CN116382322A - Device and method for searching collaborative area based on swarm unmanned plane - Google Patents
Device and method for searching collaborative area based on swarm unmanned plane Download PDFInfo
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Abstract
The invention provides an intelligent collaborative area searching device and method based on a swarm unmanned aerial vehicle, comprising the following steps: determining grouping of the swarm unmanned aerial vehicles and subareas of the rescue areas according to the mapping information of the rescue areas, the visual range communication range of the data link, the operational radius of the unmanned aerial vehicles, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management areas and the weather information; according to constraint conditions of each group of bee colony unmanned aerial vehicle and internal terrain characteristics of each rescue area subarea, weather information, site situation, wounded state and image information, a proper search mode is determined to carry out scanning coverage search on the rescue subarea, and the obtained search information is collected to a command center; and the command center performs data fusion processing according to the search information of each bee colony, so as to realize search, identification, positioning and rescue of the rescue target. The invention greatly improves the rescue efficiency and realizes quick, efficient and intelligent search.
Description
Technical Field
The invention belongs to the technical field of emergency search and rescue, and particularly relates to an intelligent collaborative area searching device and method based on a swarm unmanned aerial vehicle.
Background
The international rescue standard generally follows the rule of 'gold for one hour and platinum for ten minutes', which indicates that the rescue time is a key element of the whole rescue action core, so how to quickly realize the search and positioning of wounded persons becomes a hot spot for research in the search and rescue field.
The unmanned aerial vehicle has rapid development in recent years and is widely applied to battlefield reconnaissance, monitoring, attack and the like, has the outstanding advantages of strong flexibility, good maneuverability, high stealth, long endurance time and the like, and meanwhile, the unmanned aerial vehicle has rapid action, good low-altitude flight performance and strong capability of coping with low-visibility flight, and becomes the first choice for exploring a new battlefield search and rescue mode. In a search and rescue system, the first problem faced by unmanned aerial vehicle formation entering a battlefield region is to comprehensively scan whether a suspected target exists in the shortest time, so that rapid regional coverage is needed to be carried out on the battlefield region, and after the suspected target is determined, more accurate positioning information is obtained by co-positioning with the suspected target as a center.
For wounded who can not confirm its position coordinates, search rescue task is comparatively complicated, and wounded position is uncertain, and the searching need cover to search for in order to guarantee that there is not the wounded of searching for, but battlefield environment complicacy obstacle is many, the scope is big, and unmanned aerial vehicle searching width is limited, is difficult to do full coverage search.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an intelligent collaborative area searching device and method based on a swarm unmanned plane. The scheme of the invention can solve the problems in the prior art.
The technical solution of the invention is as follows:
according to the first aspect, the intelligent collaborative area searching device for the multi-swarm unmanned aerial vehicle comprises a command center, a plurality of unmanned aerial vehicles, a searching mode determining unit and a communication unit, wherein the command center determines the grouping of the unmanned aerial vehicles and the subareas of a rescue area according to rescue area mapping information, a data link line-of-sight communication range, an unmanned aerial vehicle operational radius, the number of available rescue unmanned aerial vehicles, coverage time, a navigation management area and weather information, and sends real-time weather information and search and rescue target information to the unmanned aerial vehicle through the communication unit, and receives target information fed back by the unmanned aerial vehicle; the unmanned aerial vehicle divide into a plurality of bee colonies according to command center's requirement, every bee colony corresponds a rescue subregion, search mode confirm that the unit is installed on unmanned aerial vehicle, according to rescue subregion topography characteristic, weather information, on-the-spot situation, image information and unmanned aerial vehicle's flight constraint condition, confirm and be fit for rescue subregion search mode at present to with its unmanned aerial vehicle bee colony in place that transmits, unmanned aerial vehicle bee colony searches according to the search mode of confirming, and transmits the result of searching to command center through communication unit.
Further, the method for partitioning the rescue area comprises the following steps: according to the operation radius of the unmanned aerial vehicle, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management area, the weather information and the topography, the rescue area is divided into a plurality of convex polygon areas, each area is in seamless connection, and the whole area coverage is achieved.
Further, the search mode includes: scan line mode, sector mode, S-shaped mode, frog-jump mode, and spiral mode.
Furthermore, each unmanned aerial vehicle bee colony communicates in the swarm through the communication unit, and the unmanned aerial vehicle bee colony flies in an autonomous formation mode, so that collaborative searching of the search and rescue subareas is realized.
Further, a central node unmanned aerial vehicle is arranged in each group of unmanned aerial vehicles in the bee colony, and the central node unmanned aerial vehicle forms a queue for unmanned aerial vehicles in the colony according to the selected search mode.
Further, the search mode determining unit determines that the criteria of the search mode are:
if the topography of the search area is flat and the area is not large, a scanning line mode is preferably selected;
if the geographic environment in the land area is flat and wide, the visibility is good, the target cannot deviate from the initial position too far and is easy to search and position, a fan-shaped mode is selected;
if the land area is long and narrow, the visibility is good, the searching range is small, and the target position direction is determined, an S-shaped mode is selected;
if the area range is large, the visibility is good, the target position is accurately positioned and hardly changes with time, a frog-leaping mode is selected;
if the terrain of the land area where the target is located is complex, the visual field is blocked, the searching range is large, and the target is difficult to search and locate, the spiral line mode is selected.
According to a second aspect, a multi-swarm unmanned aerial vehicle intelligent collaborative area searching method is provided, comprising the following steps:
determining grouping of the swarm unmanned aerial vehicles and subareas of the rescue areas according to the mapping information of the rescue areas, the visual range communication range of the data link, the operational radius of the unmanned aerial vehicles, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management areas and the weather information;
according to constraint conditions of each group of bee colony unmanned aerial vehicle and internal terrain characteristics of each rescue area subarea, weather information, site situation, wounded state and image information, a proper search mode is determined to carry out scanning coverage search on the rescue subarea, and the obtained search information is collected to a command center;
and the command center performs data fusion processing according to the search information of each bee colony, so as to realize search, identification, positioning and rescue of the rescue target.
Further, the rescue area is partitioned according to the rescue area mapping information, the data link line-of-sight communication range and the unmanned aerial vehicle combat radius.
Further, the grouping of the swarm unmanned aerial vehicles is divided according to the number of available rescue unmanned aerial vehicles, coverage time, navigation management area and weather information.
Further, the method for determining the search mode comprises the following steps:
if the topography of the search area is flat and the area is not large, a scanning line mode is preferably selected;
if the geographic environment in the land area is flat and wide, the visibility is good, the target cannot deviate from the initial position too far and is easy to search and position, a fan-shaped mode is selected;
if the land area is long and narrow, the visibility is good, the searching range is small, and the target position direction is determined, an S-shaped mode is selected;
if the area range is large, the visibility is good, the target position is accurately positioned and hardly changes with time, a frog-leaping mode is selected;
if the terrain of the land area where the target is located is complex, the visual field is blocked, the searching range is large, and the target is difficult to search and locate, the spiral line mode is selected.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the rescue area is divided, and the appropriate search mode is matched according to the conditions of different areas, so that the rescue efficiency is greatly improved, and the quick, efficient and intelligent search is realized.
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The accompanying drawings, which are included to provide a further understanding of 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 evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of an intelligent collaborative area searching device for a multi-swarm unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a multi-swarm unmanned aerial vehicle intelligent collaborative area searching step according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a multi-swarm unmanned aerial vehicle intelligent collaborative area search according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing a searching manner according to an embodiment of the present invention;
FIG. 5 illustrates a schematic view of zoning provided in accordance with a specific embodiment of the present invention;
fig. 6 is a schematic diagram illustrating selection of a region searching mode according to an embodiment of the invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, an embodiment of the present invention provides a multi-swarm unmanned aerial vehicle intelligent collaborative area searching device, which includes a command center, a plurality of unmanned aerial vehicles, a search mode determining unit and a communication unit, wherein the command center determines a grouping of unmanned aerial vehicles and a subarea of a rescue area according to rescue area mapping information, a data link line-of-sight communication range, an unmanned aerial vehicle operational radius, the number of available rescue unmanned aerial vehicles, coverage time, a navigation management area and weather information, and sends real-time weather information and search and rescue target information to the unmanned aerial vehicles through the communication unit, and receives target information fed back by the unmanned aerial vehicles; the unmanned aerial vehicle is divided into a plurality of bee colonies according to the requirement of a command center, each bee colony corresponds to one rescue subarea, the search mode determining unit is arranged on the unmanned aerial vehicle, the search mode suitable for the current rescue subarea is determined according to the topography characteristic of the rescue subarea, weather information, site situation, image information and flight constraint conditions of the unmanned aerial vehicle, the search mode is transmitted to the unmanned aerial vehicle bee colony in the area, the unmanned aerial vehicle bee colony searches according to the determined search mode, and the searched result is transmitted to the command center through the communication unit.
In a further embodiment, the method for partitioning the rescue area includes: according to the operation radius of the unmanned aerial vehicle, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management area, the weather information and the topography, the rescue area is divided into a plurality of convex polygon areas, each area is in seamless connection, and the whole area coverage is achieved. In one embodiment, the division of the rescue area is preferably performed according to the requirements of the search method under the condition that the operation radius of the unmanned aerial vehicle is ensured.
Further in one embodiment, as shown in FIG. 3, the search pattern includes: scan line mode, sector mode, S-shaped mode, frog-jump mode, and spiral mode. The scan line mode, the fan mode, the spiral line mode and the S-shaped mode are well known to those skilled in the art, and are not described herein; the frog jump mode is to search the region to be searched by the pointer and simulate the frog jump mode: when the first jump is carried out, the first jump is at a higher height to carry out the wide-distance search; if no result exists in the current search, performing second jump, and reducing the search height and the search distance for searching again in the second jump; if the second jump searching has no result, the third jump is carried out, the third jump reduces the searching height again compared with the second jump, the searching distance is reduced, and the like until the target is gradually approached to finish searching.
In a further embodiment, each unmanned aerial vehicle bee colony communicates in the swarm through the communication unit, and the unmanned aerial vehicle is flying in an autonomous formation mode, so that collaborative searching of the search and rescue subareas is realized. Preferably, in one embodiment, a central node unmanned aerial vehicle is arranged in the unmanned aerial vehicles in each group of the bee colony, and the central node unmanned aerial vehicle forms a queue for unmanned aerial vehicles in the group according to the selected search mode. The swarm unmanned aerial vehicle autonomously carries out formation flight to realize collaborative large-range area search, and realizes scanning coverage of a search area through optimal track planning, so that the search efficiency of the search area is effectively improved.
Further in one embodiment, the search pattern determination unit determines the criteria of the search pattern as:
if the terrain of the search area is flat and the area is not large, a scanning line mode is preferably selected, and the unmanned aerial vehicle formation adopts a scanning line search formation to perform a scanning line search mode on the front area, so that the battlefield area is rapidly covered from the near to the far. The scanning line mode can cover the searching area to the greatest extent, and can search and position wounded persons to the greatest extent;
if the geographic environment in the land area is flat and wide, the visibility is good, the target cannot deviate from the initial position too far and is easy to search and position, a fan-shaped mode is selected;
if the land area is long and narrow, the visibility is good, the searching range is small, the target position direction is determined, the S-shaped mode is selected, the searching area can be covered to the greatest extent in a certain determined direction, and the rescuing time of wounded persons due to the terrain or shielding objects is prevented from being prolonged;
if the area range is larger, the visibility is better, the target position is accurately positioned and hardly changes with time, a frog-leaping mode is selected, the area in the maximum range can be searched in the shortest time, and the closer to the wounded, the higher the area searching precision is, so that the searching efficiency is greatly improved;
if the terrain of the land area where the target is located is complex, the visual field is blocked, the searching range is large, and the target is difficult to search and locate, the spiral line mode is selected, so that the searching area with a large range can be searched, and the probability of the wounded person being found is improved.
According to a second aspect of the present invention, as shown in fig. 2, there is provided a multi-swarm unmanned aerial vehicle intelligent collaborative area searching method, comprising the steps of:
step one, according to mapping information of a rescue area, a data link line-of-sight communication range, an unmanned aerial vehicle combat radius, the number of available rescue unmanned aerial vehicles, coverage time, a navigation management area and weather information, grouping of the swarm unmanned aerial vehicles and subareas of the rescue area are determined;
further in one embodiment, the rescue zone is partitioned according to rescue zone mapping information, data link line-of-sight communication range and unmanned aerial vehicle combat radius. Preferably, the rescue area is divided into a plurality of convex polygon areas, and each area is in seamless connection to realize full area coverage.
Further in one embodiment, the groupings of swarm drones are divided by the number of available rescue drones, coverage time, navigational management area, and weather information. In one embodiment, each unmanned aerial vehicle bee colony communicates in the swarm through a communication unit, and the unmanned aerial vehicle is in autonomous formation flight to realize collaborative search of a search and rescue subarea. Preferably, in one embodiment, a central node unmanned aerial vehicle is arranged in the unmanned aerial vehicles in each group of the bee colony, and the central node unmanned aerial vehicle forms a queue for unmanned aerial vehicles in the group according to the selected search mode. The swarm unmanned aerial vehicle autonomously carries out formation flight to realize collaborative large-range area search, and realizes scanning coverage of a search area through optimal track planning, so that the search efficiency of the search area is effectively improved.
Step two, according to the constraint condition of each group of bee colony unmanned aerial vehicle and the internal topography characteristic of each rescue area subarea, weather information, site situation, wounded self state and image information, determining a proper search mode to scan, cover and search the rescue subarea, and collecting the obtained search information to a command center;
in a further embodiment, the method for determining the search mode is as follows:
if the topography of the search area is flat and the area is not large, a scanning line mode is preferably selected;
if the geographic environment in the land area is flat and wide, the visibility is good, the target cannot deviate from the initial position too far and is easy to search and position, a fan-shaped mode is selected;
if the land area is long and narrow, the visibility is good, the searching range is small, and the target position direction is determined, an S-shaped mode is selected;
if the area range is large, the visibility is good, the target position is accurately positioned and hardly changes with time, a frog-leaping mode is selected;
if the terrain of the land area where the target is located is complex, the visual field is blocked, the searching range is large, and the target is difficult to search and locate, the spiral line mode is selected.
And thirdly, the command center performs data fusion processing according to the search information of each bee colony, so that the search, the identification, the positioning and the rescue of the rescue target are realized.
For further understanding of the multi-swarm unmanned aerial vehicle intelligent collaborative area searching apparatus and method provided by the present invention, the following detailed description is provided with reference to specific examples and accompanying drawings.
In this example, complicated topography search in mountain areas is taken as an example, and as shown in fig. 4, a method for searching a collaborative area based on a bee colony unmanned plane is described.
Firstly, comprehensively mapping topography of a bee colony unmanned aerial vehicle searching system command control center, comprehensively analyzing and processing contents such as an unmanned aerial vehicle combat radius, coverage time, a navigation management area, weather information and the like, and dividing a rescue area to be scanned into 5 partitioned areas. As shown in fig. 5, the cross-shaped part is a searching target, and the areas 1 and 3 are flat in original positions and flat in terrains; the areas 2 and 4 are mountain areas, the topography is complex, the jungles are numerous, and the visibility is not high; the area 5 is a long and narrow valley, so that the visibility is good;
secondly, after reaching the rescue area, the bee colony unmanned aerial vehicle is split into 5 subgroups, and the subgroups fly to 1-5 partitioned areas for searching;
thirdly, carrying out information interaction on unmanned aerial vehicles in all subgroups, and automatically completing task planning by central node unmanned aerial vehicles in the subgroups according to flight constraint conditions of the unmanned aerial vehicles and combining with the terrain characteristics in a planning area, weather information, site situation and image information to formulate an optimal searching mode. As shown in fig. 6, the search range of the area 1 and the area 3 is large, and the topography is flat, so that a scanning line search mode is selected; the search range of the area 2 and the area 4 is larger, and the complex topography jungles are numerous, so that a spiral line search mode is selected; the area 5 is long and narrow, and has good visibility, so that an S-shaped search mode is selected. The swarm unmanned aerial vehicle autonomously carries out formation flight to realize collaborative large search, and the scanning coverage of a search area is realized through optimal track planning;
when the unmanned aerial vehicle sub-group searches the partitioned area, unmanned aerial vehicles in the sub-group realize multi-machine intelligent autonomous collaborative task planning in real time according to the on-site situation information, the image information, the control instructions of the command control center and the like, and can finish dynamic search route and search mode updating on line;
and fifthly, the bee colony unmanned aerial vehicle transmits the acquired video images, position information and the like back to the command center, and the command center performs data fusion processing to realize multi-machine collaborative target searching, identifying, positioning and tracking.
In summary, the intelligent collaborative area searching device and method for the multi-swarm unmanned aerial vehicle provided by the invention have at least the following advantages compared with the prior art:
according to the invention, the rescue area is divided, and the appropriate search mode is matched according to the conditions of different areas, so that the rescue efficiency is greatly improved, and the quick, efficient and intelligent search is realized.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative 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 in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The intelligent collaborative area searching device of the multi-swarm unmanned aerial vehicle is characterized by comprising a command center, a plurality of unmanned aerial vehicles, a searching mode determining unit and a communication unit,
the command center determines the grouping of the unmanned aerial vehicle and the subareas of the rescue area according to the mapping information of the rescue area, the visual distance communication range of the data chain, the combat radius of the unmanned aerial vehicle, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management area and the weather information, sends real-time weather information and search and rescue target information to the unmanned aerial vehicle through the communication unit, and receives the target information fed back by the unmanned aerial vehicle;
the unmanned aerial vehicle is divided into a plurality of bee colonies according to the requirements of a command center, each bee colony corresponds to one rescue partition,
the search mode determining unit is arranged on the unmanned aerial vehicle, determines a search mode suitable for the current rescue subarea according to the topography characteristic of the rescue subarea, weather information, site situation, image information and flight constraint conditions of the unmanned aerial vehicle, transmits the search mode to the unmanned aerial vehicle bee colony in the area,
and searching the unmanned aerial vehicle bee colony according to the determined searching mode, and transmitting the searching result to the command center through the communication unit.
2. The intelligent collaborative area searching apparatus of a multi-swarm unmanned aerial vehicle according to claim 1, wherein the method for partitioning the rescue area comprises: according to the operation radius of the unmanned aerial vehicle, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management area, the weather information and the topography, the rescue area is divided into a plurality of convex polygon areas, each area is in seamless connection, and the whole area coverage is achieved.
3. The multi-swarm unmanned aerial vehicle intelligent collaborative area searching apparatus according to claim 1, wherein the searching mode comprises: scan line mode, sector mode, S-shaped mode, frog-jump mode, and spiral mode.
4. A multi-swarm unmanned aerial vehicle intelligent collaborative area searching device according to claim 2 or 3, wherein each unmanned aerial vehicle swarm communicates in the swarm through a communication unit, and the unmanned aerial vehicle is flying in autonomous formation to realize collaborative searching of a search and rescue subarea.
5. The intelligent collaborative area searching apparatus of a multi-swarm drone of claim 4, wherein a central node drone is disposed in each group of drones, and the central node drone queues the drones in the group according to the selected search mode.
6. The intelligent collaborative area searching apparatus according to claim 1, wherein the search pattern determining unit determines the criteria of the search pattern as:
if the topography of the search area is flat and the area is not large, a scanning line mode is preferably selected;
if the geographic environment in the land area is flat and wide, the visibility is good, the target cannot deviate from the initial position too far and is easy to search and position, a fan-shaped mode is selected;
if the land area is long and narrow, the visibility is good, the searching range is small, and the target position direction is determined, an S-shaped mode is selected;
if the area range is large, the visibility is good, the target position is accurately positioned and hardly changes with time, a frog-leaping mode is selected;
if the terrain of the land area where the target is located is complex, the visual field is blocked, the searching range is large, and the target is difficult to search and locate, the spiral line mode is selected.
7. The intelligent collaborative area searching method for the multi-swarm unmanned aerial vehicle is characterized by comprising the following steps of:
determining grouping of the swarm unmanned aerial vehicles and subareas of the rescue areas according to the mapping information of the rescue areas, the visual range communication range of the data link, the operational radius of the unmanned aerial vehicles, the number of available rescue unmanned aerial vehicles, the coverage time, the navigation management areas and the weather information;
according to constraint conditions of each group of bee colony unmanned aerial vehicle and internal terrain characteristics of each rescue area subarea, weather information, site situation, wounded state and image information, a proper search mode is determined to carry out scanning coverage search on the rescue subarea, and the obtained search information is collected to a command center;
and the command center performs data fusion processing according to the search information of each bee colony, so as to realize search, identification, positioning and rescue of the rescue target.
8. The method for intelligent collaborative area searching by a multi-swarm unmanned aerial vehicle according to claim 7, wherein the rescue area is partitioned according to rescue area mapping information, data link line-of-sight communication range and unmanned aerial vehicle operational radius.
9. The method for intelligent collaborative area searching by multiple swarm drones according to claim 7, wherein the swarm drones are grouped according to the number of available rescue drones, coverage time, navigational management area, and weather information.
10. The method for intelligent collaborative area searching by a multi-swarm unmanned aerial vehicle according to claim 7, wherein the method for determining the search pattern comprises:
if the topography of the search area is flat and the area is not large, a scanning line mode is preferably selected;
if the geographic environment in the land area is flat and wide, the visibility is good, the target cannot deviate from the initial position too far and is easy to search and position, a fan-shaped mode is selected;
if the land area is long and narrow, the visibility is good, the searching range is small, and the target position direction is determined, an S-shaped mode is selected;
if the area range is large, the visibility is good, the target position is accurately positioned and hardly changes with time, a frog-leaping mode is selected;
if the terrain of the land area where the target is located is complex, the visual field is blocked, the searching range is large, and the target is difficult to search and locate, the spiral line mode is selected.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117295009A (en) * | 2023-10-07 | 2023-12-26 | 广州精天信息科技股份有限公司 | Communication equipment deployment method and device, storage medium and intelligent terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117295009A (en) * | 2023-10-07 | 2023-12-26 | 广州精天信息科技股份有限公司 | Communication equipment deployment method and device, storage medium and intelligent terminal |
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