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Method and system for coordinating search for active targets based on two flying robots

A technology of flying robots and aircraft, applied in the field of coordinated search, can solve problems such as low efficiency, achieve the effects of improving efficiency, avoiding repeated searches, and facilitating numerical calculation and sharing

Active Publication Date: 2013-07-24
精海智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the particularity of the area where the missing target is located (such as mountains, oceans, swamps, etc.), traditional search methods are not only inefficient, but also have life safety problems for search personnel.

Method used

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  • Method and system for coordinating search for active targets based on two flying robots
  • Method and system for coordinating search for active targets based on two flying robots
  • Method and system for coordinating search for active targets based on two flying robots

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Effect test

Embodiment 1

[0031] This is a coordinated search method for active targets based on dual flying robots, which is characterized in that the operation steps are as follows:

[0032] 1) Carry out search map modeling for the search area where the target is located: discretize in two-dimensional space, the search area is a rectangular area of ​​size X×Y, and the search area is divided into several square areas of the same size (S×S) , the search mark value H of all square areas is initialized to 0, and the UAV flies from the center of a rectangle to the center of an adjacent rectangle within a time step;

[0033] 2) In any square area, the dual aircraft will generate three alternative waypoints according to the current heading, namely: left front, front right, and front right; and share this information with the friendly aircraft through the on-board communication equipment;

[0034] 3) According to the navigation cost function ,in is the distance between the two aircraft, As the distance...

Embodiment 2

[0039] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0040] see figure 1 and figure 2 , the method for determining the target position of the dual aircraft at the next moment in the above step 3) is: the coordinated search method for active targets based on dual flying robots according to claim 1, characterized in that the determination of the dual aircraft in step 3) The method of the target position at the next moment:

[0041] Dual aircraft according to the navigation cost function Select the best point from the three candidate waypoints as the target position.

[0042] Let the dual aircraft be , , the annotation symbols in the working principle of the cost function of the present invention are as follows: is the distance between the two aircraft, is the distance from the dual aircraft to the boundary of the search area. means aircraft exist The coordinates of the alternative waypoint 1 at the moment, ...

Embodiment 3

[0046] The coordinated search system for active targets based on dual flying robots is applied to the above method, including two unmanned flying robots, each of which is equipped with a GPS locator, wireless communication equipment, signal direction finder, The flight control system and the main control unit; wherein, the GPS locator collects the position information of the dual aircraft to determine the current position of the dual aircraft; the wireless communication device is used for communication between the dual aircraft to share search information, and it is characterized in that the aircraft Communicate with friendly aircraft through wireless communication equipment, send their waypoint information and updated map information to friendly aircraft, and receive information from friendly aircraft at the same time; signal direction finder is used to detect active targets; flight control system is used to control The flight state of the aircraft; the main control unit is us...

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Abstract

The invention relates to a method and a system for a coordinating search for active targets based on unmanned flying robots. The method for the coordinating search for the active targets based on the unmanned flying robots comprises the steps of building a searching map model on a searching area where the targets are located, namely carrying out discretization inside two-dimensional space, providing a route planning method based on the map model, therefore constructing a navigation cost function, planning a flying path of each flying robot, and achieving the coordinating search which is low in cost and high in efficiency. According to the system for the coordinating search for the active targets based on the unmanned flying robots, a GPS positioning instrument, a wireless communication device, a signal direction-finding instrument, a flying control device and a main control unit are installed on each of the two unmanned robots, and during a searching process of the flying robots, real-time communication, map sharing and target information sharing are achieved. The method and the system for the coordinating search for the active targets based on the unmanned flying robots can be used for searching and detecting various targets with radiation sources inside the area, the automatic coordinating search by the two flying robots are used, the targets with the radiation sources can be rapidly and effectively found, and the rapid and high-efficiency search can be carried out on the targets inside the area.

Description

technical field [0001] The present invention relates to a coordinated search method and system based on unmanned flying robots in a specific area, especially a coordinated search method and system for active targets based on dual flying robots, which are used to search for various targets with radiation sources in the area. For search and detection, dual-flying robots are used to conduct automatic coordinated search to achieve rapid and effective discovery of active targets. Background technique [0002] In recent years, disasters have occurred frequently all over the world, seriously threatening the survival and development of human beings. Finding search and rescue targets after a disaster and implementing rapid rescue can greatly improve the possibility of missing persons surviving and reduce the loss of life and property. The traditional search method generally uses two search and rescue teams on the ground and in the air (manned helicopter) to carry out the search. Ho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12G05B13/04
Inventor 谢少荣叶周浩李恒宇张秋菊罗均
Owner 精海智能装备有限公司
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