A signal emission source positioning system, method, electronic device and storage medium

Abstract

The present application provides a signal emission source positioning system, method, electronic device and storage medium. The system includes: an unmanned robotic vehicle and a control terminal module. The unmanned robotic vehicle includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit. The unmanned robotic vehicle establishes a wireless communication connection with the control terminal module through the wireless communication unit. The control unit is configured to receive an unknown source signal automatic detection instruction sent by the control terminal module through the wireless communication connection and forward the unknown source signal automatic detection instruction to the signal determination unit. The signal determination unit is configured to respond to the unknown source signal automatic detection instruction and collect a mixed unknown source signal formed by each unknown source signal within a preset detection area. The present application can position the emission sources of unknown source signals distributed at different positions through the unmanned robotic vehicle, so that people can timely perform corresponding processing on the above-mentioned emission sources to eliminate potential safety hazards.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technologies, and more particularly, to a signal emission source positioning system, method, electronic device, and storage medium. Background Art

[0002] With the development of information technology, communication technology plays an indispensable role in people's daily lives and is widely applied in various fields (such as communication, telemedicine, and the Internet of Things).

[0003] However, while communication technology brings convenience to people, there are also various security risks. Among them, the interference of unknown source signals on communication is relatively serious. The interference of unknown source signals on communication can cause devices such as radars and communications to be unable to be used normally, and sometimes even cause accidents such as life and property, seriously threatening people's normal life and work. Therefore, it is of great significance to determine the number and locate the emission sources of unknown source signals. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a signal emission source positioning system, method, electronic device, and storage medium, which can locate the emission sources of unknown source signals distributed at different positions through an unmanned robotic vehicle, so that people can timely perform corresponding processing on the above emission sources to eliminate potential safety hazards.

[0005] In a first aspect, an embodiment of the present application provides a system, the system includes: an unmanned robotic vehicle, a control terminal module; the unmanned robotic vehicle includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit;

[0006] The energy supply unit is used to supply energy to each unit included in the unmanned robotic vehicle;

[0007] The unmanned robotic vehicle establishes a wireless communication connection with the control terminal module through the wireless communication unit;

[0008] The control unit is configured to receive an unknown source signal automatic detection instruction sent by the control terminal module through the wireless communication connection, and forward the unknown source signal automatic detection instruction to the signal determination unit;

[0009] The signal determination unit is configured to respond to the unknown source signal automatic detection instruction, collect a mixed unknown source signal formed by each unknown source signal in a preset detection area; and obtain the position information of the emission source of each unknown source signal according to the mixed unknown source signal;

[0010] The radar unit is used to mark the position hint points corresponding to each of the emission sources at the corresponding positions on the radar map according to the position information;

[0011] The control unit is further used to control the unmanned vehicle to sequentially track each of the emission sources according to the position information.

[0012] In a possible implementation manner, the unmanned vehicle further includes: a camera unit;

[0013] The control unit is further used to receive the camera instruction sent by the control terminal module through the wireless communication connection and forward the camera instruction to the camera unit;

[0014] The camera unit is used to respond to the camera instruction, capture images of the tracked emission source to obtain image data of the tracked emission source, and send the image data to the control terminal module through the wireless communication connection.

[0015] In a possible implementation manner, the unmanned vehicle further includes: a point cloud modeling unit;

[0016] The control unit is further used to receive the point cloud modeling instruction sent by the control terminal module through the wireless communication connection and forward the point cloud modeling instruction to the point cloud modeling unit;

[0017] The point cloud modeling unit is used to respond to the point cloud modeling instruction, perform point cloud modeling on the tracked emission source to obtain point cloud modeling data of the tracked emission source, and send the point cloud modeling data to the control terminal module through the wireless communication connection.

[0018] In a possible implementation manner, the unmanned vehicle further includes: a machine learning unit, an interference unit, and a grasping unit;

[0019] The machine learning unit is used to obtain the first shape feature of the tracked emission source according to the point cloud modeling data; calculate the similarity between the first shape feature and the second shape feature of each emission source currently stored in the database according to the YOLO algorithm to obtain the similarity between the first shape feature and each second shape feature; if each similarity does not reach the preset threshold, determine that the tracked emission source is an unknown emission source, and store the first shape feature in the database;

[0020] The interference unit is used to interfere with the unknown emission source;

[0021] The grasping unit is used to grasp and recycle the interfered unknown emission source.

[0022] In a possible implementation, the control end module includes: a movable mobile control platform and a fixed ground control station.

[0023] In a possible implementation, the signal determination unit includes: an adaptive antenna group array and a calculation unit;

[0024] The adaptive antenna group array is configured to respond to the unknown source signal detection instruction and collect the mixed unknown source signals, wherein the layout modes of the adaptive antenna group array include: L-shaped layout, linear layout, and circular layout;

[0025] The calculation unit is configured to decompose the mixed unknown source signals to obtain the position information of each unknown source signal.

[0026] In a second aspect, an embodiment of the present application further provides a method for locating a signal emission source, which is applied to a signal emission source location system. The system includes: an unmanned machine car and a control end module; the unmanned machine car includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit; the energy supply unit is configured to supply energy to each unit included in the unmanned machine car; the unmanned machine car establishes a wireless communication connection with the control end module through the wireless communication unit; the method includes:

[0027] The control unit receives the unknown source signal automatic detection instruction sent by the control end module through the wireless communication connection and forwards the unknown source signal automatic detection instruction to the signal determination unit;

[0028] The signal determination unit responds to the unknown source signal automatic detection instruction and collects the mixed unknown source signals formed by mixing each unknown source signal within a preset detection area;

[0029] The signal determination unit obtains the position information of the emission source of each unknown source signal according to the mixed unknown source signals;

[0030] The radar unit marks the position hint points corresponding to each emission source at the corresponding positions on the radar map according to the position information;

[0031] The control unit controls the unmanned machine car to sequentially track each emission source according to the position information.

[0032] In a possible implementation, the unmanned machine car further includes: a camera unit; the method further includes:

[0033] The control unit receives the camera instruction sent by the control terminal module through the wireless communication connection, and forwards the camera instruction to the camera unit;

[0034] The camera unit responds to the camera instruction, cameras the tracked emission source to obtain image data of the tracked emission source, and sends the image data to the control terminal module through the wireless communication connection.

[0035] In a possible implementation manner, the unmanned robotic vehicle further includes: a point cloud modeling unit; the method further includes:

[0036] The control unit receives the point cloud modeling instruction sent by the control terminal module through the wireless communication connection, and forwards the point cloud modeling instruction to the point cloud modeling unit;

[0037] The point cloud modeling unit responds to the point cloud modeling instruction, performs point cloud modeling on the tracked emission source to obtain point cloud modeling data of the tracked emission source, and sends the point cloud modeling data to the control terminal module through the wireless communication connection.

[0038] In a possible implementation manner, the unmanned robotic vehicle further includes: a machine learning unit, an interference unit, and a grasping unit; the method further includes:

[0039] The machine learning unit obtains a first shape feature of the tracked emission source according to the point cloud modeling data;

[0040] The machine learning unit calculates the similarity between the first shape feature and the second shape feature of each currently stored emission source in the database according to the YOLO algorithm, and obtains the similarity between the first shape feature and each second shape feature;

[0041] If each similarity does not reach a preset threshold, the machine learning unit determines that the tracked emission source is an unknown emission source, and stores the first shape feature in the database;

[0042] The interference unit interferes with the unknown emission source;

[0043] The grasping unit grasps and recovers the interfered unknown emission source.

[0044] In a possible implementation manner, the control terminal module includes: a movable mobile control platform and a fixed ground control station.

[0045] In a possible implementation manner, the signal determination unit includes: an adaptive antenna group array and a calculation unit.

[0046] The signal determination unit responds to the automatic detection instruction of the unknown source signal, and collects the mixed unknown source signal formed by each unknown source signal in the preset detection area, including:

[0047] The adaptive antenna group array responds to the automatic detection instruction of the unknown source signal, and collects the mixed unknown source signal, wherein the layout modes of the adaptive antenna group array include: L-shaped layout, linear layout, and circular layout;

[0048] The signal determination unit obtains the position information of the emission source of each unknown source signal according to the mixed unknown source signal, including:

[0049] The calculation unit decomposes the mixed unknown source signal to obtain the position information of each unknown source signal.

[0050] In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the signal emission source positioning method according to any one of the second aspects.

[0051] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of the signal emission source positioning method according to any one of the second aspects.

[0052] A signal emission source positioning system, method, electronic device, and storage medium provided by an embodiment of the present application can locate the emission sources of unknown source signals distributed at different positions through an unmanned robotic vehicle, so that people can timely perform corresponding processing on the above-mentioned emission sources to eliminate potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0054] Figure 1 Shows a schematic diagram of a layout mode of an adaptive antenna group array provided by an embodiment of the present application;

[0055] Figure 2 Shows a flowchart of a signal emission source positioning method provided by an embodiment of the present application;

[0056] Figure 3 Figure 3 shows a flowchart of another signal emission source localization method provided by an embodiment of the present application;

[0057] Figure 4 Figure 4 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purposes of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in the present application show operations implemented according to some embodiments of the present application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without a logical context relationship may be reversed in sequence or implemented simultaneously. In addition, those skilled in the art may add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present application.

[0059] In addition, the described embodiments are only some embodiments of the present application, rather than all embodiments. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the protection scope of the present application.

[0060] It should be noted that the term "including" will be used in the embodiments of the present application to indicate the existence of the subsequently stated features, but does not exclude adding other features.

[0061] For the convenience of understanding this embodiment, a signal emission source localization system, method, electronic device, and storage medium provided by an embodiment of the present application will be introduced in detail.

[0062] An embodiment of the present application provides a system, which includes: an unmanned robotic vehicle, and a control terminal module; the unmanned robotic vehicle includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit;

[0063] The energy supply unit is used to supply energy to each unit included in the unmanned robotic vehicle;

[0064] The unmanned vehicle establishes a wireless communication connection with the control terminal module through the wireless communication unit;

[0065] The control unit is configured to receive the unknown source signal automatic detection instruction sent by the control terminal module through the wireless communication connection, and forward the unknown source signal automatic detection instruction to the signal determination unit;

[0066] The signal determination unit is configured to respond to the unknown source signal automatic detection instruction, collect the mixed unknown source signals formed by each unknown source signal within a preset detection area; obtain the position information of the emission source of each unknown source signal according to the mixed unknown source signals;

[0067] The radar unit is configured to mark the position hint points corresponding to each emission source at the corresponding positions on the radar map according to the position information;

[0068] The control unit is further configured to control the unmanned vehicle to sequentially track each emission source according to the position information.

[0069] Exemplarily, the energy supply unit can be a lithium battery;

[0070] Exemplarily, the signal emission source positioning system may further include a recording unit for recording the position information of the emission source of each position source signal;

[0071] Exemplarily, the control unit can be an STM32 chip.

[0072] The preset detection area should be within the maximum signal reception range of the signal determination unit.

[0073] Before obtaining the position information of the emission source of each unknown source signal according to the mixed unknown source signals, the signal determination unit may also perform noise removal processing and filtering processing on the mixed unknown source signals;

[0074] And, the signal determination unit is further configured to determine the number of emission sources of the unknown source signals according to the mixed unknown source signals (by analyzing the constant modulus algorithm);

[0075] Preferably, the control unit can determine the tracking path according to each position information, and control the unmanned vehicle to sequentially track each emission source according to the tracking path.

[0076] Preferably, the radar map can be displayed on a preset terminal;

[0077] In a possible implementation manner, the unmanned vehicle further includes: a camera unit;

[0078] The control unit is further configured to receive a camera instruction sent by the control terminal module through the wireless communication connection, and forward the camera instruction to the camera unit;

[0079] The camera unit is configured to respond to the camera instruction, capture the tracked emission source to obtain image data of the tracked emission source, and send the image data to the control terminal module through the wireless communication connection.

[0080] In a possible implementation manner, the unmanned robotic vehicle further includes: a point cloud modeling unit;

[0081] The control unit is further configured to receive a point cloud modeling instruction sent by the control terminal module through the wireless communication connection, and forward the point cloud modeling instruction to the point cloud modeling unit;

[0082] The point cloud modeling unit is configured to respond to the point cloud modeling instruction, perform point cloud modeling on the tracked emission source to obtain point cloud modeling data of the tracked emission source, and send the point cloud modeling data to the control terminal module through the wireless communication connection.

[0083] Exemplarily, the point cloud modeling unit may be a three-dimensional laser point cloud scanner.

[0084] In a possible implementation manner, the unmanned robotic vehicle further includes: a machine learning unit, an interference unit, and a grasping unit;

[0085] The machine learning unit is configured to obtain a first shape feature of the tracked emission source according to the point cloud modeling data; calculate a similarity between the first shape feature and a second shape feature of each currently stored emission source in the database according to the YOLO algorithm to obtain a similarity between the first shape feature and each second shape feature; if each similarity does not reach a preset threshold, determine that the tracked emission source is an unknown emission source, and store the first shape feature in the database;

[0086] Exemplarily, the shape feature may be a shape feature, a color feature, etc.

[0087] The interference unit is configured to interfere with the unknown emission source;

[0088] For example, the interference unit may emit at least one interference signal to the unknown emission source to disable the unknown emission source.

[0089] The grasping unit is configured to grasp and recycle the interfered unknown emission source.

[0090] There can be a storage space on the unmanned robotic vehicle dedicated to placing the captured unknown emission source.

[0091] In a possible implementation, the control terminal module includes: a movable mobile control platform and a fixed ground control station.

[0092] In a possible implementation, the signal determination unit includes: an adaptive antenna group array and a calculation unit;

[0093] The adaptive antenna group array is used to respond to the unknown source signal detection instruction and collect the mixed unknown source signals. Among them, the layout methods of the adaptive antenna group array include: L-shaped layout, linear layout, and circular layout;

[0094] Refer to Figure 1 As shown, it is a schematic diagram of the layout method of an adaptive antenna group array provided by an embodiment of the present application, showing the styles of the L-shaped layout, linear layout, and circular layout of the adaptive antenna group array respectively.

[0095] Exemplarily, when the number of (emission sources of) unknown source signals reaches a certain preset threshold, the control unit can automatically adjust the layout method of the adaptive antenna group array to a circular layout, and when it is lower than this preset threshold, automatically adjust the layout method of the adaptive antenna group array to an L-shaped layout or a linear layout.

[0096] In addition, when it is determined according to the position information that the positions of the emission source and the unmanned robotic vehicle are not on the same horizontal plane, the layout method of the adaptive antenna group array can be in the style of a three-dimensional layout, and when they are on the same horizontal plane, the layout method of the adaptive antenna group array can also be in the style of a two-dimensional layout.

[0097] The calculation unit is used to decompose the mixed unknown source signals to obtain the position information of each unknown source signal.

[0098] Before the calculation unit decomposes the mixed unknown source signals, noise reduction processing and filtering processing can be performed on the mixed unknown source signals.

[0099] A signal emission source positioning system provided by an embodiment of the present application can locate the emission sources of unknown source signals distributed at different positions through an unmanned robotic vehicle, so that people can timely perform corresponding processing on the above-mentioned emission sources to eliminate potential safety hazards.

[0100] Refer to Figure 2As shown in the figure, it is a flowchart of a signal emission source localization method provided by an embodiment of the present application, which is applied to a signal emission source localization system. The system includes: an unmanned robotic vehicle and a control terminal module. The unmanned robotic vehicle includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit. The energy supply unit is used to supply energy to each unit included in the unmanned robotic vehicle. The unmanned robotic vehicle establishes a wireless communication connection with the control terminal module through the wireless communication unit. The method includes:

[0101] S201. The control unit receives an unknown source signal automatic detection instruction sent by the control terminal module through the wireless communication connection, and forwards the unknown source signal automatic detection instruction to the signal determination unit;

[0102] S202. The signal determination unit responds to the unknown source signal automatic detection instruction, and collects a mixed unknown source signal formed by mixing each unknown source signal within a preset detection area;

[0103] S203. According to the mixed unknown source signal, obtain the position information of the emission source of each unknown source signal;

[0104] S204. The radar unit marks a position prompt point corresponding to each emission source at the corresponding position on the radar map according to the position information;

[0105] S205. The control unit controls the unmanned robotic vehicle to sequentially track each emission source according to the position information.

[0106] Refer to Figure 3 As shown in the figure, it is a flowchart of another signal emission source localization method provided by an embodiment of the present application. In a possible implementation manner, the unmanned robotic vehicle further includes: a camera unit. The method further includes:

[0107] S301. The control unit receives a camera instruction sent by the control terminal module through the wireless communication connection, and forwards the camera instruction to the camera unit;

[0108] S302. The camera unit responds to the camera instruction, takes a picture of the tracked emission source to obtain image data of the tracked emission source, and sends the image data to the control terminal module through the wireless communication connection.

[0109] In a possible implementation manner, the unmanned robotic vehicle further includes: a point cloud modeling unit. The method further includes:

[0110] The control unit receives the point cloud modeling instruction sent by the control terminal module through the wireless communication connection, and forwards the point cloud modeling instruction to the point cloud modeling unit;

[0111] The point cloud modeling unit responds to the point cloud modeling instruction, performs point cloud modeling on the tracked emission source to obtain the point cloud modeling data of the tracked emission source, and sends the point cloud modeling data to the control terminal module through the wireless communication connection.

[0112] In a possible implementation manner, the unmanned machine trolley further includes: a machine learning unit, an interference unit, and a grasping unit; the method further includes:

[0113] The machine learning unit obtains the first shape feature of the tracked emission source according to the point cloud modeling data;

[0114] The machine learning unit calculates the similarity between the first shape feature and the second shape feature of each currently stored emission source in the database according to the YOLO algorithm, and obtains the similarity between the first shape feature and each second shape feature;

[0115] If each similarity does not reach the preset threshold, the machine learning unit determines that the tracked emission source is an unknown emission source, and stores the first shape feature in the database;

[0116] The interference unit interferes with the unknown emission source;

[0117] The grasping unit grasps and recovers the interfered unknown emission source.

[0118] In a possible implementation manner, the control terminal module includes: a movable mobile control platform and a fixed ground control station.

[0119] In a possible implementation manner, the signal determination unit includes: an adaptive antenna group array and a calculation unit;

[0120] The signal determination unit responds to the unknown source signal automatic detection instruction, and collects the mixed unknown source signal formed by each unknown source signal in the preset detection area, including:

[0121] The adaptive antenna group array responds to the unknown source signal automatic detection instruction and collects the mixed unknown source signal, wherein the layout mode of the adaptive antenna group array includes: L-shaped layout, linear layout, and circular layout;

[0122] The signal determination unit obtains the position information of the emission source of each unknown source signal according to the mixed unknown source signal, including:

[0123] The computing unit decomposes the mixed unknown source signals to obtain the position information of each unknown source signal.

[0124] A signal emission source positioning method provided by an embodiment of the present application can locate the emission sources of unknown source signals distributed at different positions through an unmanned vehicle, so that people can timely perform corresponding processing on the above-mentioned emission sources to eliminate potential safety hazards.

[0125] Refer to Figure 4 As shown, an electronic device 400 provided by an embodiment of the present application includes: a processor 401, a memory 402, and a bus. The memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device runs, the processor 401 communicates with the memory 402 through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the signal emission source positioning method as described above.

[0126] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memory and processor, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, it can execute the signal emission source positioning method as described above.

[0127] Corresponding to the above signal emission source positioning method, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the above signal emission source positioning method.

[0128] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the method embodiments, which will not be elaborated in this application. In several embodiments provided in this application, it should be understood that the disclosed systems, systems, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or modules can be in an electrical, mechanical, or other forms.

[0129] The module described as a separation component may or may not be physically separated. The component shown as a module may or may not be a physical unit, that is, it may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0130] In addition, each functional unit in various embodiments of the present application may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit.

[0131] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0132] The above are only the specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A signal emission source positioning system, characterized in that, The system includes: an unmanned robotic vehicle and a control terminal module; the unmanned robotic vehicle includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit; The energy supply unit is used to supply energy to each unit included in the unmanned robotic vehicle; The unmanned robotic vehicle establishes a wireless communication connection with the control terminal module through the wireless communication unit; The control unit is used to receive the unknown source signal automatic detection instruction sent by the control terminal module through the wireless communication connection, and forward the unknown source signal automatic detection instruction to the signal determination unit; The signal determination unit is used to respond to the unknown source signal automatic detection instruction, collect the mixed unknown source signal formed by each unknown source signal in the preset detection area; according to the mixed unknown source signal, obtain the position information of the emission source of each unknown source signal; The radar unit is used to mark the position hint points corresponding to each emission source at the corresponding positions on the radar map according to the position information; The control unit is further used to control the unmanned robotic vehicle to sequentially track each emission source according to the position information; The unmanned robotic vehicle further includes: a machine learning unit, an interference unit, and a grasping unit; The machine learning unit is used to obtain the first external shape feature of the tracked emission source according to the point cloud modeling data; calculate the similarity between the first external shape feature and the second external shape feature of each currently stored emission source in the database according to the YOLO algorithm, and obtain the similarity between the first external shape feature and each second external shape feature; if each similarity does not reach the preset threshold, determine the tracked emission source as an unknown emission source, and store the first external shape feature in the database; The interference unit is used to interfere with the unknown emission source; The grasping unit is used to grasp and recycle the interfered unknown emission source.

2. The signal emission source positioning system according to claim 1, characterized in that, The unmanned robotic vehicle further includes: a camera unit; The control unit is further used to receive the camera instruction sent by the control terminal module through the wireless communication connection, and forward the camera instruction to the camera unit; The camera unit is used to respond to the camera instruction, photograph the tracked emission source to obtain the image data of the tracked emission source, and send the image data to the control terminal module through the wireless communication connection.

3. The signal emission source positioning system according to claim 1, characterized in that, The unmanned robotic vehicle further includes: a point cloud modeling unit; The control unit is further used to receive the point cloud modeling instruction sent by the control terminal module through the wireless communication connection, and forward the point cloud modeling instruction to the point cloud modeling unit; The point cloud modeling unit is used to respond to the point cloud modeling instruction, perform point cloud modeling on the tracked emission source to obtain the point cloud modeling data of the tracked emission source, and send the point cloud modeling data to the control terminal module through the wireless communication connection.

4. The signal emission source positioning system according to claim 1, characterized in that, The control terminal module includes: a movable mobile control platform and a fixed ground control station.

5. The signal emission source positioning system according to claim 1, characterized in that, The signal determination unit includes: an adaptive antenna group array and a calculation unit; The adaptive antenna group array is used to collect the mixed unknown source signals. Among them, the layout modes of the adaptive antenna group array include: L-shaped layout, linear layout, and circular layout; The calculation unit is used to decompose the mixed unknown source signals to obtain the position information of each unknown source signal.

6. A method for locating a signal emission source, characterized in that, Applied to a signal emission source positioning system, the system includes: an unmanned robotic vehicle and a control terminal module; the unmanned robotic vehicle includes: a control unit, a wireless communication unit, a radar unit, a signal determination unit, and an energy supply unit; the energy supply unit is used to supply energy to each unit included in the unmanned robotic vehicle; the unmanned robotic vehicle establishes a wireless communication connection with the control terminal module through the wireless communication unit; the method includes: The control unit receives the automatic detection instruction of the unknown source signal sent by the control terminal module through the wireless communication connection and forwards the automatic detection instruction of the unknown source signal to the signal determination unit; The signal determination unit responds to the automatic detection instruction of the unknown source signal and collects the mixed unknown source signals mixed by each unknown source signal within a preset detection area; The signal determination unit obtains the position information of the emission source of each unknown source signal according to the mixed unknown source signals; The radar unit marks the position hint points corresponding to each emission source at the corresponding positions on the radar map according to the position information; The control unit controls the unmanned robotic vehicle to sequentially track each emission source according to the position information; The unmanned robotic vehicle further includes: a machine learning unit, an interference unit, and a grasping unit; the method further includes: The machine learning unit obtains the first external shape feature of the tracked emission source according to the point cloud modeling data; The machine learning unit calculates the similarity between the first external shape feature and the second external shape feature of each currently stored emission source in the database according to the YOLO algorithm to obtain the similarity between the first external shape feature and each second external shape feature; If each similarity does not reach the preset threshold, the machine learning unit determines that the tracked emission source is an unknown emission source and stores the first external shape feature in the database; The interference unit interferes with the unknown emission source; The grasping unit grasps and recovers the interfered unknown emission source.

7. The signal emission source positioning method according to claim 6, characterized in that The unmanned robotic vehicle further includes: a camera unit; the method further includes: The control unit receives the camera instruction sent by the control terminal module through the wireless communication connection and forwards the camera instruction to the camera unit; The camera unit responds to the camera instruction, takes pictures of the tracked emission source to obtain the image data of the tracked emission source, and sends the image data to the control terminal module through the wireless communication connection.

8. An electronic device, characterized in that, Including: A processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the signal emission source localization method according to any one of claims 6 to 7.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it performs the steps of the signal emission source localization method according to any one of claims 6 to 7.

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