CN110646857A - Underwater magnetic target distributed searching method - Google Patents
Underwater magnetic target distributed searching method Download PDFInfo
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- CN110646857A CN110646857A CN201910863582.9A CN201910863582A CN110646857A CN 110646857 A CN110646857 A CN 110646857A CN 201910863582 A CN201910863582 A CN 201910863582A CN 110646857 A CN110646857 A CN 110646857A
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- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
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- G01V3/165—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
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Abstract
The invention provides a distributed searching method for an underwater magnetic target, which comprises the following steps: detecting the distance between the initial position range of the underwater magnetic target and the distance between the unmanned aerial vehicle carrying platform and the initial position range of the underwater magnetic target; calculating the radius of the maximum escape range of the underwater magnetic target; transmitting the first unmanned aerial vehicle set and the second unmanned aerial vehicle set; the first unmanned aerial vehicle set searches along the first loop, the second unmanned aerial vehicle set searches along the second loop, and whether the unmanned aerial vehicle set finds an underwater magnetic target or not is judged; when loop line search is carried out, the magnetic buoy is scattered, and whether the magnetic buoy search loop finds an underwater magnetic target or not is judged; if the unmanned aerial vehicle set or the magnetic floating marker search ring finds the underwater magnetic target, the search is finished, otherwise, the unmanned aerial vehicle set is switched to the same-direction parallel search until the unmanned aerial vehicle set or the magnetic floating marker search ring finds the magnetic target, and the search is finished. By applying the technical scheme of the invention, the technical problems of long search time, low search efficiency and easy loss of the magnetic target in the magnetic target search method in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of magnetic detection, in particular to an underwater magnetic target distributed searching method.
Background
The geomagnetic field generally changes regularly and slowly along with time and space, and when a magnetic substance exists, the magnetic field of the substance and the magnetic field induced by the geomagnetic field are superposed on the geomagnetic field, so that the geomagnetic field is abnormal in a certain area. A large amount of metal mineral products are stored in earth land and sea, underwater military equipment such as submarines, mines and the like are mainly made of metal materials, and magnetic substances in the metal materials can cause the abnormity of the surrounding geomagnetic field. Therefore, the detection and identification of the magnetic substance are realized by detecting and identifying the geomagnetic field abnormal information, the application in the fields of resource exploration, underwater target detection and the like is wide, and the method is a key core technology which needs to be promoted urgently in national economic development and national defense construction.
The magnetic detection system has the remarkable characteristic of high positioning precision and can be applied to the final searching and positioning link in the underwater magnetic target detection process. If a traditional method adopts a manned or unmanned aerial vehicle for searching, because the searching width of a single flight platform is limited, a searching mode of multiple reciprocating flights is needed, the searching time is long, and the searching efficiency is low; meanwhile, the motion of the underwater magnetic target is considered, and the risk of losing the underwater magnetic target in the reciprocating flight process of the flight platform exists. Therefore, in the prior art, the magnetic target searching method of the traditional magnetic detection system has the defects of long searching time, low searching efficiency and easy loss of the magnetic target.
Disclosure of Invention
The invention provides an underwater magnetic target distributed searching method, which can solve the technical problems that in the prior art, a magnetic target searching method is long in searching time, low in searching efficiency and easy to lose magnetic targets.
According to an aspect of the present invention, there is provided an underwater magnetic target distributed search method, including: detecting an initial position range of an underwater magnetic target, acquiring the radius of the initial position range of the underwater magnetic target, and detecting the nearest distance from an unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target; calculating the radius of the maximum escape range of the underwater magnetic target according to the radius of the initial position range of the underwater magnetic target, the movement speed of the underwater magnetic target, the closest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target and the movement speed of the unmanned aerial vehicle; thirdly, the unmanned aerial vehicle carrying platform launches the first unmanned aerial vehicle set and the second unmanned aerial vehicle set to the position where the maximum escape range of the underwater magnetic target is closest to the unmanned aerial vehicle carrying platform; step four, the first unmanned aerial vehicle set searches along a first loop line, the second unmanned aerial vehicle set searches along a second loop line, the search range of the first loop line and the search range of the second loop line cover the whole circumference of the maximum escape range of the underwater magnetic target, and whether the first unmanned aerial vehicle set or the second unmanned aerial vehicle set finds the underwater magnetic target or not is judged; throwing the magnetic buoys underwater while performing the first loop line search and the second loop line search to form a magnetic float search ring covering the whole circumference of the maximum escape range of the underwater magnetic target, and judging whether the magnetic float search ring finds the underwater magnetic target; step five, if the first unmanned aerial vehicle set, the second unmanned aerial vehicle set or the magnetic floating mark searching ring finds the underwater magnetic target, the searching of the underwater magnetic target is finished; if the first unmanned aerial vehicle set, the second unmanned aerial vehicle set or the magnetic floating marker searching ring does not find the underwater magnetic target, the first unmanned aerial vehicle set and the second unmanned aerial vehicle set are shifted to be in the same-direction parallel search until the first unmanned aerial vehicle set, the second unmanned aerial vehicle set or the magnetic floating marker searching ring finds the magnetic target, then the search of the underwater magnetic target is finished, and the range of the same-direction parallel search covers the area which is not covered by the first loop line search, the second loop line search and the magnetic floating marker searching ring in the maximum escape range of the underwater magnetic target.
Further, the step four includes that the first unmanned aerial vehicle group searches along the first loop, and the second unmanned aerial vehicle group searches along the second loop specifically includes: the first unmanned aerial vehicle set searches along the first direction firstly and then searches along the second direction, the first direction and the second direction are arranged at an included angle, the second unmanned aerial vehicle set searches along the third direction firstly and then searches along the fourth direction, and the third direction and the fourth direction are arranged at an included angle.
Further, the first direction, the second direction, the third direction and the fourth direction are respectively tangent to the whole circumference of the maximum escape range of the underwater magnetic target, the included angle between the first direction and the second direction is 90 degrees, the included angle between the third direction and the fourth direction is 90 degrees, and the included angle between the first direction and the third direction is 90 degrees.
Further, the second step specifically comprises: according to
Calculating the radius of the maximum escape range of the underwater magnetic target, wherein r2Radius of the maximum escape range of the underwater magnetic target, r1Is the radius, v, of the initial position range of the underwater magnetic targetEyes of a userThe maximum motion speed of the underwater magnetic target, S is the closest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target, vMachine for workingThe unmanned aerial vehicle is the moving speed of the unmanned aerial vehicle, N is the diffusion coefficient of the maximum escape range of the underwater magnetic target, and N belongs to [1.5,2 ]]。
Further, in the fourth step, the first unmanned aerial vehicle group comprises a plurality of first unmanned aerial vehicles, the second unmanned aerial vehicle group comprises a second unmanned aerial vehicle, when searching is carried out along a loop, the searching range of one of the first unmanned aerial vehicles and the second unmanned aerial vehicle covers the whole circumference of the maximum escaping range of the underwater magnetic target, and other first unmanned aerial vehicles in the first unmanned aerial vehicles search the underwater magnetic target within the maximum escaping range of the underwater magnetic target.
Furthermore, in the fourth step, the first unmanned aerial vehicle group comprises a first unmanned aerial vehicle, the second unmanned aerial vehicle group comprises a plurality of second unmanned aerial vehicles, when searching along a loop, the searching range of one of the first unmanned aerial vehicle and the second unmanned aerial vehicles covers the whole circumference of the maximum escape range of the underwater magnetic target, and other second unmanned aerial vehicles in the second unmanned aerial vehicles search the underwater magnetic target within the maximum escape range of the underwater magnetic target.
Further, in the fourth step, the first unmanned aerial vehicle group comprises a plurality of first unmanned aerial vehicles, the second unmanned aerial vehicle group comprises a plurality of second unmanned aerial vehicles, when searching along a loop, the searching range of one of the first unmanned aerial vehicles and one of the second unmanned aerial vehicles covers the whole circumference of the maximum escaping range of the underwater magnetic target, and other first unmanned aerial vehicles in the first unmanned aerial vehicles and other second unmanned aerial vehicles in the second unmanned aerial vehicles search for the underwater magnetic target within the maximum escaping range of the underwater magnetic target.
Further, the total number of the magnetic buoys in the fourth step is at least two.
Further, the first step specifically comprises: and detecting the range of the initial position of the underwater magnetic target by using sonar, acquiring the radius of the range of the initial position of the underwater magnetic target, and detecting the nearest distance from the unmanned aerial vehicle carrying platform to the range of the initial position of the underwater magnetic target.
Furthermore, in the fourth step, the first loop line search, the second loop line search, the magnetic floating mark search and the equidirectional parallel search all adopt magnetometers to detect underwater magnetic targets.
By applying the technical scheme of the invention, the underwater magnetic target distributed searching method is provided, and the underwater magnetic target distributed searching method greatly improves the underwater magnetic detection efficiency and reduces the risk of losing the underwater magnetic target by combining the loop line searching of the unmanned aerial vehicle, the searching of the magnetic floating targets and the equidirectional parallel searching of the unmanned aerial vehicle. Compared with the prior art, the method can solve the technical problems that the magnetic target searching method in the prior art is long in searching time, low in searching efficiency and easy to lose the magnetic target.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram illustrating a distributed underwater magnetic target searching method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a distributed underwater magnetic target searching method according to another embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a first unmanned aerial vehicle group; 11. one of the first unmanned machines; 12. other first unmanned machines; 20. a second unmanned aerial vehicle set; 30. a magnetic float.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, according to a specific embodiment of the present invention, there is provided an underwater magnetic target distributed search method, including: detecting an initial position range of an underwater magnetic target, acquiring the radius of the initial position range of the underwater magnetic target, and detecting the nearest distance from an unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target; calculating the radius of the maximum escape range of the underwater magnetic target according to the radius of the initial position range of the underwater magnetic target, the movement speed of the underwater magnetic target, the closest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target and the movement speed of the unmanned aerial vehicle; thirdly, the unmanned aerial vehicle carrying platform launches the first unmanned aerial vehicle set 10 and the second unmanned aerial vehicle set 20 to the position where the maximum escape range of the underwater magnetic target is closest to the unmanned aerial vehicle carrying platform; step four, the first unmanned aerial vehicle set 10 searches along a first loop, the second unmanned aerial vehicle set 20 searches along a second loop, the search range of the first loop and the search range of the second loop cover the whole circumference of the maximum escape range of the underwater magnetic target, and whether the underwater magnetic target is found by the first unmanned aerial vehicle set 10 or the second unmanned aerial vehicle set 20 is judged; throwing the magnetic buoys 30 underwater while performing the first loop search and the second loop search to form a magnetic buoy search ring covering the entire circumference of the maximum escape range of the underwater magnetic target, and judging whether the magnetic buoy search ring finds the underwater magnetic target; step five, if the first unmanned aerial vehicle set 10, the second unmanned aerial vehicle set 20 or the magnetic floating mark searching ring finds the underwater magnetic target, the searching of the underwater magnetic target is finished; if the underwater magnetic target is not found in the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20 or the magnetic floating marker search ring, the first unmanned aerial vehicle group 10 and the second unmanned aerial vehicle group 20 are shifted to be in the same-direction parallel search until the magnetic target is found in the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20 or the magnetic floating marker search ring, the search of the underwater magnetic target is finished, and the range of the same-direction parallel search covers the area which is not covered by the first loop line search, the second loop line search and the magnetic floating marker search ring in the maximum escape range of the underwater magnetic target.
By applying the configuration mode, the underwater magnetic target distributed searching method is provided, and the underwater magnetic target distributed searching method greatly improves the underwater magnetic detection efficiency and reduces the risk of losing the underwater magnetic target by combining the loop line searching of the unmanned aerial vehicle, the searching of the magnetic floating mark and the equidirectional parallel searching of the unmanned aerial vehicle. Compared with the prior art, the method can solve the technical problems that the magnetic target searching method in the prior art is long in searching time, low in searching efficiency and easy to lose the magnetic target.
Further, in the invention, in order to realize distributed search of the underwater magnetic target, the initial position range of the underwater magnetic target is firstly detected, the radius of the initial position range of the underwater magnetic target is obtained, and the nearest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target is detected. Typically, the width of the magnetic detection performed by a single drone is significantly less than the radius of the initial range of positions of the underwater magnetic target. As a specific embodiment of the present invention, sonar may be adopted to detect the range of the initial position of the underwater magnetic target, obtain the radius of the range of the initial position of the underwater magnetic target, and detect the closest distance from the unmanned aerial vehicle carrying platform to the range of the initial position of the underwater magnetic target.
In addition, in the invention, after the radius of the initial position range of the underwater magnetic target is obtained and the nearest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target is detected, the radius of the maximum escape range of the underwater magnetic target is calculated according to the radius of the initial position range of the underwater magnetic target, the movement speed of the underwater magnetic target, the nearest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target and the movement speed of the unmanned aerial vehicle. Considering that the underwater magnetic target possibly escapes at any time in the process that the unmanned aerial vehicle flies to the vicinity of the underwater magnetic target from the unmanned aerial vehicle carrying platform, and in order to avoid the escape of the underwater magnetic target, calculating the radius of the maximum escape range of the underwater magnetic target according to the moving speed of the underwater magnetic target, the nearest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target and the moving speed of the unmanned aerial vehicle on the basis of the initial position range of the underwater magnetic target.
As a specific embodiment of the present invention, according to
Calculating the radius of the maximum escape range of the underwater magnetic target, wherein r2Radius of the maximum escape range of the underwater magnetic target, r1Is the radius, v, of the initial position range of the underwater magnetic targetEyes of a userThe maximum motion speed of the underwater magnetic target, S is the closest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target, vMachine for workingThe unmanned aerial vehicle is the moving speed of the unmanned aerial vehicle, N is the diffusion coefficient of the maximum escape range of the underwater magnetic target, and N belongs to [1.5,2 ]]。
Further, in the invention, after the radius of the maximum escape range of the underwater magnetic target is obtained, the unmanned aerial vehicle carrying platform launches the first unmanned aerial vehicle group 10 and the second unmanned aerial vehicle group 20 to the position where the maximum escape range of the underwater magnetic target is closest to the unmanned aerial vehicle carrying platform.
In addition, in the invention, after the first unmanned aerial vehicle group 10 and the second unmanned aerial vehicle group 20 reach the position where the maximum escape range of the underwater magnetic target is closest to the unmanned aerial vehicle carrying platform, the first unmanned aerial vehicle group 10 searches along a first loop, the second unmanned aerial vehicle group 20 searches along a second loop, the search range of the first loop and the search range of the second loop cover the whole circumference of the maximum escape range of the underwater magnetic target, and whether the first unmanned aerial vehicle group 10 or the second unmanned aerial vehicle group 20 finds the underwater magnetic target is judged; and throwing the magnetic buoys 30 underwater while performing the first loop line search and the second loop line search to form a magnetic buoy search ring covering the whole circumference of the maximum escape range of the underwater magnetic target, and judging whether the magnetic buoy search ring finds the underwater magnetic target. In order to improve the searching efficiency of the underwater magnetic target and avoid the escape of the underwater magnetic target, the unmanned aerial vehicle is adopted to carry out loop search and simultaneously shed the magnetic buoy 30 underwater to avoid the escape of the underwater magnetic target from the area after the loop search.
As one embodiment of the present invention, the total number of the magnetic levitation markers 30 is at least two. When the number of the magnetic buoys 30 for the first loop line search or the second loop line search is more than one, the magnetic buoys 30 can be thrown at a certain distance, such as 700 + 800 meters, so as to ensure that no area which is not searched by the magnetic buoys exists between two adjacent magnetic buoys 30.
As shown in fig. 1, in order to facilitate navigation and flight of the unmanned aerial vehicle, as a specific embodiment of the present invention, the first unmanned aerial vehicle group 10 searches along a first direction a and then searches along a second direction B, the first direction a and the second direction B form an included angle, the second unmanned aerial vehicle group 20 searches along a third direction C and then searches along a fourth direction D, and the third direction C and the fourth direction D form an included angle. In the embodiment, the first direction a, the second direction B, the third direction C and the fourth direction D are respectively tangent to the whole circumference of the maximum escape range of the underwater magnetic target, an included angle between the first direction a and the second direction B is 90 °, an included angle between the third direction C and the fourth direction D is 90 °, and an included angle between the first direction a and the third direction C is 90 °.
Further, in the present invention, in order to further improve the search efficiency of the underwater magnetic target, the first drone group 10 may be configured to include a plurality of first drones, and the second drone group 20 includes a plurality of second drones.
As shown in fig. 2, as an embodiment of the present invention, the first drone unit 10 includes a plurality of first drones, the second drone unit 20 includes a second drone, when searching along a loop, a search range of one of the plurality of first drones 11 and the second drone covers an entire circumference of a maximum escape range of the underwater magnetic target, and the other first drones 12 of the plurality of first drones search for the underwater magnetic target within the maximum escape range of the underwater magnetic target. In the embodiment, in order to reduce the cost, one of the first unmanned machines 11 may choose not to throw the magnetic buoy 30 when performing the loop search, and the other first unmanned machines 12 may choose to throw the magnetic buoy 30 when performing the loop search, without affecting the search range.
As another specific embodiment of the present invention, the first drone unit 10 includes one first drone, the second drone unit 20 includes a plurality of second drone units, when searching along a loop, a search range of one of the first drone unit and the plurality of second drone unit covers an entire circumference of a maximum escape range of the underwater magnetic target, and the other of the plurality of second drone units searches the underwater magnetic target within the maximum escape range of the underwater magnetic target. In this embodiment, in order to reduce the cost, one of the second drones may choose to throw the magnetic buoy 30 when performing the loop search, and the other second drones may choose not to throw the magnetic buoy when performing the loop search, which also does not affect the search range.
As another specific embodiment of the present invention, the first drone unit 10 includes a plurality of first drones, the second drone unit 20 includes a plurality of second drones, when searching along a loop, a search range of one of the plurality of first drones 11 and one of the plurality of second drones covers an entire circumference of a maximum escape range of the underwater magnetic target, and the other first drones 12 of the plurality of first drones and the other second drones of the plurality of second drones search for the underwater magnetic target within the maximum escape range of the underwater magnetic target.
Further, in the present invention, when determining whether the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20, or the magnetic levitation mark search ring finds an underwater magnetic target, if the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20, or the magnetic levitation mark search ring finds an underwater magnetic target, the search of the underwater magnetic target is ended. If the underwater magnetic target is not found in the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20 or the magnetic floating marker search ring, the first unmanned aerial vehicle group 10 and the second unmanned aerial vehicle group 20 are shifted to be in the same-direction parallel search until the magnetic target is found in the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20 or the magnetic floating marker search ring, the search of the underwater magnetic target is finished, and the range of the same-direction parallel search covers the area which is not covered by the first loop line search, the second loop line search and the magnetic floating marker search ring in the maximum escape range of the underwater magnetic target. The loop line search and the magnetic floating mark search can correspondingly reduce the area of the possible area of the underwater magnetic target, and the comprehensive search of the maximum escape range of the underwater magnetic target can be completed through one-time parallel search in the same direction by combining the loop line search and the magnetic floating mark search, so that the search efficiency of the underwater magnetic target is greatly improved.
As a specific embodiment of the invention, the first loop line search, the second loop line search, the magnetic floating mark search and the equidirectional parallel search all adopt a magnetometer to detect the underwater magnetic target.
For further understanding of the present invention, the underwater magnetic target distributed search method of the present invention is described in detail below with reference to fig. 1 and 2.
As shown in fig. 1 and 2, a distributed underwater magnetic target searching method is provided according to an embodiment of the present invention, and specifically includes the following steps.
The method comprises the steps of firstly, detecting the range of the initial position of the underwater magnetic target, obtaining the radius of the range of the initial position of the underwater magnetic target, and detecting the distance from the unmanned aerial vehicle carrying platform to the range of the initial position of the underwater magnetic target.
Step two, according toAnd calculating the radius of the maximum escape range of the underwater magnetic target.
And step three, the unmanned aerial vehicle carrying platform launches the first unmanned aerial vehicle set 10 and the second unmanned aerial vehicle set 20 to the position where the maximum escape range of the underwater magnetic target is closest to the unmanned aerial vehicle carrying platform.
Step four, the first unmanned aerial vehicle set 10 searches along a first loop, the second unmanned aerial vehicle set 20 searches along a second loop, the search range of the first loop and the search range of the second loop cover the whole circumference of the maximum escape range of the underwater magnetic target, and whether the underwater magnetic target is found by the first unmanned aerial vehicle set 10 or the second unmanned aerial vehicle set 20 is judged; and throwing the magnetic buoys 30 underwater while performing the first loop line search and the second loop line search to form a magnetic buoy search ring covering the whole circumference of the maximum escape range of the underwater magnetic target, and judging whether the magnetic buoy search ring finds the underwater magnetic target.
Step five, if the first unmanned aerial vehicle set 10, the second unmanned aerial vehicle set 20 or the magnetic floating mark searching ring finds the underwater magnetic target, the searching of the underwater magnetic target is finished; if the underwater magnetic target is not found in the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20 or the magnetic floating marker search ring, the first unmanned aerial vehicle group 10 and the second unmanned aerial vehicle group 20 are shifted to be in the same-direction parallel search until the magnetic target is found in the first unmanned aerial vehicle group 10, the second unmanned aerial vehicle group 20 or the magnetic floating marker search ring, the search of the underwater magnetic target is finished, and the range of the same-direction parallel search covers the area which is not covered by the first loop line search, the second loop line search and the magnetic floating marker search ring in the maximum escape range of the underwater magnetic target.
In conclusion, the invention provides a distributed search method for underwater magnetic targets, which greatly improves the underwater magnetic detection efficiency and reduces the risk of losing the underwater magnetic targets by combining the loop search of the unmanned aerial vehicle, the search of the magnetic floating targets and the equidirectional parallel search of the unmanned aerial vehicle. Compared with the prior art, the method can solve the technical problems that the magnetic target searching method in the prior art is long in searching time, low in searching efficiency and easy to lose the magnetic target.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An underwater magnetic target distributed search method is characterized by comprising the following steps:
detecting an initial position range of an underwater magnetic target, acquiring the radius of the initial position range of the underwater magnetic target, and detecting the nearest distance from an unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target;
calculating the radius of the maximum escape range of the underwater magnetic target according to the radius of the initial position range of the underwater magnetic target, the movement speed of the underwater magnetic target, the distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target and the movement speed of the unmanned aerial vehicle;
thirdly, the unmanned aerial vehicle carrying platform launches the first unmanned aerial vehicle set (10) and the second unmanned aerial vehicle set (20) to the position where the maximum escape range of the underwater magnetic target is closest to the unmanned aerial vehicle carrying platform;
fourthly, the first unmanned aerial vehicle set (10) searches along a first loop line, the second unmanned aerial vehicle set (20) searches along a second loop line, the search range of the first loop line and the search range of the second loop line cover the whole circumference of the maximum escape range of the underwater magnetic target, and whether the underwater magnetic target is found by the first unmanned aerial vehicle set (10) or the second unmanned aerial vehicle set (20) is judged; throwing magnetic buoys (30) underwater while performing a first loop search and a second loop search to form a magnetic buoy search ring covering the entire circumference of the maximum escape range of the underwater magnetic target, and judging whether the magnetic buoy search ring finds the underwater magnetic target;
step five, if the first unmanned aerial vehicle set (10), the second unmanned aerial vehicle set (20) or the magnetic suspension marker search ring finds the underwater magnetic target, the search of the underwater magnetic target is finished; if the underwater magnetic target is not found in the first unmanned aerial vehicle set (10), the second unmanned aerial vehicle set (20) or the magnetic floating mark search ring, the first unmanned aerial vehicle set (10) and the second unmanned aerial vehicle set (20) are switched to be in parallel search in the same direction until the first unmanned aerial vehicle set (10), the second unmanned aerial vehicle set (20) or the magnetic floating mark search ring finds the magnetic target, then the search of the underwater magnetic target is finished, and the range of parallel search in the same direction covers the area which is not covered by the first loop line search, the second loop line search and the magnetic floating mark search ring in the maximum escape range of the underwater magnetic target.
2. The distributed underwater magnetic target searching method according to claim 1, wherein in the fourth step, the first unmanned aerial vehicle set (10) searches along a first loop, and the second unmanned aerial vehicle set (20) searches along a second loop specifically comprises: first unmanned aerial vehicle group (10) are earlier along the search of first direction back along the search of second direction, first direction with the second direction is the contained angle setting, second unmanned aerial vehicle group (20) are earlier along the search of third direction back along the search of fourth direction, the third direction with the fourth direction is the contained angle setting.
3. The distributed underwater magnetic target searching method according to claim 2, wherein the first direction, the second direction, the third direction and the fourth direction are respectively tangent to the whole circumference of the maximum escape range of the underwater magnetic target, an included angle between the first direction and the second direction is 90 degrees, an included angle between the third direction and the fourth direction is 90 degrees, and an included angle between the first direction and the third direction is 90 degrees.
4. The distributed search method for underwater magnetic targets according to any one of claims 1 to 3, wherein the second step specifically comprises: according toCalculating the radius of the maximum escape range of the underwater magnetic target, wherein r2Is said underwater magnetic targetRadius of maximum escape range, r1Is the radius, v, of the initial position range of the underwater magnetic targetEyes of a userIs the maximum moving speed of the underwater magnetic target, S is the closest distance from the unmanned aerial vehicle carrying platform to the initial position range of the underwater magnetic target, vMachine for workingIs the motion speed of the unmanned aerial vehicle, N is the diffusion coefficient of the maximum escape range of the underwater magnetic target, and N belongs to [1.5,2 ]]。
5. The distributed underwater magnetic target searching method according to claim 1, wherein the first drone group (10) in the fourth step includes a plurality of first drones, the second drone group (20) includes a second drone, when searching along a loop, the searching range of one of the plurality of first drones (11) and the second drone covers the whole circumference of the maximum escaping range of the underwater magnetic target, and the other first drones (12) in the plurality of first drones search for the underwater magnetic target within the maximum escaping range of the underwater magnetic target.
6. The distributed underwater magnetic target searching method according to claim 1, wherein in the fourth step, the first drone group (10) includes a first drone, the second drone group (20) includes a plurality of second drones, when searching along a loop, a searching range of one of the first drone and the second drone covers an entire circumference of a maximum escape range of the underwater magnetic target, and other second drones of the second drone search the underwater magnetic target within the maximum escape range of the underwater magnetic target.
7. The distributed underwater magnetic target searching method according to claim 1, wherein the first drone group (10) in the fourth step includes a plurality of first drones, the second drone group (20) includes a plurality of second drones, when searching along a loop, a search range of one of the plurality of first drones (11) and one of the plurality of second drones covers an entire circumference of a maximum escape range of the underwater magnetic target, and the other first drones (12) of the plurality of first drones and the other second drones of the plurality of second drones search for the underwater magnetic target within the maximum escape range of the underwater magnetic target.
8. The distributed underwater magnetic target search method according to any one of claims 1 to 7, wherein the total number of the magnetic buoys (30) in the step four is at least two.
9. The distributed searching method for the underwater magnetic target according to claim 1, wherein the first step specifically comprises: detecting the range of the initial position of the underwater magnetic target by using sonar, acquiring the radius of the range of the initial position of the underwater magnetic target, and detecting the nearest distance from the unmanned aerial vehicle carrying platform to the range of the initial position of the underwater magnetic target.
10. The distributed searching method for the underwater magnetic target as claimed in claim 1, wherein in the fourth step, the first loop line search, the second loop line search, the magnetic floating mark search loop and the parallel search in the same direction all adopt a magnetometer to detect the underwater magnetic target.
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