Police unmanned aerial vehicle sound wave dispersing method, unmanned aerial vehicle, product and medium

Abstract

The invention discloses a police unmanned aerial vehicle sound wave dispersing method, an unmanned aerial vehicle, a product and a medium. The method comprises the steps that when it is detected that tourists exist in a dispersing area of an ancient wall, the positions and the number of the tourists are obtained, the center-of-gravity position of the tourist group is calculated, and an unmanned aerial vehicle is adjusted to the position, away from one side of the ancient wall, of the connecting line of the center-of-gravity and the ancient wall; the connecting line of the position of the unmanned aerial vehicle and the gravity center position serves as the sound wave emission direction, and sound wave emission power and period are dynamically adjusted according to the tourist number for dispersion; and acquiring sound vibration response data of the ancient wall under the action of sound waves, and if a harmful frequency component consistent with the dangerous resonance frequency is detected, synchronously transmitting interference sound waves with the same frequency and power but opposite phases to counteract potential resonance influence. By implementing the technical scheme provided by the invention, the dual requirements of tourist dispersion and ancient building protection are considered.

Description

Technical Field

[0001] This application relates to the field of material analysis by measuring the physical properties of materials, and in particular to a method for sonic dispersion of police drones, drones, products, and media. Background Art

[0002] Currently, with the continuous improvement of urban management level and the continuous growth of the number of tourists in cultural and tourism scenic spots, public safety and order maintenance are becoming increasingly important in urban governance. Using drones to conduct crowd guidance and behavior intervention in key areas has become a key means in the intelligent security system, with significant advantages such as rapid response, wide coverage, and high efficiency, and has a very broad application prospect.

[0003] In the related art, police drones equipped with sonic amplification devices are usually used to emit sonic signals with specific frequency and power parameters to conduct long-distance behavior guidance and area guidance for the gathered people. Compared with traditional manual dispersion means, this method can significantly reduce the labor input, improve the response speed and coverage, and effectively improve the guidance efficiency for crowded areas. Therefore, this method has been widely used in scenarios such as open scenic spots and urban management.

[0004] However, in some popular scenic spots with historical buildings, in order to avoid safety hazards such as touching and climbing caused by tourists approaching cultural relic buildings, when using the drone sonic dispersion method for intervention, the sound waves may act on the ancient building structure during propagation, causing resonance of the ancient building structure, resulting in fatigue, cracking, or even irreversible damage. Therefore, when the related art achieves the dispersion effect, it may instead cause damage to the ancient building itself, and there is a contradiction between tourist guidance and ancient building protection that is difficult to balance. Summary of the Invention

[0005] This application provides a method for sonic dispersion of police drones, drones, products, and media, which is used to balance the dual needs of tourist dispersion and ancient building protection.

[0006] In the first aspect of this application, a method for sonic dispersion of police drones is provided, and the method includes: When tourists are detected in the dispersal area, obtain the positions and the number of tourists in the dispersal area; calculate the centroid position of the tourist group based on the tourist positions, and adjust the real-time position of the drone to a position on the side away from the ancient wall on the line connecting the centroid position and the ancient wall, at a distance from the centroid position equal to the preset effective distance of the drone; set the line connecting the real-time position of the drone and the centroid position as the sound wave emission direction, and emit dispersal sound waves in the sound wave emission direction at the real-time emission power and real-time emission period; obtain the acoustic vibration response data of the ancient wall under the action of the dispersal sound waves; when there are harmful frequency components in the acoustic vibration response data that are the same as the preset dangerous resonance frequencies, emit interference sound waves with the same frequency, power, and opposite phase as the harmful frequency components while emitting the dispersal sound waves.

[0007] In the above embodiment, when tourists are detected in the dispersal area, the distribution trend of the crowd is judged, the drone moves to a specified position on the side away from the ancient wall on the line connecting the centroid of the crowd distribution trend and the ancient wall, and the line connecting this position and the group centroid is set as the sound wave emission direction, so as to realize the directional sound wave intervention for tourists. At the same time, it is also as far away from the ancient wall as possible to reduce the impact of the sound wave on the ancient wall. At the same time, adjust the emission power and period according to the real-time tourist behavior characteristics, so that the dispersal signal has dynamic adaptability, achieving the purpose of dispersing tourists while minimizing the impact on the ancient wall when the sound waves required to disperse tourists are relatively small. During the action of the sound wave, synchronously monitor the acoustic vibration response data of the ancient wall structure. When it is found that the sound wave contains harmful components consistent with the dangerous resonance frequency of the ancient wall, emit interference sound waves with the same frequency, power, and opposite phase to cancel the potential resonance effect, thereby protecting the ancient wall and preventing damage to the ancient wall due to resonance. It improves the directivity and responsiveness of the sound wave intervention, and at the same time suppresses the structural impact caused by the sound wave on the ancient wall through active acoustic interference means, so as to realize the control of tourist guidance and the dynamic protection of the safety of ancient buildings during the dispersal process, and finally meet the dual requirements of the historical scenic spot for the tourist evacuation efficiency and the protection of the ancient building structure.

[0008] Combined with some embodiments of the first aspect, in some embodiments, after obtaining the acoustic vibration response data of the ancient wall under the action of the dispersal sound waves, it further includes: Repeat the acoustic vibration response detection operation at at least two different preset detection angles to obtain multi-directional response data; perform spatial fusion on the multi-directional response data combined with the obtained ancient wall structure diagram to construct an acoustic vibration response spatial distribution map on the surface of the ancient wall; based on the acoustic vibration response spatial distribution map, in the case of an abnormal area, during the emission of the dispersal sound waves, based on the abnormal position, abnormal area, and abnormal structural characteristics of the abnormal area, combined with the incident direction and energy distribution of the dispersal sound waves, inversely deduce the sound source emission phase, frequency, and power parameter group that forms a sound energy interference or deflection effect in the abnormal area, obtain the corrected sound wave and emit the corrected sound wave.

[0009] In the above embodiments, by repeatedly performing acoustic vibration response detection at at least two different angles, it is possible to obtain the dynamic response data of the ancient wall under the action of multi-directional sound waves, and perform spatial fusion in combination with the structure diagram of the ancient wall to construct a three-dimensional acoustic vibration response distribution map reflecting the characteristics of sound energy propagation and structural response characteristics, revealing the overall response intensity of the ancient wall after being stimulated by sound waves, and also being able to locate the sensitive positions where sound waves produce enhanced reflection, standing wave superposition or structural abnormal amplification in a specific area. When an abnormal response area is detected, during the subsequent process of emitting the dispersing sound wave, factors such as the spatial position, area size, and structural vulnerability of the abnormal area are comprehensively considered, and at the same time, in combination with the incident direction and energy distribution of the current dispersing sound wave, the sound wave parameters (such as phase, frequency, and power) that are most likely to cause sound energy concentration or interference in this area are deduced in reverse, and a corrected sound wave signal is constructed accordingly. Finally, emitting the corrected sound wave to adjust the propagation behavior of the original sound wave in the abnormal area can effectively avoid the formation of energy superposition or structural resonance of the sound wave at specific vulnerable structures, reduce the probability of potential damage to ancient buildings when the sound wave dispersion behavior is used to guide tourists, and thus achieve the coordinated optimization of the dispersion effect and structural protection in a complex ancient building environment.

[0010] In combination with some embodiments of the first aspect, in some embodiments, after the presence of an abnormal area, it further includes: Obtain the peak echo intensity, the echo time delay difference between adjacent detection points, and the echo intensity change coefficient at any number of spatial positions in the ancient wall area as the echo signal characteristics; regard the spatial positions in the echo signal characteristics that are not within the preset echo threshold range group as the echo risk space area; when the echo risk space area coincides with the abnormal area, adjust the emission period of the dispersing sound wave to the preset standard period and increase the distribution width of the emission frequency.

[0011] In the above embodiments, by obtaining the echo signal data of multiple spatial points in the ancient wall area, the response state of the wall surface to the reflection characteristics of sound waves is comprehensively characterized, and the abnormal reactions of sound waves during the propagation process on the ancient wall surface are evaluated. When the echo characteristics at a certain spatial position are not within the preset safety threshold range, this position is marked as an echo risk spatial area, indicating that there may be potential hazards such as structural loosening, material damage, or abnormal sound energy reflection in this area. Further, when these echo risk areas spatially overlap with the previously constructed areas with abnormal acoustic vibration responses, it indicates that there are potential instabilities in both the structural level and the acoustic wave response level in this area. To avoid concentrating the sound pressure or standing wave effect formed by the dispersing sound waves in this area, the sound wave emission strategy will be adjusted: on the one hand, the emission cycle is restored to the standard cycle to avoid the accumulation of sound energy caused by high-frequency emissions; on the other hand, the emission frequency distribution range is expanded, and the residence energy density of a certain specific frequency in the abnormal area is reduced through frequency expansion, thereby dispersing the risk of sound energy concentration. While maintaining the effectiveness of the dispersing sound waves, the potential damage caused by the reflection enhancement effect to the wall is suppressed, realizing the linkage control of acoustic dispersion and structural risk avoidance, and ultimately achieving the dual goals of cultural relic protection and tourist management.

[0012] In combination with some embodiments of the first aspect, in some embodiments, after emitting the dispersing sound waves at a real-time emission power and a real-time emission cycle in the sound wave emission direction, it further includes: Obtaining the behavioral state data of tourists in the dispersing area; when there is a tourist whose staying time is greater than the preset staying time threshold and the moving speed is greater than the preset moving speed threshold, obtaining the real-time dangerous tourist position corresponding to the tourist and sending out a drone linkage signal.

[0013] In the above embodiments, the behavioral state data of tourists in the dispersing area is obtained, and the dynamic behavior indicators of tourists are continuously tracked and analyzed. When it is detected that a certain tourist's staying time in the area exceeds the preset threshold and their moving speed is also higher than the set speed threshold, it indicates that the tourist may be performing potentially dangerous behaviors such as fast walking through, climbing, or sprinting, and may also cause damage to the ancient wall. At this time, the tourist is identified as a dangerous behavior object, their real-time spatial position is obtained, and a drone linkage signal is sent out to activate the corresponding dispersion response mechanism. Logically superimposing the two abnormal behavior patterns of "staying for a long time" and "moving fast" can effectively filter out the normal activities of ordinary tourists and identify individuals with high-risk behavior characteristics. In special scenarios such as the edge of the ancient wall, the entrance passage, or the monitoring blind area, this mechanism can significantly improve the response speed and recognition accuracy of sudden behaviors, ensuring that the drone intervention is initiated in a timely manner before the tourist's behavior exceeds the safety boundary, so as to realize the management of abnormal behaviors without disturbing the normal order of tourists, and ultimately achieve the dual goals of strengthening tourist behavior guidance and protecting the safety of ancient buildings.

[0014] In combination with some embodiments of the first aspect, in some embodiments, after sending the drone linkage signal, the method further includes: Based on the number of linked drones and the number of dangerous tourists detected, a coordinated approach of surrounding relative positions is adopted to obtain a target dispersal formation; based on the detected moving speed of dangerous tourists and the number of dangerous tourists, the parameters of the dispersal sound waves are adjusted to obtain the dangerous dispersal sound wave parameters; a linked dispersal command is issued, and sound waves are emitted according to the dangerous dispersal sound wave parameters while moving according to the target dispersal formation.

[0015] In the above embodiment, the integrated linkage drone and the number of dangerous tourists detected are firstly used to generate an adaptive target dispersal formation by a coordinated surrounding strategy to ensure that each drone occupies a reasonable position in space to form an encirclement, guidance or blocking effect. Subsequently, according to the actual moving speed and number of tourists, the emission parameters of the dispersal sound waves are dynamically adjusted to make the sound wave output targeted and adaptable in frequency, power and period, thereby enhancing the effectiveness and safety of the intervention. On this basis, a linkage dispersal instruction is issued, and all linkage drones are synchronously moved according to the generated dispersal formation, and at the same time, the dispersal sound waves are emitted according to the set sound wave parameter directionality, thereby realizing the collaborative operation of space control and acoustic intervention. It is particularly effective in scenes such as tourists approaching ancient walls in groups, active behaviors or possible breakthroughs in warning areas, and can deploy intervention forces in combination with real-time behavioral characteristics, unify the dispatching of formation structure and sound wave intensity, enhance the targetedness of dispersal, thereby effectively limiting the behavior of dangerous tourists, and finally achieving the dual goals of dispersal and safety protection of ancient buildings.

[0016] In combination with some embodiments of the first aspect, in some embodiments, after emitting the dispersing sound wave with the real-time emission power and the real-time emission period according to the emission direction of the sound wave, the method further includes: The independent rotation speed of each rotor of the current UAV is obtained in real time and combined with a preset UAV noise model to obtain the real-time UAV noise sound wave; according to the real-time UAV noise sound wave, the sound wave emission direction and the UAV attitude angle, the sound wave influence caused by the UAV platform on the dispersal sound wave is calculated, and the dispersal sound wave is corrected according to the sound wave influence to obtain the corrected dispersal sound wave; the corrected dispersal sound wave is emitted instead of the dispersal sound wave.

[0017] In the above embodiments, by obtaining the independent rotational speeds of each rotor of the current drone in real time and combining with a preset drone noise acoustic model, the characteristics of the background noise sound wave generated by the drone itself in the current flight state are calculated. Subsequently, based on this real-time noise sound wave and combining with the current sound wave emission direction and attitude angle of the drone, the interference effect of the drone on the dispelling sound wave is further analyzed, including phenomena such as sound wave superposition, phase shift, energy shielding or multipath interference. On this basis, the parameters of the original dispelling sound wave are corrected to generate a set of corrected dispelling sound wave signals. Finally, the corrected dispelling sound wave is emitted to ensure that the actual propagation form of the sound wave after being interfered by the drone is consistent with the expected intervention effect. It avoids problems such as sound wave distortion, direction deviation or energy attenuation caused by the noise of the drone body or the flight attitude, thereby improving the accuracy and coverage efficiency of sound wave intervention, ultimately achieving a stable and reliable tourist dispelling effect, and at the same time ensuring the control accuracy of the sound environment in the ancient building area, taking into account the dual needs of tourist management and ancient building protection.

[0018] Combined with some embodiments of the first aspect, in some embodiments, after emitting an interference sound wave with the same frequency and power as the harmful frequency component but with the opposite phase, it further includes: After continuously emitting a plurality of dispelling sound wave pulses, an active tuning silent period is inserted, and the emission of the dispelling sound wave is paused during the active tuning silent period; the duration of the active tuning silent period is a multiple of the decay time constant and a preset unit time; the decay time constant is the decay time constant corresponding to the dangerous resonance frequency in a preset ancient wall dangerous resonance frequency database.

[0019] In the above embodiments, after continuously emitting a plurality of dispelling sound wave pulses, an active silent period is inserted, and the sound wave emission is paused during this silent period, which can provide a buffer window for the natural decay of the sound energy of the ancient wall structure and reduce the risk of standing waves or energy superposition formed by the sound wave in the local structure. The duration of the silent period is calculated based on the decay time constant corresponding to the frequency in a preset ancient wall dangerous resonance frequency database and multiplied by a preset unit time multiple, so that this silent control mechanism has pertinence and structural adaptability. In the scenario where there are specific resonance frequency sensitive segments in the ancient wall, when the sound wave frequency approaches these sensitive segments, if the sound energy is continuously output, it is easy to accumulate inside the structure, increasing the risk of fatigue damage. By dynamically inserting the silent period, not only does it provide time for the structure to release energy, but also it avoids the nonlinear response amplification effect caused by continuous sound wave input. At the same time, the silent period can also break the adaptability of tourists to the sound wave prompt and improve the warning nature of the subsequent dispelling effect, thereby achieving the dual goals of ensuring the effectiveness of the dispelling intervention and reducing the cumulative acoustic load on the ancient building structure, ultimately realizing the dual goals of tourist behavior management and ancient building safety protection.

[0020] In a second aspect, an embodiment of the present application provides a drone, which includes one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the drone to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0021] In a third aspect, an embodiment of the present application provides a computer program product containing instructions. When the computer program product runs on a drone, it causes the drone to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including instructions. When the instructions run on a drone, it causes the drone to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0023] It can be understood that the drone provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the police drone acoustic wave dispersal method provided in the embodiments of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be elaborated here.

[0024] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: In the present application, when it is detected that tourists appear in the dispersal area, the distribution trend of the crowd is judged. The drone moves to a specified position on the side away from the ancient wall of the line connecting the center of the crowd distribution trend and the ancient wall, and sets the line connecting this position and the center of the group as the acoustic wave emission direction, realizing directional acoustic wave intervention on tourists, and at the same time staying away from the ancient wall as much as possible to reduce the impact of the acoustic wave on the ancient wall. At the same time, the transmission power and period are adjusted according to the real-time behavior characteristics of tourists, so that the dispersal signal has dynamic adaptability, achieving the purpose of dispersing tourists while minimizing the impact on the ancient wall when the acoustic wave required for dispersing tourists is relatively small. During the action of the acoustic wave, the acoustic vibration response data of the ancient wall structure is synchronously monitored. When it is found that the acoustic wave contains harmful components consistent with the dangerous resonance frequency of the ancient wall, interference acoustic waves with the same frequency and power but opposite phases are emitted to cancel the potential resonance effect, thereby protecting the ancient wall and preventing damage to the ancient wall due to resonance. The directivity and responsiveness of the acoustic wave intervention are improved, and at the same time, the structural impact caused by the acoustic wave on the ancient wall is suppressed by active acoustic interference means, so as to realize the control of tourist guidance and the dynamic protection of the safety of ancient buildings during the dispersal process, and finally meet the dual requirements of the historical scenic spot for the tourist evacuation efficiency and the protection of the ancient building structure.

[0025] By repeatedly performing acoustic vibration response detection from at least two different angles, this application can obtain the dynamic response data of the ancient wall under the action of multi-directional sound waves, and perform spatial fusion in combination with the structure diagram of the ancient wall to construct a three-dimensional acoustic vibration response distribution map reflecting the sound energy propagation characteristics and structural response characteristics, revealing the overall response intensity of the ancient wall after being stimulated by sound waves, and also being able to locate the sensitive positions where sound waves generate enhanced reflection, standing wave superposition or structural abnormal amplification in a specific area. When an abnormal response area is detected, during the subsequent process of emitting dispersive sound waves, factors such as the spatial position, area size, and structural vulnerability of the abnormal area are comprehensively considered, and at the same time, in combination with the incident direction and energy distribution of the current dispersive sound wave, the sound wave parameters (such as phase, frequency, and power) that are most likely to cause sound energy concentration or interference in this area are deduced inversely, and a modified sound wave signal is constructed accordingly. Finally, by emitting this modified sound wave to adjust the propagation behavior of the original sound wave in the abnormal area, it can effectively avoid the formation of energy superposition or structural resonance of the sound wave at specific vulnerable structures, reduce the probability of potential damage to ancient buildings caused by the sound wave dispersal behavior when realizing tourist guidance, and thus achieve the coordinated optimization of the dispersal effect and structural protection in a complex ancient building environment.

[0026] This application obtains the echo signal data of multiple spatial points in the ancient wall area to comprehensively characterize the response state of the wall surface to the reflection characteristics of sound waves and evaluate the abnormal reactions during the propagation of sound waves on the ancient wall surface. When the echo characteristics at a certain spatial position are not within the preset safety threshold range, this position is marked as an echo risk spatial area, indicating that there may be potential hazards such as structural looseness, material damage, or abnormal sound energy reflection in this area. Further, when these echo risk areas spatially overlap with the previously constructed acoustic vibration response abnormal areas, it indicates that there are potential instabilities both at the structural level and the acoustic wave response level. To avoid the formation of high-concentration sound pressure or standing wave effects of the dispersive sound wave in this area, the sound wave emission strategy will be adjusted: on the one hand, the emission cycle will be restored to the standard cycle to avoid sound energy accumulation caused by high-frequency emissions; on the other hand, the emission frequency distribution range will be expanded, and the residence energy density of a certain specific frequency in the abnormal area will be reduced through frequency expansion, thereby dispersing the risk of sound energy concentration, suppressing the potential damage caused by the enhanced reflection effect to the wall while maintaining the effectiveness of the dispersive sound wave, and realizing the linkage control of acoustic dispersion and structural risk avoidance, ultimately achieving the dual goals of cultural relic protection and tourist management. Description of the Drawings

[0027] Figure 1 is a flowchart of the method for dispersing sound waves by a police drone in an embodiment of this application; Figure 2 is a scenario diagram of the method for dispersing sound waves by a police drone in an embodiment of this application; Figure 3 is another flowchart of the method for dispersing sound waves by a police drone in an embodiment of this application; Figure 4 It is a schematic diagram of an exemplary hardware structure of a drone in an embodiment of the present application. Detailed implementation manners

[0028] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the specification and appended claims of the present application, the singular forms "a", "an", "the", "above-mentioned", "said", and "this" are also intended to include the plural forms, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more of the listed items.

[0029] Hereinafter, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0030] In the related art, generally, a police drone equipped with a directional loudspeaker or an ultrasonic transmitting device emits a sound wave signal with a set frequency and power to personnel entering a specific control area, so as to achieve the purposes of warning, guiding, and dispersing. For example, in urban squares, performance sites, or open scenic spots, when the personnel gathering density is too high or the behavior is abnormal, the drone can quickly locate the target area and implement aerial sound wave intervention, which not only saves manpower but also improves the response efficiency. However, this type of technology generally adopts a sound wave output mode with a fixed power and a fixed emission period, and mainly sets the sound wave direction according to the position of the target personnel, without considering the structural impact of sound wave propagation on the surrounding environment. In scenic spots for cultural relic protection, such as historical building areas like ancient walls and ancient pagodas, the sound wave acting on the structural surface may cause resonance or micro-vibration response. If the sound wave frequency happens to coincide with the resonance frequency of the building material, it is easy to cause structural fatigue, surface peeling, or even deep cracking, forming potential damage. In this case, although the traditional drone sound wave dispersal means improves the efficiency of tourist evacuation, it cannot avoid the damage of the sound wave to the vulnerable cultural relic components, and there is a contradiction between tourist management and cultural heritage protection that is difficult to balance.

[0031] In the embodiments of the present application, in response to the above problems, a method for sonic dispersion of police drones is proposed. When tourists appear in the dispersion area (i.e., within a preset distance range around the ancient wall), the method first obtains the location and number information of the tourists, and calculates the centroid position of the tourist group in real time; then controls the drone to adjust to an effective distance point on the side of the line connecting the centroid and the ancient wall away from the ancient wall, ensuring that the sound wave propagation is as far away from the main body of the cultural relic as possible, and emits sound waves in this direction. At the same time, dynamically adjusts the emission power and period of the sound wave according to the number of tourists to improve the intervention efficiency. Introduce a detection mechanism for the acoustic vibration response of the ancient wall. When components consistent with the dangerous resonance frequency are detected in the response caused by the sound wave, corresponding interference sound waves are emitted for phase cancellation to actively avoid the induction of structural resonance by the sound wave. Through the integration of drone dynamic positioning, tourist behavior perception and ancient building resonance protection mechanism, the collaborative optimization of the dispersion task and cultural relic protection is achieved.

[0032] Figure 1 FIG. is a schematic flowchart of using the method for sonic dispersion of police drones in the embodiments of the present application, including the following steps: S101. When tourists appear in the dispersion area, obtain the locations and numbers of the tourists in the dispersion area.

[0033] Specifically, first, through sensing devices such as an image recognition module, an infrared thermal imaging module or a millimeter wave radar installed on the drone, the spatial environment around the ancient wall is monitored in real time. When a human figure, heat source or target point cloud within the preset dispersion distance range around the ancient wall is detected, it is determined that tourists have entered the dispersion area. The preset dispersion distance can be set according to the safety protection radius of the ancient wall, such as 3 meters, 5 meters or more, depending on the cultural relic protection requirements of the ancient building and the tourist density analysis.

[0034] After detecting the tourists, call an image processing algorithm (such as YOLOv5, Mask R-CNN, etc.) or use a multi-target tracking algorithm (such as Deep SORT) to identify and count the individuals in the video stream, so as to obtain the number of tourists. At the same time, calculate the two-dimensional or three-dimensional spatial coordinates of each tourist through the target detection box or the lidar reflection points, and form a set of spatial distribution data of the tourists, which is the tourist location.

[0035] S102. Calculate the centroid position of the tourist group according to the tourist locations, and adjust the real-time position of the drone to a position on the side of the line connecting the centroid position and the ancient wall away from the ancient wall, and the distance from the centroid position is the preset effective distance of the drone.

[0036] Specifically, after obtaining the positions of tourists within the dispersal area, if there is only one tourist, the position coordinates of this tourist are the centroid position; if there are multiple tourists, their two-dimensional or three-dimensional coordinates are used as inputs to construct a spatial set composed of multiple discrete points. The geometric centroid calculation method is adopted, that is, the coordinate points of multiple tourists are regarded as the vertices of a planar figure to form a minimum convex hull or polygon area, and the centroid coordinates of this figure are calculated through the weighted average method or the geometric center algorithm. This centroid can be regarded as the collective representative point of this group, used to reflect the overall spatial aggregation trend and behavior center of tourists.

[0037] Based on the above calculated centroid position, further determine the position coordinates of the ancient wall, and construct a spatial vector pointing from the tourist centroid position to the ancient wall. Then, in the opposite direction of this vector, that is, on the side away from the ancient wall, set the target position of the drone according to the preset effective distance of the drone (such as 5 meters, 8 meters, etc.), so that the drone is always in the airspace directly in front of the tourist group and away from the ancient wall direction, realizing directional dispersal control. The flight control module of the drone dynamically adjusts the hovering position through autonomous navigation without disturbing the normal passage of tourists, ensuring that the sound wave propagation direction is always aligned with the center of the tourist group.

[0038] As Figure 2 , Figure 2 Figure [0000094] is a schematic diagram of a scenario of the police drone sound wave dispersal method, specifically describing the calculation of the centroid of the tourist group and the adjustment method of the drone position to ensure that the drone is in a reasonable spatial orientation during the dispersal process, reducing the direct impact of the sound wave on the ancient building while also playing a dispersal role.

[0039] When multiple tourists appear in the dispersal area, the spatial position information of each tourist will be obtained first, as shown by the three tourists in Figure 2 . These position coordinates can be obtained through methods such as the visual recognition system carried by the drone, infrared ranging, or lidar. Taking these three position points as inputs, the geometric centroid algorithm is used to calculate a "centroid" point representing the overall distribution of this tourist group, as shown by the "centroid" marked in the figure.

[0040] Subsequently, the connection line between this centroid and the ancient wall (the three-dimensional structure on the right in the figure) is used as the reference direction, and on the opposite side of this connection line, that is, on the side away from the ancient wall, a preset effective distance of the drone is set, and the target hovering position of the drone is determined at this distance. Figure 2 In Figure [0000103], the drone is at the corresponding position extended from this centroid point in the direction away from the ancient wall.

[0041] In this step, based on the center of gravity position calculated from the actual distribution of tourists, the intervention orientation of the drone is dynamically determined, so that it always aims at tourists and stays away from the cultural relics, ensuring that the sound wave propagation direction is safe and controllable and will not directly act on the surface of the ancient building. This method not only improves the positioning accuracy of the dispersal, but also reduces the structural impact of the sound waves on the ancient wall, taking into account the dual needs of tourist behavior management and cultural relic protection.

[0042] S103. Set the line connecting the real-time position of the drone and the center of gravity position as the sound wave emission direction, and emit the dispersal sound wave in accordance with the sound wave emission direction at the real-time emission power and the real-time emission period.

[0043] Specifically, starting from the current position of the drone and ending at the center of gravity position of the tourist group, a directional spatial connection line is formed. This connection line is used to guide the directional propagation of the sound wave signal, ensuring that the sound wave can act concentratedly on the area where the tourists are located, and achieving the effect of precise directional behavior guidance. This directional emission can be completed by the beam control module of the sound wave amplification device in the drone, and a directional speaker array, a phased array sound source or an adjustable directivity sound reinforcement system is used to control the sound wave propagation path, so that its energy is concentrated within a predetermined direction range, reducing the ineffective interference to the surrounding area, especially the ancient wall structure.

[0044] In terms of the control of the sound wave parameters, the emission power and the emission period are dynamically adjusted according to the number of tourists. The setting method of the emission power is: multiply the preset standard power (for example, 0.5 W per person) by the currently detected number of tourists to obtain the real-time emission power. This can improve the sound wave coverage range and perception intensity when the number of tourists is large, and keep the power moderate when the number of tourists is small, avoiding the probability of greater impact on the ancient wall caused by excessive energy output.

[0045] The adjustment rule of the emission period is: divide the preset standard emission period (for example, 2 seconds per person) by the current number of tourists to obtain the real-time emission period. This method enables the frequency of sound wave intervention to increase in the case of an increase in the number of people, thereby optimizing the intervention efficiency for multiple people.

[0046] At the same time, it can be understood that in the above steps, the sound wave parameter design complies with the national or industry safety standards for the acceptable sound pressure level of the public, ensuring no harm to the human ear and only acting on behavior guidance.

[0047] In some embodiments, when the drone performs the sound wave dispersal task and uses its body as the sound wave emission platform, the noise generated by the drone will also cause a certain impact. The noise characteristics of the drone itself can be obtained in real time and the dispersal sound wave can be corrected to ensure the acoustic accuracy of the dispersal sound wave in the actual propagation process, so as to take into account the dual needs of tourist dispersal and ancient building protection.

[0048] First, obtain the independent rotational speed information of each rotor of the current UAV in real time. This is obtained through the built-in flight control system (Flight Control Unit) or the electronic speed controller (ESC) module of the UAV. Subsequently, perform a matching operation between the rotational speed of each rotor and a preset UAV noise acoustic wave model. This model is obtained through experiments or established through simulation, and is used to describe the acoustic wave interference characteristics generated by the UAV in different attitudes under different rotational speed combinations, including parameters such as frequency distribution, sound intensity direction pattern, sound pressure level, etc., and the real-time noise acoustic wave field generated by the entire UAV at the current moment can be obtained.

[0049] Next, combine this real-time noise acoustic wave, the attitude angles of the current UAV (i.e., yaw angle, pitch angle, roll angle), and the acoustic wave emission direction vector formed between the UAV and the center of gravity of the tourist group to comprehensively evaluate the impact of the UAV platform on the dispersing acoustic wave. This impact mainly includes two aspects: one is the frequency overlap interference of the noise, that is, there may be some frequency bands in the UAV's own noise that overlap with the spectrum of the dispersing acoustic wave, resulting in signal masking; the other is the acoustic wave propagation path occlusion or diffraction effect, that is, the UAV body or rotor wake may affect the propagation efficiency of the acoustic wave in the target direction.

[0050] In response to the above impacts, through an acoustic wave correction algorithm, perform spectrum reconstruction and power distribution optimization on the original dispersing acoustic wave. When significant noise interference is detected in a certain frequency band, preferentially improve the signal-to-noise ratio of the dispersing acoustic wave in this frequency band, or select an adjacent frequency band for alternative transmission; at the same time, adjust the directional response curve of the acoustic wave emission array according to the UAV attitude to ensure that the main acoustic wave is aligned with the tourist direction. Finally, obtain a set of corrected dispersing acoustic wave signals, which are emitted by the UAV emission module to replace the original dispersing acoustic wave, thereby achieving dynamic compensation for noise interference.

[0051] By implementing the above technical steps, the interference effect of the UAV's own noise on the dispersing acoustic wave can be effectively weakened, thereby improving the stability and reliability of the dispersing effect.

[0052] S104. Obtain the acoustic vibration response data of the ancient wall under the action of the dispersing acoustic wave.

[0053] Specifically, to achieve real-time monitoring of the structural response characteristics of the ancient wall under the action of the dispersing acoustic wave, obtain the acoustic vibration response data of the ancient wall. In theory, this process can be achieved through a variety of sensing means, including two major categories: non-contact and contact.

[0054] In the contact method, without damaging the structure of the cultural relics, highly sensitive acceleration sensors, piezoelectric ceramic sensors or flexible MEMS vibration elements are pre - arranged on the surface of the ancient wall or at its structural nodes. These sensors operate continuously through a micro - embedded power supply and have low - power wireless communication functions (such as BLE, ZigBee, LoRa, etc.). During the emission of the dispersive sound wave, the sensors collect in real - time the micro - vibration data generated by the wall due to the action of the sound wave and transmit it wirelessly to a drone hovering in the air.

[0055] In the non - contact method, the drone is equipped with a laser Doppler vibrometer (LDV) or a high - speed image vibration analysis system (such as a high - speed camera + optical flow processing system) and aims at the surface of the ancient wall for remote measurement. The laser vibrometer continuously irradiates specific measurement points on the surface of the ancient wall (such as cracks, brick joints, etc.) and analyzes the frequency shift changes in the reflected laser to obtain the vibration speed and frequency response characteristics of the wall surface under the excitation of the dispersive sound wave; while the image analysis method continuously captures image frames and uses pixel - level motion analysis algorithms (such as Eulerian Video Magnification) to extract the tiny vibration displacements and indirectly restore the acoustic vibration response signal. The drone can select a suitable non - contact measurement method according to the illumination, angle and material conditions of the ancient wall surface.

[0056] In some embodiments, in the case of a complex ancient wall structure and strong surface morphological heterogeneity, it is also possible to perceive and dynamically respond to potential acoustic risk areas of the ancient wall through methods such as multi - angle acoustic vibration response detection, spatial feature fusion and echo anomaly analysis, so as to further enhance the protection ability and response sensitivity of the cultural relic structure during the sound wave dispersion behavior.

[0057] First, repeat the acoustic vibration response detection operation at at least two different preset detection angles to obtain the response data of the ancient wall in different orientations. This operation can be combined with the multi - point acquisition of contact sensors, or the non - contact laser or image vibration detection equipment carried by the drone can scan the surface of the ancient wall at different angles to collect the spectral response characteristics at each angle. Through multi - angle detection, the loss of acoustic vibration information caused by occlusion, reflection or local structural characteristics at a single angle can be effectively avoided, and the comprehensiveness and accuracy of the perception of the response state of the ancient wall can be improved.

[0058] Second, fuse the obtained multi - group of acoustic vibration response data with the pre - modeled three - dimensional structure diagram of the ancient wall in space to construct a spatial distribution map of the acoustic vibration response on the surface of the ancient wall. This distribution map is based on the structural coordinates, interpolates and fuses the response intensity, frequency characteristics and vibration directions collected at different detection angles, and expresses them on the surface of the ancient wall in the form of a heat map, contour map or three - dimensional grid map. This process can be completed by using three - dimensional point cloud registration, image fusion reconstruction or spatial interpolation algorithms, so as to realize the visual expression of the acoustic vibration characteristics of the ancient wall.

[0059] After constructing the spatial response map, if an abnormal response area is detected (i.e., the vibration intensity exceeds the preset threshold and is located in areas of material mutation, repair marks, or structural weakness), based on the location, area, and structural characteristics of the abnormal area, combined with the incident direction and energy distribution of the current dispelling sound wave, the emission phase, frequency, and power parameter set of the sound source that causes the sound energy to accumulate or deflect in the abnormal area will be deduced inversely. This deduction can be based on the inverse sound field propagation model or numerical simulation methods (such as finite element acoustic modeling). By adjusting the emission parameters of the dispelling sound wave, a set of corrected sound waves is generated to replace the original sound wave emission, thereby avoiding the acoustic impact on the abnormal area and better enhancing the protection of cultural relics.

[0060] Furthermore, the echo signal characteristics at any number of spatial positions in the ancient wall area are also obtained, including the peak value of the echo intensity, the time delay difference between adjacent detection points' echoes, and the echo intensity change coefficient. These characteristics can be obtained by continuously scanning the surface of the ancient wall with ultrasonic or laser ranging modules within different time windows, forming a set of spatio-temporally correlated echo response data. By comparing these characteristics with the preset set of echo threshold ranges, if it is found that the echo characteristics at certain spatial positions deviate significantly from the normal range, they can be marked as echo risk spatial areas, indicating that there may be structural voids, material deterioration, or sound energy accumulation phenomena.

[0061] When it is judged that there is a spatial coincidence relationship between the echo risk spatial area and the aforementioned abnormal acoustic vibration response area, it means that this area is not only abnormally sensitive to sound waves in terms of structure but also has the characteristic of abnormal sound energy feedback, and the risk level is significantly increased. At this time, to avoid the formation of standing wave accumulation or structural resonance of sound waves in such areas, the emission parameters of the dispelling sound wave will be adjusted. Specifically: the emission period of the dispelling sound wave is restored to the standard period (to avoid the resonance gain effect caused by rhythmic excitation), and the frequency distribution width of the sound wave is moderately increased to make its energy more dispersed and reduce the possibility of resonance of a single frequency in the wall structure.

[0062] Through the above multi-step collaborative mechanism, a complete closed-loop processing path from acoustic vibration response detection, spatial fusion modeling, sound wave regulation deduction to echo risk identification is realized during the dispelling process. It not only enhances the perception ability of the acoustic state of the ancient wall but also significantly improves the safety and adaptive adjustment ability of sound wave intervention in complex structural areas, enabling the dispelling sound wave to dynamically avoid potential high-risk areas of the ancient wall during the action process, reducing the probability of structural damage caused by the concentrated action of sound waves, and thus achieving the efficient collaborative goal of sound wave dispelling and cultural relic protection.

[0063] S105. When there are harmful frequency components in the acoustic vibration response data that are the same as the preset dangerous resonance frequencies, while emitting the dispelling sound wave, interference sound waves with the same frequency and power as the harmful frequency components and opposite phases are emitted.

[0064] Specifically, a set of dangerous resonance frequency databases are built into the drone, which stores the resonance frequency ranges related to the material and structure of the ancient wall. After the drone receives the acoustic vibration response data of the ancient wall, it performs spectral analysis on this data (such as Fast Fourier Transform FFT), and compares the analysis results with the database. Once it is found that a certain frequency component is consistent with the dangerous frequency, the amplitude (power) and phase of this frequency component will be extracted from the current acoustic wave emission signal, and a set of interference acoustic waves with completely mirror characteristics will be generated: that is, acoustic wave signals with the same frequency, the same power, but opposite phases (180° opposite).

[0065] This interference acoustic wave is synchronously emitted to the ancient wall area by the drone together with the original dispelling acoustic wave, so that the two groups of acoustic waves undergo spatial superposition in the sensitive area of the ancient wall. Due to their opposite phases, they will form an interference cancellation phenomenon at the same spatial point, thereby significantly weakening the acoustic energy of this frequency component and suppressing its resonance excitation effect on the ancient wall structure. This process can run dynamically, that is, during the whole process of dispelling, continuously monitor the response spectrum of the ancient wall, and update the interference acoustic wave parameters in real time to form a closed-loop acoustic protection mechanism.

[0066] In some embodiments, if the area where the ancient wall is located is a semi-closed space, the acoustic wave propagation environment is complex, or the wall structure has multiple material overlays, in such an environment, the dispelling acoustic wave is prone to multipath reflection and interference during propagation, resulting in multiple dangerous frequency components in the original acoustic wave being simultaneously excited and forming a non-uniform and superimposed enhanced resonance response on the surface of the ancient wall. At this time, the traditional single-frequency interference mechanism is difficult to effectively cover all harmful frequencies, and due to the change of phase during the propagation of acoustic waves in different paths, it may lead to the inability of the interference acoustic wave and the original acoustic wave to cancel accurately in the target area, thereby reducing the interference effect and even enhancing the local resonance risk in the reverse direction.

[0067] When it is detected that multiple dangerous frequency components exist simultaneously and the sound field distribution is extremely complex, start the multi-frequency interference superposition algorithm and the adaptive phase adjustment mechanism. First, perform multi-dimensional spectral deconstruction on the acoustic vibration response data of the ancient wall, extract all activated dangerous frequency points, and generate corresponding anti-phase interference wave signals for each frequency. Subsequently, based on the sound field modeling module, build a three-dimensional acoustic wave propagation path model of the current space, identify the main reflection surfaces and standing wave regions, and adjust the phase and emission direction of each interference wave in real time. Finally, through the multi-source module or the phased array acoustic wave emission system, control multiple groups of interference waves to be synchronously emitted in different directions and different phases in space to achieve multi-frequency resonance intervention in a complex sound field.

[0068] The above method can solve the problem of multi-frequency resonance superposition and sound wave reflection interference in complex acoustic environments, and achieve comprehensive acoustic protection of ancient wall structures. The spatial adaptability and frequency coverage of interfering sound waves are improved. While the dispersal behavior continues, the dangerous frequencies of various sensitive areas on the surface of the ancient wall are fully suppressed, thereby ensuring the safety and stability of the cultural relic structure in complex environments.

[0069] In the above embodiment, when the presence of tourists in the dispersal area is detected, the crowd distribution situation is judged, and the crowd distribution situation is determined to a designated position on one side of the ancient wall where the line connecting the center of gravity and the ancient wall is far away from the ancient wall, and the position and the line connecting the center of gravity of the group are set as the sound wave emission direction, so as to achieve directional sound wave intervention on the tourists, and at the same time, the ancient wall is kept as far away as possible to reduce the impact of the sound wave on the ancient wall. At the same time, the emission power and period are adjusted according to the real-time behavior characteristics of tourists, so that the dispersal signal has dynamic adaptability, and the purpose of dispersing tourists is achieved while the impact on the ancient wall can be minimized when the sound wave required to disperse tourists is relatively small. During the sound wave action process, the acoustic vibration response data of the ancient wall structure is synchronously monitored. When it is found that the sound wave contains harmful components consistent with the dangerous resonance frequency of the ancient wall, an interfering sound wave with the same frequency and power but opposite phase is emitted to offset the potential resonance effect, thereby protecting the ancient wall and preventing damage to the ancient wall due to resonance. The directionality and responsiveness of sound wave intervention are improved, and at the same time, the structural impact of sound waves on the ancient walls is suppressed through active acoustic interference, thereby achieving control of tourist guidance and dynamic protection of ancient building safety during the dispersal process, ultimately meeting the dual requirements of historical attractions for tourist guidance efficiency and protection of ancient building structures.

[0070] In other embodiments of the present application, in special scenarios where tourists stay for a long time and move quickly, individual tourists may damage ancient buildings or gather together to escalate into collision risks. The police drone sonic wave dispersal method provided in the present application can be used to identify high-risk behaviors and link multiple drones to form a dynamic formation and adjust sonic wave parameters to achieve the dispersal of dangerous tourists.

[0071] like Figure 3 As shown, another flow chart of the method for dispersing the sound waves of a police drone provided in an embodiment of the present application includes the following steps: S301. When it is detected that tourists appear in the dispersal area, the location and number of tourists in the dispersal area are obtained.

[0072] S302, calculating the center of gravity of the tourist group according to the tourist positions, adjusting the real-time position of the drone to a side of the line connecting the center of gravity and the ancient wall, away from the ancient wall, and at a position that is a preset effective distance of the drone from the center of gravity.

[0073] S303. Set the line connecting the real-time position and the center-of-gravity position of the drone as the acoustic wave emission direction, and emit a dispersing acoustic wave in the acoustic wave emission direction at the real-time emission power and real-time emission period.

[0074] S304. Obtain the behavior status data of the tourists in the dispersing area.

[0075] Specifically, continuously collect images of the dispersing area through the vision recognition module (such as a high-definition camera, an infrared imager, or a binocular stereo vision device) carried by the drone. Combine the object detection algorithm (such as YOLO, Mask R-CNN, etc.) to identify individual tourists in the scene, and assign a unique identification number to each identified tourist. Subsequently, track the position coordinates of the same tourist in consecutive image frames, and use the object tracking algorithm (such as SORT, Deep SORT, Kalman filtering) to calculate the displacement change within a unit time, thereby obtaining the moving speed data. At the same time, record the duration between the timestamp when each numbered tourist first enters the dispersing area and the current time as the basis for measuring the staying time.

[0076] S305. When there is a tourist whose staying time is greater than the preset staying time threshold and the moving speed is greater than the preset moving speed threshold, obtain the real-time position of the dangerous tourist and send a drone linkage signal.

[0077] Specifically, continuously monitor the behavior data of all tourists. When the cumulative staying time of a certain tourist exceeds the set time threshold and their average moving speed within a unit time exceeds the speed threshold (such as 0.5 m / s), mark this tourist as a potential dangerous tourist. Subsequently, based on the pixel coordinates of this tourist in the current image frame or the radar echo positioning point, combined with the spatial positioning information (GPS or inertial navigation system) of the drone itself, calculate the real-time physical position coordinates of this tourist in the dispersing area through a spatial transformation algorithm (such as perspective transformation + triangulation ranging) as the real-time position of the dangerous tourist.

[0078] After obtaining the real-time position of the dangerous tourist, generate a drone linkage signal containing this position coordinate. This signal consists of two parts: one is the real-time position of the dangerous tourist, and the other is the preset linkage control parameter. This linkage signal can be sent to a single or multiple drone platforms through a wireless communication method (such as Wi-Fi, 4G / 5G, a dedicated communication protocol) to trigger subsequent actions in a linkage manner.

[0079] In some embodiments, in special scenarios with low visibility conditions such as a night-time unlit environment, strong fog, strong backlighting, rain or snow, or when tourists are wearing large-brimmed hats, raincoats, sun umbrellas and other obstructions, the recognition and tracking algorithms relying on visible light images are prone to problems such as recognition failure, target loss or trajectory errors, resulting in the inability to accurately judge the behavior state or real-time position of tourists, thus affecting the accuracy and real-time performance of the dispelling strategy.

[0080] To solve the above problems, thermal imaging or millimeter-wave radar is introduced as a supplementary sensing means to construct a multi-modal sensing mechanism. When the quality of the visual signal deteriorates, the thermal imaging data is switched or fused, and target extraction and trajectory recognition are performed through the characteristics of human body thermal radiation, or the millimeter-wave radar is used to penetrate the obstruction to obtain the spatial position information of tourists. Based on this non-visible light information, combined with the spatial positioning algorithm, the behavior state monitoring of tourists and the calculation of dangerous positions are completed, and the UAV linkage signal is generated according to the standard process to trigger subsequent dispelling control actions.

[0081] Through the above technical path, the ability of human behavior recognition and position perception with high robustness can still be maintained in special environments, enabling the timely discovery and response to abnormal behaviors of tourists, ensuring that tourists can be accurately dispelled and the intervention strategy can be dynamically adjusted under poor visual conditions, thereby simultaneously ensuring the effective guidance of tourists' behaviors and the safety of ancient building structures.

[0082] S306. Based on the number of linked UAVs and the number of detected dangerous tourists, adopt the method of collaborating around the relative positions to obtain the target dispelling formation.

[0083] Specifically, determine the number of UAVs that can currently participate in the collaborative task according to the number of received linkage reply signals. After each UAV receives the linkage signal, it returns a linkage reply signal with its own status (position, availability, remaining energy, etc.). After counting all valid reply signals, determine the total number of available linked UAVs and compare it with the number of detected dangerous tourists. According to the proportional relationship between the two, select a suitable dispelling formation model, such as "front-leading and rear-pressing type", "sector surrounding type" or "V-shaped guiding type", etc., and calculate the relative position points of each UAV in this formation according to the real-time position of the dangerous tourists.

[0084] Subsequently, calculate the flight target positions of each UAV through a formation generation algorithm (such as based on the Voronoi diagram, particle swarm algorithm or graph theory optimization model), and combine the current flight state and terrain constraints to generate a safe and feasible path planning instruction. While maintaining the relative position structure, each UAV performs collaborative flight around the group of dangerous tourists and adjusts the relative formation in real time according to the movement of tourists to achieve dispelling effects such as dynamic surrounding and gradual guidance. This collaborative control process can be achieved through centralized scheduling control or distributed communication coordination, with high real-time performance and stability.

[0085] S307. Adjust the parameters of the dispersing sound wave based on the detected moving speed of dangerous tourists and the number of dangerous tourists to obtain the dangerous dispersing sound wave parameters.

[0086] Specifically, first, through the visual recognition, radar perception or behavior tracking module, the number of tourists currently in a dangerous behavior state and their average moving speed, either individual or overall, are collected in real time. The number of tourists reflects the scale of the intervention object for the dispersing task, while the moving speed characterizes the activity and risk level of tourists' behaviors. Subsequently, according to the preset sound wave parameter control model, the parameters are adjusted according to the following principles to obtain the dangerous dispersing sound wave parameters: the emission frequency and emission power are proportional to the number of tourists and the moving speed, that is, the more tourists there are and the faster they move, the higher the frequency and the greater the sound pressure of the dispersing sound wave, so as to enhance the guiding and interfering properties of the sound wave; while the emission period is inversely proportional to these two factors, that is, in the case of more active tourist behaviors, the interval time of sound wave emission is shortened, improving the continuity and rhythm of the sound wave action, thereby enhancing the behavior intervention frequency.

[0087] S308. Issue a linkage dispersing instruction and emit a sound wave according to the dangerous dispersing sound wave parameters, and at the same time move the position according to the target dispersing formation.

[0088] Specifically, first, according to the detected number and distribution of dangerous tourists, combined with the number of drones, using the built-in formation generation algorithm (such as based on geometric models, behavior guiding strategies or zoning gravitational models), determine the dispersing formation suitable for the current scene, and assign a corresponding relative target position to each drone. Then, according to the dispersing sound wave parameter model determined by the tourists' moving speed and number (such as the proportional relationship between the emission frequency, power and period and the tourist behavior characteristics), generate a unified sound wave parameter group. After combining this information, form a linkage dispersing instruction and send it to other linked drones through a wireless communication module (such as Wi-Fi, 5G, dedicated link).

[0089] While other drones receive and execute the instruction, itself also immediately starts to execute the task: on the one hand, start the dispersing sound wave emission module and output the sound wave according to the set sound wave parameters; on the other hand, calculate the flight path between the current position and the target point according to the formation position assigned to itself, and complete the path tracking and dynamic position adjustment through the flight control module. During the whole process, it can also act as an information relay and formation stability core, realizing the real-time perception and fine-tuning of the whole formation state, ensuring the integrity of the formation structure and the unity of the sound wave intervention direction.

[0090] S309. Obtain the acoustic vibration response data of the ancient wall under the action of the dispersing sound wave.

[0091] S310. When there is a harmful frequency component in the acoustic vibration response data that is the same as the preset dangerous resonance frequency, while emitting the dispersing sound wave, emit an interfering sound wave with the same frequency and power but opposite phase to the harmful frequency component.

[0092] In some embodiments, when a harmful audio frequency identical to the dangerous resonance frequency component of the ancient wall structure is detected in the dispersing sound wave and interfering sound waves with opposite phases have been synchronously emitted for frequency cancellation, an active tuning silent period can also be inserted after continuously emitting several dispersing sound wave pulses to further reduce the resonance energy accumulated by the sound wave in the ancient wall structure, avoid potential structural damage caused by long-term superposition, and thus achieve a higher safety level of the sound wave intervention strategy.

[0093] During the emission of the dispersing sound wave, the acoustic vibration response data is monitored in real time. When it is identified that a certain harmful frequency component present in the current dispersing sound wave is consistent with the preset dangerous resonance frequency of the ancient wall and the corresponding interfering sound wave has been synchronously emitted, the energy attenuation period of the sound wave inside the structure still needs to be considered. Even though the interfering sound wave can theoretically achieve phase cancellation, in an actual structure, due to factors such as material absorption rate, reflection effect, and wave superposition, there is still a risk that the residual sound energy has not been completely attenuated in a short time in the ancient wall structure.

[0094] Therefore, after continuously emitting several sound wave pulses, an active tuning silent period is inserted. During this silent period, the emission of the dispersing sound wave is paused, and the unmanned aerial vehicle is in a standby state, providing a time window for the possible residual resonance energy in the ancient wall structure to decay. The duration of this silent period is not a fixed value but is dynamically set according to the product of the attenuation time constant and the preset unit time, where the attenuation time constant is derived from the ancient wall dangerous resonance frequency database and represents the theoretical time required for the sound energy to naturally decay to a safe threshold in the ancient wall structure at this frequency. By setting the duration of the silent period in the form of attenuation time constant × preset unit time, adaptive silent control can be achieved according to different structural conditions, frequency characteristics, and material responses, thus effectively preventing sound energy accumulation, standing wave superposition, or material fatigue.

[0095] In addition, the insertion of this silent mechanism also helps to break the auditory adaptability generated by the sound wave on tourists, improve the warning effect of subsequent dispersing sound waves, and provide an operation window for the unmanned aerial vehicle to perform fine-tuning flights, sensor calibrations, data uploads, etc. during the silent period, enhancing the overall efficiency.

[0096] In summary, by implementing this technical step, without affecting the continuity of dispersion, the rhythm of sound wave intervention can be controlled by actively inserting a silent period, reducing the risk of resonance accumulation in the ancient wall structure, and improving the overall safety and intelligence level of sound wave intervention, ultimately achieving the optimized coordination of sound wave dispersion and cultural relic protection.

[0097] Steps S301 - S303, S309 - S310 are similar to Figure 1 steps S101 - S105 in the illustrated embodiment. Refer to the descriptions in steps S101 - S105, and details are not repeated here.

[0098] In the above - mentioned embodiment, by obtaining the behavior - state data of tourists in the dispersal area, the dynamic behavior characteristics of tourists are further identified, such as key parameters like stay time and moving speed. When a certain tourist's stay time in the ancient - wall warning area exceeds the set threshold and the moving speed abnormally increases, it is determined that the tourist has a high - risk behavior trend, such as suddenly accelerating towards the ancient wall or attempting to break into the restricted area. At this time, the position of the tourist is identified as the position of a dangerous tourist, and a linkage command is issued to dispatch multiple unmanned aerial vehicles (UAVs) to form a collaborative dispersal formation around this position. Subsequently, according to the number and moving speed of the dangerous tourists, the acoustic - wave emission parameters are dynamically adjusted to make the acoustic wave have stronger coverage and intervention intensity, and at the same time, multi - directional intervention is implemented in combination with the formation change. Especially in scenarios with a large number of tourists, complex behaviors, and individual radical behaviors, it is possible to achieve a full - process response from behavior recognition to UAV linkage, formation generation, and acoustic - wave parameter adjustment, ensuring the dispersal efficiency while avoiding acoustic - wave accidental injury or insufficient intervention, and ultimately achieving effective protection of ancient buildings and control of potential dangerous tourists in dynamic crowd management.

[0099] Next, an exemplary unmanned aerial vehicle 400 provided by an embodiment of the present application is introduced. Figure 4 It is an exemplary hardware - structure schematic diagram of the unmanned aerial vehicle 400 provided by an embodiment of the present application.

[0100] In some embodiments, the unmanned aerial vehicle 400 includes a computer device. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non - volatile storage medium and an internal memory. The non - volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non - volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with other external terminals or servers through a network connection. In some embodiments, the network interface can be a wired network interface, and in some embodiments, the network interface can also be a wireless network interface. The computer program, when executed by the processor, implements the method in the embodiment of the present application.

[0101] Those skilled in the art can understand, Figure 4The structure shown is only a block diagram of some of the structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0102] As described above, the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0103] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if detecting (the stated condition or event)" can be interpreted as "if determining...", "in response to determining...", "when detecting (the stated condition or event)", or "in response to detecting (the stated condition or event)".

[0104] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state drive), etc.

[0105] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by relevant hardware instructed by a computer program. This program can be stored in a computer-readable storage medium. When this program is executed, it can include the processes of the above method embodiments. The aforementioned storage medium includes: various media that can store program codes such as ROM, random access memory (RAM), magnetic disks, or optical discs.

Claims

1. A method for sonic dispersion of police drones, characterized in that, Applications in drones include: When it is detected that tourists appear in the dispersal area, the location and number of tourists in the dispersal area are obtained; the dispersal area refers to an area within a preset dispersal distance from the ancient wall; The center of gravity position of the tourist group is calculated according to the tourist positions, and the real-time position of the drone is adjusted to a side of the line connecting the center of gravity position and the ancient wall, which is far away from the ancient wall and a position which is a preset effective distance of the drone from the center of gravity position; the center of gravity position is the center of gravity of a position point of a tourist or a line connecting the position points of multiple tourists; The line connecting the real-time position of the drone and the center of gravity is set as the sound wave emission direction, and the dispersing sound waves are emitted according to the sound wave emission direction with the real-time emission power and the real-time emission period; the real-time emission power is the product of the preset standard power and the number of tourists; the real-time emission period is the ratio of the preset standard period to the number of tourists; Acquiring acoustic vibration response data of the ancient wall under the action of the dispersing sound wave; When there is a harmful frequency component identical to the preset dangerous resonance frequency in the acoustic vibration response data, an interfering sound wave having the same frequency and power as the harmful frequency component and opposite phase is emitted simultaneously with emitting the dispersing sound wave.

2. The method according to claim 1, wherein After obtaining the acoustic vibration response data of the ancient wall under the action of the dispersing sound wave, the method further includes: Repeating the acoustic vibration response detection operation at at least two different preset detection angles to obtain multi-directional response data; The multi-directional response data is combined with the acquired ancient wall structure diagram for spatial fusion to construct a spatial distribution diagram of the acoustic vibration response of the ancient wall surface; Based on the acoustic vibration response spatial distribution diagram, in the presence of an abnormal area, in the process of emitting a dispersing sound wave, based on the abnormal position, abnormal area and abnormal structural characteristics of the abnormal area, combined with the incident direction and energy distribution of the dispersing sound wave, the sound source emission phase, frequency and power parameter group that forms the acoustic energy interference or deflection effect in the abnormal area are reversely deduced to obtain a corrected sound wave and emit the corrected sound wave; the abnormal area is a preset special material area whose response intensity is greater than a preset response intensity threshold and the wall structure is a preset special material area with material mutation, repair marks or special surface morphology.

3. The method according to claim 2, characterized in that, In the case where there is an abnormal area, the method further includes: Acquire the echo intensity peak values, echo delay differences between adjacent detection points, and echo intensity variation coefficients at any number of spatial positions in the ancient wall area as echo signal features; The spatial position of the echo signal feature that is not within the preset echo threshold range group is used as an echo risk spatial area; When the echo risk space area and the abnormal area overlap, the emission period of the dispersing sound wave is adjusted to the preset standard period and the distribution width of the emission frequency is increased.

4. The method according to claim 1, wherein After transmitting the dispersing sound wave in the sound wave transmitting direction with the real-time transmitting power and the real-time transmitting period, the method further comprises: Acquire behavior status data of tourists in the dispersal area; the behavior status data includes the stay time and movement speed of tourists in the dispersal area; When the stay time of a tourist is greater than a preset stay time threshold and the moving speed is greater than a preset moving speed threshold, obtain the real-time dangerous tourist position of the corresponding tourist and send out a drone linkage signal; the drone linkage signal includes the real-time dangerous tourist position and a preset linkage signal.

5. The method according to claim 4, wherein After sending out the drone linkage signal, it further includes: Based on the number of linked drones and the number of detected dangerous tourists, adopt a collaborative surrounding relative position method to obtain a target dispersal formation; the number of linked drones is the number of received linkage reply signals; Based on the detected moving speed of the dangerous tourists and the number of the dangerous tourists, adjust the parameters of the dispersal sound wave to obtain dangerous dispersal sound wave parameters; in the dangerous dispersal sound wave parameters, the emission frequency and emission power are proportional to the number of the dangerous tourists and the moving speed of the dangerous tourists, and the emission period is inversely proportional to the number of the dangerous tourists and the moving speed of the dangerous tourists; Send out a linkage dispersal instruction and emit a sound wave according to the dangerous dispersal sound wave parameters and move the position according to the target dispersal formation; the linkage dispersal instruction includes the target dispersal formation and the dangerous dispersal sound wave parameters.

6. The method according to claim 1, characterized in that, After emitting the dispersal sound wave in the direction of the sound wave emission with the real-time emission power and real-time emission period, it further includes: Obtain the independent rotation speed of each rotor of the current drone in real time and combine it with a preset drone noise model to obtain a real-time drone noise sound wave; According to the real-time drone noise sound wave, the sound wave emission direction and the drone attitude angle, calculate the sound wave influence caused by the drone platform on the dispersal sound wave, and correct the dispersal sound wave according to the sound wave influence to obtain a corrected dispersal sound wave; Emit the corrected dispersal sound wave instead of the dispersal sound wave.

7. The method according to claim 1, wherein After emitting the interference sound wave with the same frequency and power as the harmful frequency component and opposite phase, it further includes: After continuously emitting a number of dispersal sound wave pulses, insert an active tuning silent period, and pause emitting the dispersal sound wave during the active tuning silent period; the duration of the active tuning silent period is a multiple of the decay time constant and a preset unit time; the decay time constant is the decay time constant corresponding to the dangerous resonance frequency in a preset ancient wall dangerous resonance frequency database.

8. A drone, characterized in that, The drone includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the drone to execute the method according to any one of claims 1-7.

9. A computer program product comprising instructions, characterized in that, When the computer program product runs on the drone, enable the drone to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, comprising instructions, characterized in that, When the instruction runs on the drone, enable the drone to execute the method according to any one of claims 1-7.

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