CN107329412B - The method and device of target area cooperation detection - Google Patents
The method and device of target area cooperation detection Download PDFInfo
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- CN107329412B CN107329412B CN201710516437.4A CN201710516437A CN107329412B CN 107329412 B CN107329412 B CN 107329412B CN 201710516437 A CN201710516437 A CN 201710516437A CN 107329412 B CN107329412 B CN 107329412B
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Abstract
The present invention relates to the method and devices of target area cooperation detection.The described method includes: receiving the detection information that the first detecting devices is sent, the detection information includes first detecting devices position and the target area information that the first detecting devices detects；Several second detecting devices are selected from the detecting devices except the first detecting devices according to the detection information, an interim detecting force is constructed by first detecting devices and several described second detecting devices；The interim detecting force meets condition: probe power needed for probe power summation is greater than or equal to the target area, and construction cost is minimum；The interim detecting force is controlled to detect the target area.The present invention can effectively improve the detection efficient of target area.
Description
Technical field
The present invention relates to detection technology fields, method, apparatus, storage more particularly to a kind of cooperation detection of target area
Medium and computer equipment.
Background technique
It is increasingly developed with sensor technology, natural calamity or unexpected incidents etc. are needed with the feelings of the inspection of the scene of a crime
Condition can replace personnel to carry out the inspection of the scene of a crime by means of the device with sensing function.Such as it is detected by unmanned plane, robot etc.
Equipment enters the scenes such as fire, earthquake, underground instead of personnel and detects, and both ensure that the personal safety of rescue personnel,
Comprehensive field condition can be obtained.
However, being essentially all that each detecting devices is mutually indepedent currently based on the detection method of detecting devices, respectively visit
It surveys the field data of its position and is sent to System Control Center, this mode has that detection efficient is low.
Summary of the invention
Based on this, the present invention provides the method and devices of target area cooperation detection, can be improved target area detection
Efficiency.
One aspect of the present invention provides the method for target area cooperation detection, comprising:
The detection information of the first detecting devices transmission is received, the detection information includes that the first detecting devices institute is in place
It sets and target area information that the first detecting devices detects；
Several second detecting devices are selected from the detecting devices except the first detecting devices according to the detection information,
One interim detecting force is constructed by first detecting devices and several described second detecting devices；The interim detecting force is full
Sufficient condition: probe power needed for probe power summation is greater than or equal to the target area, and construction cost is minimum；
The interim detecting force is controlled to detect the target area.
A kind of device of target area cooperation detection, comprising:
Information receiving module, for receiving the detection information of the first detecting devices transmission, the detection information includes described
The target area information that first detecting devices position and the first detecting devices detect；
It forms a team module, for selecting several from the detecting devices except the first detecting devices according to the detection information
Second detecting devices constructs an interim detecting force by first detecting devices and several described second detecting devices；Institute
It states interim detecting force and meets condition: probe power needed for probe power summation is greater than or equal to the target area, and construct
Cost minimization；
Queue control module detects the target area for controlling the interim detecting force.
A kind of computer readable storage medium, is stored thereon with computer program, realization when which is executed by processor
The step of method described above.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
The step of computer program, the processor realizes the method when executing described program.
Above-mentioned technical proposal, the detection information sent by receiving the first detecting devices, the detection information include described
The target area information that first detecting devices position and the first detecting devices detect；According to the detection information from
Several the second detecting devices are selected in detecting devices except one detecting devices, if by first detecting devices and described
Dry the second detecting devices constructs an interim detecting force；The interim detecting force meets condition: probe power summation is greater than or waits
The probe power needed for the target area, and construction cost is minimum；By controlling the interim detecting force to the target
Region is detected, it is thus achieved that several second detecting devices cooperate the first detecting devices to realize target area detection, is had
Conducive to raising detection efficient.
Detailed description of the invention
Fig. 1 is the schematic flow chart of the method for the target area cooperation detection of an embodiment；
Fig. 2 is the application scenario diagram of the method for the target area cooperation detection of an embodiment；
Fig. 3 is the schematic diagram of the device of the target area cooperation detection of an embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Although the step in the present invention is arranged with label, it is not used to limit the precedence of step, unless
Based on the execution of the order or certain step that specify step needs other steps, otherwise the relative rank of step is
It is adjustable.
Fig. 1 is the schematic flow chart of the method for the target area cooperation detection of an embodiment.As shown in Figure 1, this implementation
Example in target area cooperation detection method comprising steps of
S11 receives the detection information that the first detecting devices is sent, and the detection information includes the first detecting devices institute
In the target area information that position and the first detecting devices are detected；
S12 selects several the second detections according to the detection information from the detecting devices except the first detecting devices
Equipment constructs an interim detecting force by first detecting devices and several described second detecting devices；The interim spy
It surveys team and meets condition: probe power needed for probe power summation is greater than or equal to the target area, and construction cost is minimum；
S13 controls the interim detecting force and detects to the target area.It controls in the interim detecting force
Several described second detecting devices cooperate first detecting devices to detect the target area.
It should be understood that the executing subject of above-mentioned steps can be System Control Center, each detecting devices is with this
Control centre's signal of uniting connects, and the information respectively detected is sent to the System Control Center, and each detecting devices is also
The control instruction of System Control Center is received, position movement etc. is carried out.
It should be understood that if using whole detecting devices as a detection system without control centre, above-mentioned steps
Executing subject can also be each of the detection system of no control centre detecting devices, such as step S11~S13
Executing subject can be other each detecting devices except the first detecting devices.
In an alternative embodiment, in above-mentioned steps S11, each detecting devices is dispersed in different location, separately detects pre-
If target area, such as target area be fire generation area；When a certain detecting devices A takes the lead in detecting target area,
It sends a detection information to System Control Center or other detecting devices, and detection information includes the position detecting devices A
And the target area information that detecting devices A is detected.At this point, the detecting devices A for taking the lead in detecting target area is i.e. described
First detecting devices.
Under normal circumstances, if being continued to be responsible for the detection to the target area by first detecting devices, work as target area
When the coverage area in domain is larger, first detecting devices needs to spend the more time that could complete to entire target area
Detection, detection efficient are lower.In the present embodiment, by constructing an interim detecting force, call other detecting devices to the mesh
Region is marked, cooperates first detecting devices to complete the detection of the target area, compared to individually right by the first detecting devices
The target area is detected, and required detection total time is less, improves the detection efficient to target area.Wherein, face
When detecting force probe power summation be greater than or equal to the target area needed for probe power refer to the interim detection of building
The sum of the available power of all second detecting devices of team, more than or equal to detection function needed for the target area coverage area
Rate.
In an alternative embodiment, the interim detecting force is meeting probe power summation more than or equal to the target area
Under the premise of probe power needed for domain, the second detecting devices quantity needed for construction cost minimum refers to and each second detection
Overall cost the time required to equipment reaches the first detecting devices position is minimum.Required second detecting devices quantity is more,
Hardware cost is higher, and also reduces the detection in the region except target area；Second detecting devices reaches the first detection and sets
It is longer the time required to standby position, relatively spend more time on position is mobile, detection efficient reduces.Therefore it is visited based on second
Measurement equipment quantity and two detecting devices are comprehensive the time required to being moved to setting position to determine the second detection for constructing interim detecting force
Equipment can realize the efficient detection of the target area with the smallest cost.
In an alternative embodiment, the control interim detecting force detects the target area, comprising: control
Each second detecting devices made in the interim detecting force is moved to first detecting devices position, to the mesh
Mark region is detected.
In an alternative embodiment, after the control interim detecting force detects the target area, further include
Step: after detecting that the target area detection is completed, the interim detecting force is dismissed.It is added as early as possible convenient for detecting devices
To other detection missions, utilization rate of equipment and installations is improved.
In an alternative embodiment, in step S12, set according to the detection information from the detection except the first detecting devices
The implementation that several the second detecting devices are selected in standby is specific can include: firstly, according to the first detecting devices position
M candidate detecting devices is filtered out from the detecting devices except the first detecting devices.Then, each candidate detecting devices is obtained
Available power, preset objective function is solved according to the available power of the target area information, each candidate detecting devices, is obtained
To N number of second detecting devices.Wherein, the objective function is that the second detecting devices number and the second detecting devices reach first and visit
Function the time required to measurement equipment position.Wherein, described N, M are the integer greater than 0, and N is less than or equal to M.It can be with
Understand, the detection general power for filtering out M candidate detecting devices should be not less than probe power needed for the target area.
Preferably, above-mentioned to be sieved from the detecting devices except the first detecting devices according to the first detecting devices position
The mode for selecting M candidate detecting devices can are as follows: each detecting devices is obtained at a distance from first detecting devices position,
The detecting devices that the distance is less than or equal to set distance threshold value is determined as candidate detecting devices.In another preferred embodiment
In, detection needed for whether the detection general power of the candidate detecting devices of M for also needing detection to filter out is less than the target area
Power re-starts screening if so, tuning up the distance threshold, and the detection of the candidate detecting devices of M until filtering out is total
Until probe power needed for power is not less than the target area.
In an alternative embodiment, above-mentioned target area information includes: the area coverage information and mesh of target area
Mark the boundary information in region.Preferably, above-mentioned distance threshold is the boundary of first detecting devices and the target area
Maximum distance.
In an alternative embodiment, solved according to the available power of the target area information, each candidate detecting devices
Preset objective function before obtaining N number of second detecting devices, further comprises the steps of: the value for determining the second detecting devices number N
The step of range.The step is specific can include:
Maximum power P therein is obtained from the available power of M candidate detecting devicesmaxWith minimum power Pmin.According to
The detection area S of the area coverage S of target area and each detecting devices unit power1, calculate needed for the target area
Probe power
Thereby determine that the initial value range of the second detecting devices number N are as follows:
The number M of candidate detecting devices is detected whether in the initial value range of N；If so, determining that the value range of N isIf M is greater than or equal toThe value range for determining N isIf M is less than or waits
InThe value range for determining N is N=M.
Further, in an alternative embodiment, according to the target area information, the available work of each candidate detecting devices
The step of rate solves preset objective function, obtains N number of second detecting devices includes: firstly, carrying out to M candidate detecting devices
Permutation and combination obtains several equipment combinations, and the detecting devices number for including in each equipment combination is in the value range of N；According to
Secondary traversal several equipment combinations, calculate each equipment and combine corresponding target function value, obtain the minimum value of objective function；It obtains
Equipment combination when taking objective function minimum value, equipment when according to objective function minimum value, which combines to obtain N number of second detection, to be set
It is standby.
Preferably, in the embodiment of the present invention, the available power of detecting devices is measured by the remaining capacity of detecting devices.
Accordingly, the available power for obtaining each candidate detecting devices are as follows: obtain the remaining capacity of each candidate detecting devices, root
The available power of each candidate detecting devices is obtained according to the remaining capacity.
In an alternative embodiment, the objective function are as follows:
The bound for objective function are as follows:
Wherein, N is the second detecting devices number, TiIndicate that i-th of second detecting devices are moved to first detection and set
Time needed for standby position, LiIt is i-th of second detecting devices at a distance from first detecting devices position, v
Indicate the movement speed of each second detecting devices；S indicates the area coverage of the target area, S1Indicate each second detecting devices
The detection area of unit power, p0Indicate the available power of the first detecting devices, piIndicate the available of i-th of second detecting devices
Power.
Further, under the premise of meeting search mission, each second detection also needs to reserve a part of power, complete
Continue to detect other regions to its original position at making a return voyage after task, it is therefore, in a preferred embodiment, described
Bound for objective function can improve are as follows:
S indicates the area coverage of the target area, S1Indicate the detection area of each detecting devices unit power, p0It indicates
The available power of first detection ball equipment, piIndicate the available power of i-th of second detecting devices, Th expression meets N number of second
Detecting devices makes a return voyage the reservation threshold value of required power, which is greater than 0, can specifically set according to the actual situation.
In an alternative embodiment, the detecting devices is detection ball, and the detection ball includes spherical shell, and setting
In the power module of the spherical interior of shell, information acquisition module, message processing module, information transmission modular and interface mould
Block etc., the detection ball is while acquiring environmental information, moreover it is possible to acquire own location information, and send out to System Control Center
Give its collected information.
Make further solution below by method of the concrete scene to the target area cooperation detection of above-described embodiment
It releases.As shown in Fig. 2, by taking the detection system for detecting ball composition as an example, the scene are as follows: multiple detection balls work in zone of ignorance, visit
It surveys ball A to work in zone of ignorance, one letter is issued to System Control Center by internal communication module when A has found target area
It ceases, includes: area information S (the area letter of target area for detecting the current location and target area of ball A in the information of sending
Breath can be by the relative position and detection ball A traffic direction and speed of detection former and later two moment of ball A and target area come really
It is fixed).Information and some preset parameter of the System Control Center according to detection ball A feedback, it may be determined that go out optimal interim detection
Team's configuration.Above-mentioned preset parameter includes the detection area S for detecting ball movement speed ν, detecting ball unit power1, each detection ball
Available power pi, remaining detection ball and detection ball A between distance Li。
Preferably, mathematical model used in interim detecting force (i.e. objective function) is determined are as follows:
Wherein,N is the detection ball number for constructing interim detecting force, TiIt indicates to construct the i-th of interim detecting force
Time needed for a detection ball is moved to the position detection ball A, LiFor i-th of detection ball and the detection position ball A
Distance, v indicate it is each detection ball movement speed (assuming that it is each detect be movement speed it is equal).
The bound for objective function are as follows:
S indicates the area coverage of the target area, S1Indicate the detection area of each detection ball unit power, p0It indicates to visit
Survey the available power of ball A, piIndicate the available power of i-th of detection ball, Th indicates to meet other detection balls except detection ball A
It makes a return voyage the reservation threshold value of required power, which is greater than 0.
Above-mentioned objective function is solved based on above-mentioned constraint condition, an interim detecting force configuration can be obtained.It is as shown in Figure 2: false
If the maximum distance for detecting ball A and target area boundaries is L, detecting 6 detection balls of the distance within L around ball A is then time
Choosing detection ball.Detect ball A and the detection of surrounding 6 balls distance respectively L1, L2, L3, L4, L5, L6, L1, L2 herein, L3, L4,
L5, L6 be it is random, it is not necessarily equal.Background devices control centre is also it needs to be determined which of 6 detection balls detect ball group
Target area is gone to work at an interim detecting force, so that the detection operations efficiency highest of target area.This method is excellent simultaneously
Change and detects ball number and each time for detecting ball and reaching target area in interim detection detecting force.Background devices control centre determines
The method of interim explorer queue can be as follows.
Step1: the detection ball number 6 with detection ball A distance within L, i.e. M=6 are determined.
Step2: minimum power P in 6 detection balls is measuredminWith maximum power Pmax。
Step3: according to the area coverage S of the target area and detection area S of detection ball unit power1, calculate reason
General power needed for searching for target area is completed by upper
Step4: the initial value range for constructing the detection ball number N of interim detecting force is determined are as follows:
Step5: whether detection 6 is in the initial value range of N.
IfIt enables
IfIt enables
IfEnable N=6.
Step6: according to the range of the N determined in Step5, permutation and combination is carried out to 6 candidate detecting devices, is obtained several
Equipment combination；Successively the combination of each equipment is traversed, it is corresponding to calculate each equipment combinationValue, is acquired's
Minimum value obtains equipment combination when minimum value, thus obtains N number of second detection ball, and then obtain the best of interim detecting force
Configuration mode and detection ball number.Such as (detection ball 1, detection ball 2, detection ball 4, detection ball 6) is correspondingIt is minimum
Value, the then interim detecting force obtained are (detection ball 1, detection ball 2, detection ball 4, detection ball 6).
The target area detection method of above-described embodiment, the allocation problem of interim detecting force is solved using mathematical method,
And detecting devices assignment problem is converted into power distribution problems, the range shorter for the detecting devices number that needs are solved,
Further simplify the solution difficulty of interim detecting force.Optimize detecting devices number and each detecting devices in interim detecting force simultaneously
The time for reaching target area, the performance of entire detecting devices state is comprehensively considered, can be completed by this method
It improves while respective detection mission to target area detection efficient.
It should be noted that for the various method embodiments described above, describing for simplicity, it is all expressed as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because according to
According to the present invention, certain steps can use other sequences or carry out simultaneously.
Based on thought identical with the method for target area cooperation detection in above-described embodiment, the present invention also provides targets
The device of region cooperation detection, the device can be used for executing the method for above-mentioned target area cooperation detection.For ease of description, mesh
In the structural schematic diagram for marking the Installation practice of region cooperation detection, part related to the embodiment of the present invention illustrate only,
It will be understood by those skilled in the art that schematic structure does not construct the restriction to device, it may include more more or less than illustrating
Component, perhaps combine certain components or different component layouts.
Fig. 3 is the schematic diagram of the device of the target area cooperation detection of one embodiment of the invention, which can be with
Applied in each detecting devices in the System Control Center or non-stop layer detection system of detection system.As shown in figure 3,
The present embodiment target area cooperation detection device include:
Information receiving module 301, for receiving the detection information of the first detecting devices transmission, the detection information includes institute
State the first detecting devices position and target area information that the first detecting devices detects；
Module of forming a team 302, for for being selected from the detecting devices except the first detecting devices according to the detection information
Several second detecting devices out are temporarily visited by first detecting devices and several described second detecting devices building one
Survey team；The interim detecting force meets condition: probe power needed for probe power summation is greater than or equal to the target area,
And construction cost is minimum；
Queue control module 303 detects the target area for controlling the interim detecting force.
In an alternative embodiment, the queue control module 303, for controlling each in the interim detecting force
Two detecting devices are moved to first detecting devices position, to detect to the target area.Preferably, described
The construction cost minimum of interim detecting force refers to: detection needed for being greater than or equal to the target area in probe power summation
Under power situation, required second detecting devices quantity reaches the first detecting devices position with each second detecting devices and is taken
Between overall cost it is minimum.
In an alternative embodiment, the module 302 of forming a team is specifically included:
First screening unit, for according to the first detecting devices position from the detecting devices except the first detecting devices
In filter out M candidate detecting devices.Preferably, first screening unit, for obtaining each detecting devices and described first
The detecting devices that the distance is less than or equal to set distance threshold value is determined as candidate spy by the distance of detecting devices position
Measurement equipment.
Second screening unit, for obtaining the available power of each candidate detecting devices, according to the target area information,
The available power of each candidate's detecting devices solves preset objective function, obtains N number of second detecting devices；The objective function is
The detecting devices number for constructing interim detecting force and each detecting devices for constructing interim detecting force reach where the first detecting devices
Function the time required to position；Wherein, described N, M are the integer greater than 0, and N is less than or equal to M.
Preferably, second screening unit, for obtaining the remaining capacity of each candidate detecting devices, according to described surplus
Remaining electricity obtains the available power of each candidate detecting devices.
In an alternative embodiment, the target area information includes: the area coverage information and target of target area
The boundary information in region.Preferably, above-mentioned distance threshold is that the boundary of first detecting devices and the target area is most
Big distance.
In an alternative embodiment, the module 302 of forming a team further include:
Number of devices determination unit is specifically used for: root for predefining the value range of the second detecting devices number N
Maximum power P therein is obtained according to the available power of M candidate detecting devicesmaxWith minimum power Pmin, according to target area
The detection area S of area S and each detecting devices unit power1, probe power needed for calculating the target areaDetermine the initial value range of N are as follows:Whether the value of detection M initially takes in the described of N
It is worth in range；If so, determining that the value range of N isIf M is greater than or equal toDetermine the value model of N
Enclose forIf M is less than or equal toThe value range for determining N is N=M.
In an alternative embodiment, second screening unit is specifically used for: arranging M candidate detecting devices
Combination obtains several equipment combinations, and the detecting devices number for including in each equipment combination is in the value range of N；Successively traverse
Several equipment combinations, calculate each equipment and combine corresponding target function value, obtain the minimum value of objective function；Obtain target
Equipment combination when function minimum, thus obtains N number of second detecting devices.
Preferably, the objective function are as follows:
The bound for objective function are as follows:
Wherein, N is the second detecting devices number, TiIndicate that i-th of second detecting devices are moved to first detection and set
Time needed for standby position, LiIt is i-th of second detecting devices at a distance from first detecting devices position, v
Indicate the movement speed of each second detecting devices；S indicates the area coverage of the target area, S1Indicate each second detecting devices
The detection area of unit power, piIndicate the available power of i-th of second detecting devices.
It should be noted that in the embodiment of the device of the target area cooperation detection of above-mentioned example, each module/unit
Between the contents such as information exchange, implementation procedure, due to being based on same design, bring with preceding method embodiment of the present invention
Technical effect is identical as preceding method embodiment of the present invention, and for details, please refer to the description in the embodiment of the method for the present invention, this
Place repeats no more.
In addition, the logic of each program module is drawn in the embodiment of the device of the target area cooperation detection of above-mentioned example
Divide and be merely illustrative of, can according to need in practical application, such as the configuration requirement of corresponding hardware or the reality of software
Existing convenient consideration is completed above-mentioned function distribution by different program modules, i.e., by the dress of target area cooperation detection
The internal structure set is divided into different program modules, to complete all or part of the functions described above.
It will appreciated by the skilled person that realizing all or part of the process in above-described embodiment method, being can
It is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage and be situated between
In matter, sells or use as independent product.When being executed, the complete of the embodiment such as above-mentioned each method can be performed in described program
Portion or part steps.In addition, the storage medium is also settable with a kind of computer equipment, also wrapped in the computer equipment
Processor is included, when the processor executes the program in the storage medium, can be realized the complete of the embodiment of above-mentioned each method
Portion or part steps.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only
Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.It is appreciated that term " first ", " second " used in wherein etc. is at this
For distinguishing object in text, but these objects should not be limited by these terms.
The embodiments described above only express several embodiments of the present invention, should not be understood as to the invention patent range
Limitation.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise,
Various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the present invention
It should be determined by the appended claims.
Claims (10)
1. a kind of method of target area cooperation detection characterized by comprising
Receive the detection information of the first detecting devices transmission, the detection information include first detecting devices position with
And the first target area information that detects of detecting devices；
Several second detecting devices are selected from the detecting devices except the first detecting devices according to the detection information, by institute
It states the first detecting devices and several described second detecting devices constructs an interim detecting force；The interim detecting force meets item
Part: probe power needed for probe power summation is greater than or equal to the target area, and construction cost is minimum；The interim spy
The construction cost for surveying team is minimum are as follows: probe power situation needed for being greater than or equal to the target area in probe power summation
Under, it is comprehensive the time required to the first detecting devices position of required second detecting devices quantity and the arrival of each second detecting devices
Close cost minimization；
The interim detecting force is controlled to detect the target area.
2. the method for cooperation detection in target area according to claim 1, which is characterized in that the control interim spy
Team is surveyed to detect the target area, comprising:
Each second detecting devices controlled in the interim detecting force is moved to first detecting devices position, with right
The target area is detected.
3. the method for target area according to claim 2 cooperation detection, which is characterized in that according to the detection information from
Several the second detecting devices are selected in detecting devices except first detecting devices, comprising:
M candidate detection is filtered out from the detecting devices except the first detecting devices according to the first detecting devices position to set
It is standby；
The available power for obtaining each candidate detecting devices, according to the target area information, each candidate detecting devices it is available
Power solves preset objective function, obtains N number of second detecting devices；The objective function is for the second detecting devices number and respectively
A second detecting devices reaches the function the time required to the first detecting devices position；Wherein, described N, M are greater than 0
Integer, and N is less than or equal to M.
4. the method for cooperation detection in target area according to claim 3, which is characterized in that according to the first detecting devices institute
M candidate detecting devices is filtered out from the detecting devices except the first detecting devices in position, comprising:
Each detecting devices is obtained at a distance from first detecting devices position, by the distance be less than or equal to setting away from
It is determined as candidate detecting devices from the detecting devices of threshold value；
And/or
The available power for obtaining each candidate detecting devices, comprising: obtain the remaining capacity of each candidate detecting devices, root
The available power of each candidate detecting devices is obtained according to the remaining capacity.
5. the method for cooperation detection in target area according to claim 4, which is characterized in that the target area packet
It includes: the area coverage information of target area and the boundary information of target area；
And/or
The distance threshold is the maximum distance on the boundary of first detecting devices and the target area.
6. according to the method for any target area cooperation detection of claim 3 to 5, which is characterized in that further include: in advance
The step of determining the value range of the second detecting devices number N, which includes:
Maximum power P therein is obtained from the available power of M candidate detecting devicesmaxWith minimum power Pmin,
According to the area coverage S of the target area and detection area S of each detecting devices unit power1, calculate the target area
Required probe power is
Determine the initial value range of the second detecting devices number N are as follows:
The value of the candidate detecting devices number M is detected whether in the initial value range of N；If so, determining taking for N
Value range isIf M is greater than or equal toThe value range for determining N isIf M
It is less than or equal toThe value range for determining N is N=M；
And/or
Preset objective function is solved according to the available power of the target area information, each candidate detecting devices, obtains N number of the
Two detecting devices, comprising:
Permutation and combination is carried out to M candidate detecting devices, obtains several equipment combinations, the equipment number for including in each equipment combination
In the value range of N；
Several equipment combinations are successively traversed, each equipment is calculated and combines corresponding target function value, obtain objective function minimum
Value；
Equipment when according to objective function minimum value combines to obtain N number of second detecting devices.
7. the method for cooperation detection in target area according to claim 6, which is characterized in that the objective function are as follows:
The bound for objective function are as follows:
Wherein, N is the second detecting devices number, TiIndicate that i-th of second detecting devices are moved to where first detecting devices
Time needed for position, LiIt is i-th of second detecting devices at a distance from first detecting devices position, v indicates each
The movement speed of second detecting devices；S indicates the area coverage of the target area, S1Indicate each second detecting devices specific work
The detection area of rate, p0Indicate the available power of the first detecting devices, piIndicate the available power of i-th of second detecting devices.
8. a kind of device of target area cooperation detection characterized by comprising
Information receiving module, for receiving the detection information of the first detecting devices transmission, the detection information includes described first
The target area information that detecting devices position and the first detecting devices detect；
Form a team module, for selected from the detecting devices except the first detecting devices according to the detection information several second
Detecting devices constructs an interim detecting force by first detecting devices and several described second detecting devices；It is described to face
When detecting force meet condition: probe power needed for probe power summation is greater than or equal to the target area, and construction cost
It is minimum；The construction cost of the interim detecting force is minimum are as follows: needed for probe power summation is greater than or equal to the target area
Probe power in the case of, it is in place that required second detecting devices quantity and each second detecting devices reach the first detecting devices institute
Overall cost the time required to setting is minimum；
Queue control module detects the target area for controlling the interim detecting force.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of claim 1 to 7 any the method is realized when row.
10. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes the step of claim 1 to 7 any the method when executing described program
Suddenly.
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