeat cycles, more preferably 3 consecutive heartbeat cycles.

[0032] The manual confirmation status is written to the disposal token by the platform server and updated based on the manual confirmation result returned by the security terminal. Initially, the manual confirmation status can be "unconfirmed". When the platform server determines that security personnel confirmation or takeover is required, it updates the manual confirmation status to "pending confirmation" and sends a manual disposal prompt to the security terminal. When security personnel confirm the target or the disposal plan on the security terminal, the security terminal returns the manual confirmation result to the platform server, which then updates the manual confirmation status to "confirmed" or "manual disposal in progress". After the target disappears, the disposal is completed, or the security personnel return the disposal completion result, the platform server can update the disposal token to "disposal completed".

[0033] The platform server determines the handling level based on the current status of the handling token. Handling levels include observation level, broadcast alert level, authorized technical handling level, and manual handling level. The observation level is suitable for situations where the target risk is low, has not yet continued to approach sensitive areas, or has a low handling score; the broadcast alert level is suitable for situations where the target risk has increased, requiring a broadcast to remind the target to leave or alert park personnel; the authorized technical handling level is suitable for situations where the target handling score is high, the authorized technical handling equipment is available, and the handling complies with park rules; the manual handling level is suitable for situations requiring confirmation from security personnel, where equipment is unavailable, or where the target continues to approach important or core areas.

[0034] See Figure 2 In a preferred embodiment, the platform server calculates a handling score P based on the target distance status, approach status, area sensitivity level, and continuous detection status. The handling score P satisfies: P = w1D + w2A + w3S + w4T Wherein, D is the target distance state value, with 1 for long distance, 2 for medium distance, and 3 for close distance; A is the approach state value, with 0 for far distance, 1 for hovering, and 2 for approaching; S is the area sensitivity level value, with 1 for ordinary areas, 2 for important areas, and 3 for core areas; T is the continuous detection state value, with 0 for the target appearing only in one detection, 1 for the target appearing in two consecutive detections, and 2 for the target appearing in three or more consecutive detections; w1, w2, w3, and w4 are preset weight coefficients, all of which are greater than 0.

[0035] Preferably, w1, w2, w3, and w4 can be normalized so that w1 + w2 + w3 + w4 = 1. More preferably, w1 is set to 0.25 to 0.40, w2 to 0.20 to 0.35, w3 to 0.25 to 0.40, and w4 to 0.10 to 0.25. The first disposal threshold can be set to 1.8 to 2.5, and the second disposal threshold can be set to 2.8 to 3.8. The above weights and thresholds can be adjusted according to the park area, target detection accuracy, authorized technical disposal equipment configuration, and security management requirements.

[0036] When the handling score P is less than the first handling threshold, the platform server determines the handling level as the observation level, generates an observation instruction, and records the status of the intrusion target. When P is greater than or equal to the first handling threshold and less than the second handling threshold, the platform server determines the handling level as the broadcast warning level and sends a broadcast warning instruction to the broadcasting device. When P is greater than or equal to the second handling threshold and the authorized technical handling device is available, the platform server determines the handling level as the authorized technical handling level and sends a technical handling instruction to the authorized technical handling device. When P is greater than or equal to the second handling threshold and the authorized technical handling device is unavailable, or requires confirmation from security personnel, the platform server determines the handling level as the manual handling level and sends a manual handling prompt to the security terminal.

[0037] The authorized technical handling equipment is a low-altitude target handling device configured by the park management and authorized to be invoked by the platform server. The equipment receives technical handling instructions from the platform server, performs preset technical handling actions on the intruding target according to the instructions, and sends execution feedback back to the platform server. The technical handling instructions may include target location information, handling level information, and handling duration information. Preferably, the handling duration is 5 to 30 seconds, more preferably 10 to 20 seconds. The preset technical handling actions can be pre-configured by the park management based on applicable laws and regulations, equipment capabilities, and on-site management requirements; this application does not limit the specific type of handling technology.

[0038] The platform server receives execution feedback from broadcast devices, authorized technical handling devices, or security terminals, and updates the handling token based on the feedback. Execution feedback may include information such as whether the device has completed the current handling, whether the target has moved to a remote state, whether manual confirmation is required, and whether security personnel have already confirmed the action. The platform server does not treat execution feedback as an isolated record, but rather writes it into or maps it to the corresponding fields in the handling token, thus forming a feedback loop for the generation of tiered handling strategies.

[0039] When the intrusion target moves away after a broadcast warning or technical handling instruction is executed, the platform server can lower the handling level corresponding to the handling token or update the handling level to the observation level. If the intrusion target continues to approach an important or core area after the broadcast warning or technical handling instruction is executed, or if security personnel confirmation is required, the platform server updates the manual confirmation status in the handling token to a pending confirmation status and sends a manual handling prompt to the security terminal. After the security terminal returns the manual confirmation result, the platform server updates the handling token to either a manual handling in progress status or a handling completed status based on the result.

[0040] The platform server can also manage the termination of handling tokens. When the same intrusion target is not detected within a preset number of consecutive detections, or when the same intrusion target remains in a distant state and the handling level is observation level within a preset number of consecutive detections, the platform server updates the corresponding handling token to the handling termination state. Preferably, the preset number of consecutive detections is 2 to 5 times, more preferably 3 times. After the handling token is updated to the handling termination state, the platform server stops generating new broadcast warning instructions, technical handling instructions, or manual handling prompts for that intrusion target, and saves the handling record corresponding to the handling token.

[0041] Example 2 See Figure 3 The system includes monitoring equipment, broadcasting equipment, authorized technical response equipment, security terminals, and a platform server. The monitoring equipment collects data on intrusion targets within the low-altitude monitoring area of ​​the park. The broadcasting equipment receives and executes broadcast warning commands sent by the platform server. The authorized technical response equipment receives and executes technical response commands sent by the platform server. The security terminal receives manual response prompts from the platform server and sends the manual confirmation results back to the platform server.

[0042] The platform server includes a data receiving module, a disposal token generation module, a policy generation module, an instruction output module, and a status update module. The data receiving module receives intrusion target data, campus area data, and feedback data from disposal equipment. The disposal token generation module generates a corresponding disposal token for each intrusion target and writes the target distance status, approach status, area sensitivity level, continuous detection status, equipment availability status, and manual confirmation status into the disposal token based on the aforementioned data. The policy generation module determines the disposal level based on the current status of the disposal token. The instruction output module outputs corresponding disposal instructions to broadcast equipment, authorized technical disposal equipment, or security terminals according to the disposal level. The status update module updates the disposal token based on the execution feedback returned by the broadcast equipment, authorized technical disposal equipment, or security terminals.

[0043] During system operation, the handling token is continuously updated based on the target's status and execution feedback. If the handling score is low, the system maintains the observation level and records the target's status; if the handling score increases, the system enters the broadcast alert level; if the handling score further increases and authorized technical handling equipment is available, the system enters the authorized technical handling level; if the equipment is unavailable, the target continues to approach important or core areas, or confirmation from security personnel is required, the system enters the manual handling level. If the target moves away or is not detected for a preset number of consecutive times, the system updates the handling token to the handling completed state and saves the handling record.

[0044] In another alternative implementation, the platform server can be a physical server, a cloud server, a local server within a campus, or an edge computing node, and the disposal token can be stored in a database, cache table, message queue, or memory object. Broadcasting equipment, authorized technical disposal equipment, and security terminals can communicate with the platform server via wired networks, wireless networks, or dedicated communication links. Any implementation capable of receiving intrusion target data, generating disposal tokens, determining disposal levels, outputting disposal instructions, and providing feedback updates falls within the scope of this application.

[0045] In this application, the specific equipment type, treatment intensity, and treatment duration of the authorized technical treatment equipment can be determined based on the park management's configuration, equipment capabilities, and actual management rules. Before generating a technical treatment instruction, the platform server should determine whether the invocation conditions are met by considering the equipment's availability and manual confirmation status. When the authorized technical treatment equipment is in a faulty or offline state, the platform server will not send a technical treatment instruction to the equipment, but will instead switch to manual treatment level or maintain an observation record based on the current status of the treatment token.

[0046] The above embodiments illustrate preferred implementations of the present invention, but do not limit the scope of protection of the present invention. Any equivalent substitution, combination, or improvement thereof, under the technical concept described in the present invention, involving generating a disposal token around the same intrusion target, determining a tiered disposal strategy based on the disposal token, outputting disposal instructions, and updating the disposal token based on execution feedback, should fall within the scope of protection of the present invention.

[0047] Those skilled in the art should also understand that the specific technical features in the above embodiments can be combined or replaced as needed to form different solutions. Any such solutions falling within the principles and spirit of this invention will be protected by the claims of this invention. Contents not described in detail in this specification are well-known to those skilled in the art.

[0048] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles (UAVs) in a park, characterized in that, include: The platform server receives data on intrusion targets, park area data, and feedback data from the handling equipment within the low-altitude monitoring area of ​​the park. The platform server generates a corresponding handling token for each intrusion target, and writes the target distance status, approach status, area sensitivity level, continuous detection status, equipment availability status and manual confirmation status of the same intrusion target into the handling token based on the intrusion target data, park area data and handling equipment feedback data. The platform server determines the handling level based on the current status of the handling token. The handling level includes observation level, broadcast warning level, authorized technical handling level, and manual handling level. The platform server generates corresponding handling instructions based on the handling level; when the handling level is the observation level, the status of the intrusion target is recorded; when the handling level is the broadcast warning level, the authorized technical handling level, or the manual handling level, the corresponding handling instructions are sent to the broadcast equipment, the authorized technical handling equipment, or the security terminal, respectively. The platform server receives execution feedback from broadcasting equipment, authorized technical processing equipment, or security terminals, and updates the processing token based on the execution feedback, forming a feedback closed loop for the generation of hierarchical processing strategies.

2. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The intrusion target data includes target distance, target orientation, target location, and detection time; The park area data includes park map data, electronic fence data, and sensitivity level data for different areas within the park. The feedback data from the processing equipment includes feedback data from broadcasting equipment, feedback data from authorized technical processing equipment, and feedback data from security terminals; The availability status of the device is determined by the platform server based on the feedback data from the processing device, including availability status, execution status, fault status, and offline status. The manual confirmation status is written to the processing token by the platform server and updated according to the manual confirmation results returned by the security terminal, including unconfirmed status, pending confirmation status, confirmed status, and manual processing status.

3. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The target distance status is determined based on the distance between the intrusion target and the sensitive area of ​​the park, including long distance status, medium distance status and short distance status; The approach state is determined based on the distance or position change of the intrusion target in two or more consecutive detections, including the approach state, the distance state, and the hovering state.

4. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The sensitivity level of the area is determined based on park map data or electronic fence data, including ordinary areas, important areas and core areas; When the intrusion target is located in an important or core area, or when the intrusion target approaches an important or core area, the platform server will update the area sensitivity level in the handling token to the corresponding level. The continuous detection status is determined based on the number of times the same intrusion target appears in continuous detection.

5. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The platform server determines the handling level of the intrusion target based on the current state of the handling token, including: The platform server calculates the handling score P based on the target distance status, approach status, area sensitivity level, and continuous detection status, where: P = w1D + w2A + w3S + w4T; D represents the target distance status value, with 1 corresponding to long distance, 2 to medium distance, and 3 to short distance. A represents the approaching state value, with 0 corresponding to the far-away state, 1 corresponding to the hovering state, and 2 corresponding to the approaching state. S represents the regional sensitivity level value, with 1 for ordinary areas, 2 for important areas, and 3 for core areas. T represents the continuous detection status value. 0 corresponds to the intrusion target appearing only once in a single detection, 1 corresponds to the intrusion target appearing twice in a row, and 2 corresponds to the intrusion target appearing three or more times in a row. w1, w2, w3, and w4 are preset weight coefficients, and w1, w2, w3, and w4 are all greater than 0; When the treatment score P is less than the first treatment threshold, the treatment level is determined to be the observation level; When the handling score P is greater than or equal to the first handling threshold and less than the second handling threshold, the handling level is determined to be the broadcast warning level; When the treatment score P is greater than or equal to the second treatment threshold and the authorized technology treatment equipment is in a usable state, the treatment level is determined to be the authorized technology treatment level; When the handling score P is greater than or equal to the second handling threshold and the authorized technical handling equipment is unavailable, or when confirmation by security personnel is required, the handling level is determined to be the manual handling level. The first treatment threshold is less than the second treatment threshold.

6. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The platform server updates the device availability status based on the data fed back from the processing equipment; When the processing device sends back heartbeat information and is not in an executing or faulty state, the platform server will update the corresponding device's availability status to available. When the processing device sends back information that it is executing the current processing instruction, the platform server updates the corresponding device's availability status to "in execution". When the equipment sends back fault information, the platform server updates the corresponding equipment's availability status to a fault status. If the device fails to send back heartbeat information within the preset time, the platform server will update the corresponding device's availability status to offline.

7. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The authorized technical handling equipment is a low-altitude target handling equipment configured by the park management and authorized to be called by the platform server; The technical handling instructions include target location information, handling level information, and handling duration information; The authorized technical processing device is used to perform preset technical processing actions on the intrusion target according to the technical processing instructions, and send the execution feedback back to the platform server.

8. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The platform server updates the disposal token based on the execution feedback, including: When the intrusion target moves to a remote state after the broadcast warning command or technical handling command is executed, the platform server lowers the handling level corresponding to the handling token or updates the handling level to the observation level; When the intrusion target continues to approach the important or core area after the broadcast warning instruction or technical handling instruction has been executed, or when the confirmation of security personnel is required, the platform server will update the manual confirmation status in the handling token to the pending confirmation status and send a manual handling prompt to the security terminal. After the security terminal sends back the manual confirmation result, the platform server updates the processing token to either the status of manual processing in progress or the status of processing completed, based on the manual confirmation result.

9. The method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park according to claim 1, characterized in that, The platform server manages the termination of disposal tokens, including: When the same intrusion target is not detected in a preset number of consecutive detections, or when the same intrusion target remains far away in a preset number of consecutive detections and the handling level is observation level, the platform server will update the corresponding handling token to the handling end status. Once the handling token is updated to the handling completed state, the platform server stops generating new broadcast warnings, technical handling instructions, or manual handling prompts for the intrusion target, and saves the handling record corresponding to the handling token.

10. A system for generating a graded disposal strategy for low-altitude unmanned aerial vehicles (UAVs) in a park, characterized in that: This includes monitoring equipment, broadcasting equipment, authorized technical processing equipment, security terminals, and platform servers; The monitoring equipment is used to collect data on intrusion targets within the low-altitude monitoring area of ​​the park; The broadcasting equipment is used to receive and execute broadcast warning commands sent by the platform server; The authorized technical processing equipment is used to receive and execute technical processing instructions sent by the platform server; The security terminal is used to receive manual handling prompts sent by the platform server and to send back the manual confirmation result to the platform server; The platform server includes a data receiving module, a processing token generation module, a policy generation module, an instruction output module, and a status update module; The data receiving module is used to receive data on intrusion targets, park area data, and feedback data from the handling equipment. The disposal token generation module is used to generate a corresponding disposal token for each intrusion target; The strategy generation module is used to determine the disposal level based on the current state of the disposal token; The instruction output module is used to output corresponding handling instructions to broadcasting equipment, authorized technical handling equipment or security terminals according to the handling level. The status update module is used to update the processing token based on the execution feedback returned by the broadcasting equipment, authorized technical processing equipment, or security terminal. The platform server is configured to implement the method for generating a graded disposal strategy for low-altitude unmanned aerial vehicles in a park as described in any one of claims 1 to 9.

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