Unmanned aerial vehicle area searching method, device, equipment and medium

Abstract

The embodiment of the invention provides an unmanned aerial vehicle region searching method and device, equipment and a medium, which are used for solving the problem that parameters of an unmanned aerial vehicle in a region cannot be really and effectively calculated in related technologies. If the electronic equipment receives the detection request, acquiring a target area and target detection time of a to-be-detected area carried in the detection request; determining a unit detection area of an unmanned aerial vehicle of a preset model in the target detection duration; determining a target number based on the target area and the detection area; if the number of the currently assigned unmanned aerial vehicles is larger than the target number, the flight height of the assigned unmanned aerial vehicles of the preset model is reduced or changed into unmanned aerial vehicles of other models, and if the flight height of the unmanned aerial vehicles of other models is smaller than the flight height of the unmanned aerial vehicles of the preset model, the unmanned aerial vehicles of other models are assigned. And if yes, increasing the flight height of the assigned unmanned aerial vehicle of the preset model. Therefore, when the detection requirement is met, the detection performance is improved, and the parameters of the unmanned aerial vehicle are accurately determined.

Description

Technical Field

[0001] The present application relates to the field of drone technology and airspace management, and in particular to a drone area search method, device, equipment and medium. Background Art

[0002] In recent years, the regional search technology of drones has developed rapidly, greatly broadening its application areas. In the agricultural field, drones can monitor crop growth in real time and accurately deliver pesticides and fertilizers by carrying advanced sensors and cameras; in the field of environmental protection, drones have become an important tool for air quality monitoring, pollution source investigation and ecological environment protection due to their rapid response and wide coverage. In terms of emergency rescue, drones can provide rescuers with key visual information to support search and rescue operations in difficult terrain and harsh environments. In addition to the civilian field, drones are playing an increasingly important role in the military field, performing a variety of combat missions, such as reconnaissance guidance, precision strikes, etc.

[0003] With the increasing use of drones in civil and military applications, drone regional search and the selection of drone types, parameters and quantities are particularly important. Existing drone selection and parameter adjustment work usually only considers whether the search radius of a single drone can cover the required search area. This method is unscientific and imprecise, and cannot truly and effectively calculate the parameters of drones in the area. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and medium for searching a drone area, which are used to solve the problem in the related art that the parameters of the drones in the area cannot be truly and effectively calculated.

[0005] In a first aspect, an embodiment of the present application provides a method for searching a drone area, the method comprising:

[0006] If a control request is received, the target area and target detection duration of the area to be detected carried in the control request are obtained;

[0007] Determine a unit detection area of ​​a drone of a preset model during the target detection time; determine the number of targets based on the target area and the unit detection area;

[0008] If the number of currently assigned drones is greater than the target number, it is determined to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, it is determined to increase the flight altitude of the assigned drone of the preset model.

[0009] Furthermore, after receiving the control request, determining a drone of a preset model before the unit detection area of ​​the target detection time, the method further includes:

[0010] Obtaining the longitudinal distance of the field of view of the drone of the preset model;

[0011] And according to the flight speed of the preset model of the drone and the duration corresponding to the pre-saved scanning cycle of the wide area detection, determine the longitudinal flight distance of the preset model of the drone in the duration;

[0012] Determining whether the longitudinal flight distance is greater than the longitudinal distance of the field of view;

[0013] If yes, the detection mode of the preset drone model is controlled to be local detection; otherwise, the detection mode of the preset drone model is controlled to be wide-area detection;

[0014] The step of determining a unit detection area of ​​a drone of a preset model during the target detection duration includes:

[0015] Based on the determined detection mode, a lateral detection distance of a drone of a preset model is determined; based on the lateral detection distance, the flight speed of the drone of the preset model and the target detection time, a unit detection area of ​​a drone of the preset model during the target detection time is determined.

[0016] Furthermore, the obtaining of the longitudinal distance of the field of view of the drone of the preset model includes:

[0017] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the longitudinal direction; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

[0018] Further, the determining of the lateral detection distance of a drone of a preset model based on the determined detection mode includes:

[0019] If the current detection mode is local detection, the lateral distance of the field of view of the preset model of drone is obtained;

[0020] Based on the lateral distance of the field of view, a lateral detection distance of a preset model of drone is determined.

[0021] Further, the obtaining of the lateral distance of the field of view of the drone of the preset model includes:

[0022] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the horizontal direction; and determine the lateral distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved length of the target to be identified.

[0023] Further, the determining of the lateral detection distance of a drone of a preset model based on the determined detection mode includes:

[0024] If the current detection mode is wide-area detection, the detection width of the preset model of drone at the current flight altitude is determined;

[0025] Based on the width, a lateral detection distance of a drone of a preset model is determined.

[0026] Furthermore, the determining of the width detected by the preset model of the UAV at the current flight altitude includes:

[0027] Determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the altitude and the detection distance of the preset model of drone;

[0028] The width detected by the drone of the preset model at the current flight altitude is determined according to the pre-saved width angle of the drone of the preset model, the target detection distance and the current flight altitude.

[0029] In a second aspect, an embodiment of the present application further provides a drone area search device, the device comprising:

[0030] A receiving and obtaining module, configured to obtain, if a control request is received, a target area of ​​the area to be detected and a target detection duration carried in the control request;

[0031] A determination module, configured to determine a unit detection area of ​​a drone of a preset model during the target detection time; and determine the number of targets based on the target area and the unit detection area;

[0032] A processing module is used to determine whether to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone if the number of currently assigned drones is greater than the target number, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, determine to increase the flight altitude of the assigned drone of the preset model.

[0033] Furthermore, the receiving and acquiring module is further used to acquire the longitudinal distance of the field of view of the drone of the preset model; and determine the longitudinal flight distance of the drone of the preset model in the duration according to the flight speed of the drone of the preset model and the duration corresponding to the scanning cycle of the pre-saved wide-area detection; judge whether the longitudinal flight distance is greater than the longitudinal distance of the field of view; if so, control the detection mode of the drone of the preset model to be local detection; otherwise, control the detection mode of the drone of the preset model to be wide-area detection;

[0034] The determination module is specifically used to determine the lateral detection distance of a preset model of drone based on the determined detection mode; based on the lateral detection distance, the flight speed of the preset model of drone and the target detection time, determine the unit detection area of ​​a preset model of drone during the target detection time.

[0035] Furthermore, the receiving and acquiring module is specifically used to acquire the image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the longitudinal direction; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

[0036] Furthermore, the determination module is specifically used to obtain the lateral distance of the field of view of the preset model of drone if the current detection mode is localized detection; and determine the lateral detection distance of a preset model of drone based on the lateral distance of the field of view.

[0037] Furthermore, the determination module is specifically used to obtain the image collected by the preset model of drone; obtain the number of pixels occupied horizontally by the target to be identified in the image; and determine the lateral distance of the field of view of the preset model of drone based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved length of the target to be identified.

[0038] Furthermore, the determination module is specifically used to determine the detection width of a preset model of drone at the current flight altitude if the current detection mode is wide-area detection; based on the width, determine the lateral detection distance of a preset model of drone.

[0039] Furthermore, a determination module is specifically used to determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the height and detection distance of the preset model of drone; and to determine the width detected by the preset model of drone at the current flight altitude according to the pre-saved width angle of the preset model of drone, the target detection distance and the current flight altitude.

[0040] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0041] A memory for storing program instructions;

[0042] The processor is used to call the program instructions stored in the memory and execute the steps included in any one of the above-mentioned drone area search methods according to the obtained program instructions.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the steps included in the drone area search method as described in any one of the above items.

[0044] In the embodiment of the present application, if the electronic device receives a detection request, it obtains the target area and target detection time of the area to be detected carried in the detection request; determines the unit detection area of ​​a preset model of drone during the target detection time; determines the number of targets based on the target area and the detection area; if the number of currently assigned drones is greater than the target number, the flight altitude of the assigned preset model of drone is reduced or changed to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone, and if it is less than the target number, the flight altitude of the assigned preset model of drone is increased. Thus, when the detection requirements are met, the detection performance is improved and the parameters of the drone are accurately determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic diagram of a process of a drone area search method provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of an area to be detected provided in an embodiment of the present application;

[0048] Figure 3 A detailed process diagram of a drone area search provided in an embodiment of the present application;

[0049] Figure 4 A side view of a drone detection provided in an embodiment of the present application;

[0050] Figure 5A three-dimensional image of a drone wide-area detection provided in an embodiment of the present application;

[0051] Figure 6 A top view of a drone wide-area detection provided in an embodiment of the present application;

[0052] Figure 7 A structural diagram of a drone area search device provided in an embodiment of the present application;

[0053] Figure 8 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In order to solve the problem in the related art that the parameters of drones in a region cannot be truly and effectively calculated, the embodiments of the present application provide a drone region search method, device, equipment and medium.

[0056] In an embodiment of the present application, if the electronic device receives a control request, it obtains the target area and target detection time of the area to be detected carried in the control request; determines the unit detection area of ​​a preset model of drone during the target detection time; determines the number of targets based on the target area and the unit detection area; if the number of currently assigned drones is greater than the target number, it determines to lower the flight altitude of the assigned preset model of drone or change it to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, it determines to increase the flight altitude of the assigned preset model of drone.

[0057] Embodiment 1:

[0058] Figure 1 A process diagram of a drone area search method provided in an embodiment of the present application, the process includes the following steps:

[0059] S101: If a control request is received, the target area and target detection duration of the area to be detected carried in the control request are obtained.

[0060] The drone area search method provided in the embodiment of the present application is applied to an electronic device, which may be a smart device such as a PC or a server.

[0061] In order to determine the parameters of the drone, when the user needs to control the drone, he can operate the device he uses or the preset device, and the electronic device can receive the control request. Specifically, the user can select the target area and target detection duration of the area to be detected on the preset page of the device he uses or the preset device, and click the preset button. At this time, the electronic device can receive the control request. After receiving the control request, the electronic device can obtain the target area and target detection duration of the area to be detected carried in the control request. For example, the target detection duration can be 2 minutes. At this time, if the drone flight speed is required to be no higher than 100 kilometers per hour, it can be calculated according to the overall situation update cycle of no more than 2 minutes. The flight speed v is within the range of 100 kilometers per hour, and the drone operators of different teams in the drone search team control the drone through the handheld terminal.

[0062] The application scenario of the embodiment of the present application is that the drone operator of the drone search team operates the drone to complete the detection of the area to be detected during the target detection time. The electronic device described in the embodiment of the present application is used to determine the parameters such as the height of the drone.

[0063] Figure 2 A schematic diagram of an area to be detected provided in an embodiment of the present application.

[0064] Depend on Figure 2 It can be seen that the area to be detected is a circular range with a radius of 15 kilometers, so the target area of ​​the area to be detected is 225 square kilometers. Figure 2 The center may be the location of the drone search team.

[0065] S102: Determine a unit detection area of ​​a drone of a preset model during the target detection time; and determine the number of targets based on the target area and the unit detection area.

[0066] The electronic device can determine the unit detection area of ​​a preset model of drone during the target detection time. Specifically, the electronic device can save the detection areas corresponding to different detection times for the preset model of drone, and can obtain the detection area corresponding to the target detection time saved for the preset model of drone. The detection area is the unit detection area of ​​the preset model of drone during the target detection time.

[0067] After determining the unit detection area of ​​a preset model of drone during the target detection time, the electronic device can determine the required number of targets of the preset model of drone based on the unit detection area of ​​the preset model of drone during the target detection time and the target area of ​​the area to be detected.

[0068] Specifically, the electronic device can use the following formula to determine the number of targets of the drone:

[0069]

[0070] Among them, k is the number of drone targets, M is the target area to be detected, and M i It is the unit detection area of ​​a preset model of drone during the target detection time.

[0071] S103: If the number of currently assigned drones is greater than the target number, determine to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, determine to increase the flight altitude of the assigned drone of the preset model.

[0072] In order to accurately search the drone area, the electronic device can obtain the number of currently assigned drones, where the number of currently assigned drones refers to the number of controllable drones. Specifically, the electronic device can determine the number of currently assigned drones through the following formula:

[0073] K=a×p×q

[0074] Among them, K is the number of assigned drones, a is the number of teams included in the drone search team, p is the number of drone operators assigned to each team, and q is the number of drones that each drone operator can control simultaneously.

[0075] For example, the drone search team includes a=4 teams, each team is assigned with p=2 drone operators, and each drone operator can simultaneously operate q=2 drones, so the determined number of assigned drones is 16.

[0076] The electronic device can determine whether the number of currently assigned drones is greater than the target number. If it is greater than the target number, it is determined that the drone search team is not fully utilized. At this time, in order to improve the detection efficiency and make full use of the drones controllable by the drone search team, the flight altitude of the preset model of drone can be reduced. In a possible implementation, the electronic device can reduce the flight altitude of the preset model of drone by a preset altitude, or can change to another model of drone, the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone, and subsequently, the other model of drone is used to detect the area to be detected. It should be noted that, usually, the price of the other types of drones is lower than that of the preset model of drones, which can reduce economic expenditure. If the number of currently assigned drones is less than the target number, it is determined that the drone search team cannot complete the detection of the area to be detected. In order to achieve the detection of the area to be detected, the flight altitude of the assigned drone of the preset model can be increased. In a possible implementation, the electronic device can increase the flight altitude of the preset model of drone by a preset altitude, and after the increase, determine whether the number of currently assigned drones is still greater than the number of drones required after adjusting the altitude. If so, continue to increase the flight altitude of the preset model of drone by the preset altitude until it is determined that the number of currently assigned drones is no longer greater than the number of drones required after adjusting the altitude.

[0077] The flight altitude of a drone is the vertical distance between the drone and the ground, which directly reflects its flight altitude level. It should be noted that as the flight altitude of a drone increases, the detection distance will increase. The detection distance can also be called the reconnaissance distance. As the flight altitude of a drone decreases, the detection distance will decrease.

[0078] In one possible implementation, different types of drones have different corresponding flight altitude ranges. If the determined flight altitude is higher than the maximum value of the flight altitude range of the drone of the preset model, the upper-level model drone of the preset model can be selected. If the determined flight altitude is lower than the minimum value of the flight altitude range of the drone of the preset model, the lower-level model drone of the preset model can be selected. The flight altitude range of the preset model drone should be smaller than the same index value of the upper-level model drone and larger than the same index value of the lower-level model drone. For example, the cloud layer is set at an altitude of 1 km, and the flight altitude of the lower-level model drone is 500 meters, that is, the flight altitude range of the drone assigned by the squad is 0.5-1 km.

[0079] The prerequisites of the method described in the embodiment of the present application include three aspects: first, the number of teams included in a certain drone search team, the number of drone operators assigned to each team, and the number of drones that can be operated by a single drone operator; second, the target area of ​​the area to be detected and the target detection time required to perform the search mission; third, under this allocation method, the drone flight speed and flight altitude range are given.

[0080] It should be noted that after adjusting the height, the electronic device can determine the required number of drones based on the preset model of drones after the height is adjusted.

[0081] In a possible implementation, when the number of assigned drones is greater than the target number, the drone model can be reselected and the parameters of the reselected model of drone can be set to meet the search team's assigned number requirements and regional search needs.

[0082] It should be noted that the drone search team needs to consider both economic and efficiency issues. Among them, the economic type refers to the use of low-cost drones, and the parameters are adjusted to maximize the performance of drone parameters to meet the regional search capability requirements and the number of drones assigned. The efficiency type refers to improving the performance of drones, reducing the number of drones under the conditions of the specified area and search time requirements; or maximizing the drone search space under the conditions required by the drone search team. And comprehensively consider the field of view angle, detection distance, flight altitude, flight speed and other parameters, select the optimal solution for the parameters of economic and efficiency drones, and maximize the regional search efficiency of drones.

[0083] After determining the number of drones to be adjusted and the flight altitude, the drone operators in the drone search team can control the drones to fly to the determined flight altitude, and the drone search team controls a total of that number of drones.

[0084] The embodiment of the present application relates to a drone area search algorithm, which can reasonably and quickly verify and evaluate the drone detection search. The embodiment of the present application is equivalent to calculating the number of drone targets within a given range and within a specified time, wherein the given range refers to the area to be detected, and the specified time refers to the target detection duration of the area to be detected. In the embodiment of the present application, it is equivalent to comparing the number of drone targets determined by the drone search team, and making drone selection or parameter adjustment recommendations for parameters that do not meet the requirements; the optimal solution for drone area search is obtained through calculation and analysis by the algorithm, and the economic and efficiency model parameters of drones are proposed.

[0085] In order to address the problem that the existing methods of calculating the number of drone selection, parameter adjustment and deployment are single and one-sided, and cannot effectively integrate multi-dimensional data for comprehensive judgment, and cannot quickly calculate the number of drones required to search a given area within a given time. The embodiment of the present application proposes a method that can be used to manage drones in the area to be inspected while meeting the requirements of drone team deployment. The method can meet the requirements of the existing drone search team formation, scientifically and quickly perform drone selection, parameter adjustment and regional search for the optimal solution algorithm, and improve drone efficiency.

[0086] In the embodiment of the present application, if the electronic device receives a detection request, it obtains the target area and target detection time of the area to be detected carried in the detection request; determines the unit detection area of ​​a preset model of drone during the target detection time; determines the number of targets based on the target area and the detection area; if the number of currently assigned drones is greater than the target number, the flight altitude of the assigned preset model of drone is reduced or changed to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone, and if it is less than the target number, the flight altitude of the assigned preset model of drone is increased. Thus, when the detection requirements are met, the detection performance is improved and the parameters of the drone are accurately determined.

[0087] Embodiment 2:

[0088] In order to accurately control the drone, based on the above embodiment, in the embodiment of the present application, after receiving the control request, before determining a drone of a preset model within the unit detection area of ​​the target detection time, the method further includes:

[0089] Obtaining the longitudinal distance of the field of view of the drone of the preset model;

[0090] And according to the flight speed of the preset model of the drone and the duration corresponding to the pre-saved scanning cycle of the wide area detection, determine the longitudinal flight distance of the preset model of the drone in the duration;

[0091] Determining whether the longitudinal flight distance is greater than the longitudinal distance of the field of view;

[0092] If yes, the detection mode of the preset drone model is controlled to be local detection; otherwise, the detection mode of the preset drone model is controlled to be wide-area detection;

[0093] The step of determining a unit detection area of ​​a drone of a preset model during the target detection duration includes:

[0094] Based on the determined detection mode, a lateral detection distance of a drone of a preset model is determined; based on the lateral detection distance, the flight speed of the drone of the preset model and the target detection time, a unit detection area of ​​a drone of the preset model during the target detection time is determined.

[0095] In order to accurately control the drone, the electronic equipment needs to determine the detection mode of the drone, which includes local mode and wide-area mode. It should be noted that in the local mode, the drone adopts a direct flight strategy. The wide-area mode focuses on rapid scanning and monitoring of a large area. In this mode, the drone controls the acquisition unit (such as a camera or sensor) set in its own pod to swing or rotate left and right to expand the field of view and achieve comprehensive coverage and preliminary assessment of the entire area.

[0096] In order to determine the detection mode of the drone, the electronic device can obtain the longitudinal distance of the field of view of the preset model of the drone. In a possible implementation, the electronic device can pre-save the longitudinal distance of the field of view of the preset model of the drone, and determine the longitudinal flight distance of the preset model of the drone based on the flight speed of the drone and the duration corresponding to the pre-saved wide-area detection scanning cycle. Specifically, the electronic device can determine the product of the flight speed of the drone and the duration as the longitudinal flight distance of the drone during the duration. It should be noted that the duration corresponding to the pre-saved wide-area detection scanning cycle is the duration required for the drone area search when its acquisition unit swings from the far left (the left and right described here are the left and right in the actual scene) to the far right (the left and right described here are the left and right in the actual scene).

[0097] The electronic device can determine the longitudinal flight distance of the drone during this time using the following formula:

[0098] s=vt

[0099] Among them, s is the longitudinal flight distance of the UAV during the time, v is the flight speed of the UAV, and t is the duration corresponding to the scanning cycle of wide-area detection.

[0100] For example, if the flight speed v of the drone is 100 kilometers per hour and the duration t of the scanning cycle of the drone wide-area detection is 5 seconds, then the flight distance s of the drone within time t is approximately equal to 134.87 meters.

[0101] After determining the longitudinal flight distance, the electronic device can determine whether the longitudinal flight distance is greater than the longitudinal distance of the field of view. If it is greater than the longitudinal distance of the field of view, then when wide-area detection is adopted, some areas in the area to be detected cannot be detected. In this case, the detection mode is determined to be localized detection. If it is not greater than the longitudinal distance of the field of view, it can be determined that wide-area detection is adopted, and there are no undetectable areas in the area to be detected. In this case, the detection mode can be determined to be wide-area detection.

[0102] Specifically, the electronic device can determine the detection mode by the following formula:

[0103]

[0104] Among them, y is the longitudinal distance of the field of view of the preset model of drone, and s is the longitudinal flight distance of the drone during the time.

[0105] After determining the detection mode of the drone, the electronic device can determine the lateral detection distance of a preset model of drone based on the determined detection mode. In one possible implementation, the electronic device can locally save the detection mode, model and flight altitude corresponding detection distance, and the electronic device can obtain the lateral detection distance corresponding to the detection mode, the preset model and the flight altitude of the drone.

[0106] And based on the lateral detection distance, the flight speed of the preset model of drone and the target detection duration, a unit detection area of ​​a preset model of drone during the target detection duration is determined. Specifically, the electronic device can determine the product of the flight distance and the target detection duration, and determine the product of the product and the lateral detection distance as the unit detection area of ​​a preset model of drone during the target detection duration.

[0107] It should be noted that when the detection mode is wide-area detection, if the flight speed of the drone is high, some areas in the area to be detected may not be detected. In this case, the electronic device can determine the flight speed of the drone by the following formula:

[0108]

[0109] Among them, v is the flight speed of the drone, t is the duration corresponding to the scanning cycle of wide-area detection, and y is the longitudinal distance of the field of view of the drone of the preset model.

[0110] The electronic device can control the drone of the preset model to fly at a determined flight speed. Specifically, the maximum flight speed of the drone of the preset model can be sent, and the drone operator of the drone search team controls the flight of the drone based on the maximum flight speed.

[0111] Specifically, the electronic device can use the following formula to determine the number of targets of the drone:

[0112]

[0113] Among them, k is the number of targets of the drone, M is the target area of ​​the area to be detected, i=1 represents local detection, i=2 represents wide-area detection, M1 is the unit detection area of ​​the target detection time of a drone of a preset model in local detection, and M2 is the unit detection area of ​​the target detection time of a drone of a preset model in wide-area detection.

[0114] Embodiment 3:

[0115] In order to determine the longitudinal distance of the field of view of the drone of the preset model, based on the above embodiments, in the embodiment of the present application, the longitudinal distance of the field of view of the drone of the preset model is obtained, including:

[0116] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the longitudinal direction; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

[0117] In the embodiment of the present application, the electronic device can obtain an image collected by a drone of a preset model. It should be noted that the image is an image collected by the drone of the preset model at a corresponding height, and obtain the number of pixels occupied by the longitudinal direction of the target to be identified in the image, wherein the target to be identified can be a vehicle, a pedestrian, etc. In a possible implementation, the electronic device can input the image into a pre-trained recognition model, and obtain the number of pixels occupied by the longitudinal direction of the target to be identified in the image output by the recognition model.

[0118] The electronic device can determine the longitudinal distance of the field of view of the preset model of the drone based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the length of the pre-stored target to be identified. The total number of pixels in the longitudinal direction of the image can also be referred to as the terminal longitudinal pixels.

[0119] Specifically, due to Among them, m is the length of the target to be identified, P m is the total number of pixels in the vertical direction of the image, y is the vertical distance of the field of view of the preset model of drone, P y It is the number of pixels occupied by the target to be identified in the image in the vertical direction.

[0120] Therefore, the longitudinal distance of the field of view of the preset model of drone is:

[0121]

[0122] Among them, y is the longitudinal distance of the field of view of the preset model of drone, m is the length of the target to be identified, P m is the total number of pixels in the vertical direction of the image, P y It is the number of pixels occupied by the target to be identified in the image in the vertical direction.

[0123] Embodiment 4:

[0124] In order to determine the lateral detection distance of a drone of a preset model, based on the above embodiments, in an embodiment of the present application, the lateral detection distance of a drone of a preset model is determined based on the determined detection mode, including:

[0125] If the current detection mode is local detection, the lateral distance of the field of view of the preset model of drone is obtained;

[0126] Based on the lateral distance of the field of view, a lateral detection distance of a preset model of drone is determined.

[0127] If the detection mode of the determined drone is local detection, the electronic device can obtain the lateral distance of the field of view of the preset model of drone, and determine the lateral detection distance of a preset model of drone based on the lateral distance of the field of view. Specifically, the lateral distance of the field of view can be determined as the lateral detection distance of a preset model of drone.

[0128] Through the method provided in the embodiment of the present application, the electronic device can calculate the unit detection area of ​​a preset model of drone during the target detection time in the local detection mode.

[0129] In the local detection mode, the actual flight distance of a preset model of drone during target detection is:

[0130] S=T×V

[0131] Among them, S is the actual flight distance, T is the target detection time, and V is the flight speed.

[0132] For example, the search time requirement is T = 150 seconds, that is, the target detection time is T = 150 seconds, and the flight speed v is 100 kilometers per hour. Within the search time requirement, the actual flight distance of a preset model of drone during the target detection time is 4.17 kilometers.

[0133] The unit detection area of ​​a drone of a preset model during the target detection duration is:

[0134] M1=x×S

[0135] Among them, M1 is the unit detection area in the local detection mode, x is the lateral distance of the drone's field of view, and S is the actual flight distance.

[0136] Embodiment 5:

[0137] In order to determine the lateral detection distance of the preset model of drone, on the basis of the above embodiments, in the embodiment of the present application, the lateral distance of the field of view of the preset model of drone is obtained, including:

[0138] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the horizontal direction; and determine the lateral distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved width of the target to be identified.

[0139] In the embodiment of the present application, the electronic device can obtain an image collected by a drone of a preset model. It should be noted that the image is an image collected by the drone of the preset model at a corresponding height, and obtain the number of pixels occupied by the horizontal direction of the target to be identified in the image, wherein the target to be identified can be a vehicle, a pedestrian, etc. In a possible implementation, the electronic device can input the image into a pre-trained recognition model, and obtain the number of pixels occupied by the horizontal direction of the target to be identified in the image output by the recognition model.

[0140] The electronic device can determine the lateral distance of the field of view of the preset model of the drone based on the number of pixels, the total number of pixels in the horizontal direction of the image, and the width of the pre-stored target to be identified. The total number of pixels in the horizontal direction of the image can also be referred to as the terminal horizontal pixels.

[0141] Specifically, according to the width t of the target to be identified and the number of pixels P of the control terminal interface occupied by the target to be identified in the vertical direction t The ratio is equal to the lateral distance x of the drone's field of view and the sum of the lateral pixel points of the control terminal P x The ratio of Among them, t is the width of the target to be identified, P t is the total number of pixels in the horizontal direction of the image, x is the horizontal distance of the field of view of the preset model of drone, P x The number of pixels occupied horizontally by the target to be identified.

[0142] Therefore, the lateral distance of the field of view of the preset model of drone is:

[0143]

[0144] Where x is the lateral distance of the field of view of the preset model of drone, t is the width of the target to be identified, and P t is the total number of pixels in the horizontal direction of the image, P x The number of pixels occupied horizontally by the target to be identified.

[0145] In the embodiment of the present application, the ratio of the longitudinal distance of the field of view of the drone to the lateral distance of the field of view is the same as the ratio of the number of pixels occupied in the longitudinal direction to the number of pixels occupied in the lateral direction of the target to be identified in the image acquired by the drone, that is, Among them, y is the longitudinal distance of the field of view of the preset model of drone, P y is the number of pixels occupied by the target to be identified in the image in the vertical direction, x is the horizontal distance of the field of view of the preset model of drone, P x The number of pixels occupied horizontally by the target to be identified.

[0146] therefore:

[0147]

[0148] y is the longitudinal distance of the field of view of the preset model of drone, P y is the number of pixels occupied by the target to be identified in the image in the vertical direction, x is the horizontal distance of the field of view of the preset model of drone, P x is the number of pixels occupied by the horizontal direction of the target to be identified, t is the width of the target to be identified, P t The total number of pixels in the horizontal direction of the image.

[0149] It should be noted that when performing target recognition tasks on a target with a minimum recognition width of t, the number of pixels occupied by the target width in the control interface must be greater than or equal to the minimum horizontal pixel P. t Based on this, the maximum lateral distance of the field of view and the maximum longitudinal distance of the field of view of the preset model of drone can be calculated.

[0150] By using the method provided in the embodiment of the present application, the electronic device can also calculate the oblique distance of the drone's field of view. Specifically, the electronic device can calculate the oblique distance of the drone's field of view by the following formula:

[0151] l 2 =x 2 +y 2

[0152]

[0153] Where l is the oblique distance of the UAV’s field of view, P y is the number of pixels occupied by the target to be identified in the image in the vertical direction, x is the horizontal distance of the field of view of the preset model of drone, P x is the number of pixels occupied by the horizontal direction of the target to be identified, t is the width of the target to be identified, P t The total number of pixels in the horizontal direction of the image.

[0154] Among them, the oblique distance of the drone's field of view is the actual oblique (non-vertical) distance from the closest point at the edge to the farthest point within the drone's field of view.

[0155] Embodiment 6:

[0156] In order to determine the lateral detection distance of a drone of a preset model, based on the above embodiments, in an embodiment of the present application, the lateral detection distance of a drone of a preset model is determined based on the determined detection mode, including:

[0157] If the current detection mode is wide-area detection, the detection width of the preset model of drone at the current flight altitude is determined;

[0158] Based on the width, a lateral detection distance of a drone of a preset model is determined.

[0159] In an embodiment of the present application, if the current detection mode of the determined drone is wide-area detection, the width of detection of the preset model of drone at the current flight altitude can be determined. In a possible implementation, the electronic device can save the width corresponding to the preset model of drone at different flight altitudes, and the electronic device can determine the width corresponding to the preset model of drone at the current flight altitude.

[0160] Based on the determined width, a lateral detection distance of a drone of a preset model is determined. Specifically, the determined width can be determined as a lateral detection distance of a drone of a preset model.

[0161] Through the method provided in the embodiment of the present application, the electronic device can calculate the width of a preset model of drone and the unit detection area during the target detection time in the wide-area detection mode.

[0162] In the wide area detection mode, the actual flight distance of a preset model of drone during target detection is:

[0163] S=T×V

[0164] Among them, S is the actual flight distance, T is the target detection time, and V is the flight speed.

[0165] The unit detection area of ​​a drone of a preset model during the target detection duration is:

[0166] M2=n×S

[0167] Among them, M2 is the unit detection area in the wide-area detection mode, n is the width of the drone, and S is the actual flight distance.

[0168] Embodiment 7:

[0169] In order to determine the lateral detection distance of the preset model of drone, on the basis of the above embodiments, in the embodiment of the present application, the width of the detection of the preset model of drone at the current flight altitude is determined, including:

[0170] Determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the altitude and the detection distance of the preset model of drone;

[0171] The width detected by the drone of the preset model at the current flight altitude is determined according to the pre-saved width angle of the drone of the preset model, the target detection distance and the current flight altitude.

[0172] In an embodiment of the present application, the electronic device can determine the target detection distance corresponding to the current flight altitude of the drone of the preset model based on the mapping relationship between the altitude and the detection distance of the drone of the preset model.

[0173] Among them, the detection distance of the drone refers to the endpoint of the farthest end point in the actual environment that the acquisition unit in the pod of the drone can capture the image, relative to the straight-line distance of the drone.

[0174] And according to the pre-saved width angle of the preset model of the drone, the target detection distance and the current flight altitude, the width detected by the preset model of the drone at the current flight altitude is determined.

[0175] The width angle describes the angle parameter of the field of view that the acquisition unit can cover in the horizontal direction. Specifically, this width angle reflects the angle between the leftmost and rightmost scenes that the acquisition unit can capture by swinging left and right (or horizontal scanning) during the flight of the drone.

[0176] Specifically, the electronic device can determine the width of the drone using the following formula:

[0177]

[0178] Among them, n is the width detected by the preset model of drone at the current flight altitude, α is the pre-saved width angle of the preset model of drone, d is the target detection distance, and h is the current flight altitude.

[0179] It should be noted that the electronic device can also calculate the drone's field of view angle θ using the following formula:

[0180]

[0181] Among them, l is the oblique distance of the UAV's field of view, d is the UAV's detection distance, and h is the UAV's flight altitude.

[0182] Among them, the drone's field of view angle refers to the angle between the farthest and nearest actual scene positions in the image area covered by the drone's pod acquisition unit, which determines the width of the drone's field of view.

[0183] Based on this, the relationship between the drone's field of view angle θ, flight altitude h, and detection distance d can be calculated:

[0184]

[0185] Based on this formula, it is equivalent to calculating the mapping relationship between the drone's field of view angle, detection distance, and flight altitude.

[0186] In a possible implementation, the UAV field of view angle θ∈[2.3°, 63.7°], h∈[0.5km, 1km], and d∈[0km, 2km] are initially selected. d is selected as 1.8km and h is selected as 0.8km for calculation, and θ=4.5° is obtained.

[0187] It should be noted that if the determined detection mode is wide-area detection, the electronic device can form a drone wide-area search model map, and the wide-area search model map can include information such as the area detected by each drone.

[0188] The electronic device determines whether the target number of drones obtained through calculation meets the deployment requirements of the drone search team. If it does not meet the requirements, that is, the target number is greater than the number of drones deployed by the drone search team, the preset parameters can be adjusted or the drone model can be reselected and the parameters can be set to meet the deployment requirements of the drone search team.

[0189] For example, when the field of view angle θ is 4.5°, the flight altitude h is 0.8 kilometers, the detection distance is 1.8 kilometers, and the flight speed is 100 kilometers per hour, it meets the team deployment needs and meets the regional search time requirements, and conducts wide-area detection of the detection area.

[0190] In actual situations, economical: Under the conditions that the area to be detected S = 225 square kilometers, the target detection time t = 150 seconds, and the number of currently assigned drones K = 16. The performance of drones and their pods is related to parameters such as flight speed, reconnaissance radius, reconnaissance altitude, field of view, and detection distance. Among them, we can reduce the cost of drones by reducing the flight altitude of drones: select drones with a maximum detection distance of d = 1.5 kilometers, at a flight altitude of h = 1 kilometer, a flight speed of v = 100 kilometers per hour, and a field of view angle of θ = 8.2°, the actual number of drones is k = 16, which meets the requirements of team deployment.

[0191] Efficiency type: a. Maximize the performance of drones and reduce the number of drones while meeting the target area S = 225 square kilometers and target detection time t = 150 seconds. At this time, select a drone with a maximum detection distance of d = 2 kilometers. When the flight altitude is h = 1 kilometer, the flight speed is v = 100 kilometers per hour, and the field of view angle is θ = 4.5°, the actual number of drones is k = 14. b. When the target detection time is t = 150 seconds and the maximum number of drones assigned to the team is met, similarly, select a drone with a maximum detection distance of d = 2 kilometers. When the flight altitude is h = 1 kilometer, the flight speed is v = 100 kilometers per hour, and the field of view angle is θ = 4.5°, the actual reconnaissance area is 260 square kilometers.

[0192] Figure 3 A detailed process diagram of a drone area search provided in an embodiment of the present application, the process includes the following steps:

[0193] S301: If a control request is received, the target area and target detection duration of the area to be detected carried in the control request are obtained.

[0194] S302: Obtain the longitudinal distance of the field of view of a preset model of drone.

[0195] S303: Determine the longitudinal flight distance of the drone of the preset model in the duration according to the flight speed of the drone of the preset model and the duration corresponding to the pre-stored scanning cycle of the wide area detection.

[0196] S304: Determine whether the longitudinal flight distance is greater than the longitudinal distance of the field of view, if so, execute S305, if not, execute S306.

[0197] S305: Control the detection mode of the preset model of drone to local detection, and execute S307.

[0198] S306: Control the detection mode of the preset model of drone to wide-area detection, and execute S308.

[0199] S307: Obtain the lateral distance of the field of view of a preset model of drone; based on the lateral distance of the field of view, determine the lateral detection distance of a preset model of drone, and execute S309.

[0200] S308: Determine the width of detection of a preset model of drone at the current flight altitude; based on the width, determine the lateral detection distance of a preset model of drone, and execute S309.

[0201] S309: Determine a unit detection area of ​​a drone of a preset model during the target detection time based on the lateral detection distance, the flight speed of the drone of a preset model, and the target detection time.

[0202] S310: Determine the number of targets based on the target area and the unit detection area.

[0203] S311: If the number of currently assigned drones is greater than the target number, determine to lower the flight altitude of the assigned preset model drones or change to other models of drones; if it is less than the target number, determine to increase the flight altitude of the assigned preset model drones.

[0204] It should be noted that the above-mentioned drones also need to pay attention to issues such as the drone cruising time, and a certain number of drones can be equipped for alternating detection.

[0205] Figure 4 A side view of a drone detection provided in an embodiment of the present application.

[0206] Figure 5 A three-dimensional image of a drone wide-area detection provided in an embodiment of the present application.

[0207] Figure 6 An overhead view of a drone wide-area detection provided in an embodiment of the present application.

[0208] Depend on Figure 4-Figure 6 It can be seen that the flight altitude h of the drone is defined as the vertical distance between the drone and the ground, which directly reflects its flight altitude level. The detection distance d of the drone refers to the endpoint of the farthest end point in the actual environment that the acquisition unit in the drone's pod can capture the image, relative to the straight-line distance of the drone. The oblique distance l of the drone's field of view is the actual oblique (non-vertical) distance from the closest point at the edge to the farthest point within the drone's field of view. The drone's field of view angle θ refers to the angle between the farthest and nearest actual scene positions in the image area covered by the drone's pod acquisition unit, which determines the breadth of the drone's field of view.

[0209] The width angle describes the angular parameter of the field of view that the acquisition unit can cover in the horizontal direction. Specifically, this width angle reflects the angle between the leftmost and rightmost scenes that the acquisition unit can capture by swinging left and right (or horizontal scanning) during the flight of the drone. y is the number of pixels occupied by the vertical direction of the target to be identified in the image, P x The number of pixels occupied horizontally by the target to be identified.

[0210] y is the longitudinal distance of the UAV’s field of view, and s is the longitudinal flight distance corresponding to the duration of the UAV’s scanning cycle in wide-area detection.

[0211] Embodiment 8:

[0212] Based on the same inventive concept, the present application embodiment provides a responsibility determination device, please refer to Figure 7, the device comprises:

[0213] A receiving and obtaining module 701 is used for obtaining the target area and target detection duration of the area to be detected carried in the control request if a control request is received;

[0214] A determination module 702 is used to determine a unit detection area of ​​a drone of a preset model during the target detection time; and determine the number of targets based on the target area and the unit detection area;

[0215] Processing module 703 is used to determine whether to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone if the number of currently assigned drones is greater than the target number, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, determine to increase the flight altitude of the assigned drone of the preset model.

[0216] In a possible implementation, the receiving and acquiring module 701 is further used to acquire the longitudinal distance of the field of view of the preset model of the drone; and determine the longitudinal flight distance of the preset model of the drone during the duration according to the flight speed of the preset model of the drone and the duration corresponding to the pre-saved scanning cycle of the wide-area detection; determine whether the longitudinal flight distance is greater than the longitudinal distance of the field of view; if so, control the detection mode of the preset model of the drone to be local detection; otherwise, control the detection mode of the preset model of the drone to be wide-area detection;

[0217] The determination module 702 is specifically used to determine the lateral detection distance of a preset model of drone based on the determined detection mode; based on the lateral detection distance, the flight speed of the preset model of drone and the target detection time, determine the unit detection area of ​​a preset model of drone during the target detection time.

[0218] In a possible implementation, the receiving and acquiring module 701 is specifically used to acquire an image captured by the drone of the preset model; acquire the number of pixels occupied in the longitudinal direction of the target to be identified in the image; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

[0219] In a possible implementation, the determination module 702 is specifically used to obtain the lateral distance of the field of view of the preset model of drone if the current detection mode is localized detection; and determine the lateral detection distance of a preset model of drone based on the lateral distance of the field of view.

[0220] In a possible implementation, the determination module 702 is specifically used to obtain an image captured by the drone of the preset model; obtain the number of pixels occupied by the target to be identified in the image in the horizontal direction; and determine the lateral distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved length of the target to be identified.

[0221] In a possible implementation, the determination module 702 is specifically used to determine the detection width of a preset model of drone at the current flight altitude if the current detection mode is wide-area detection; based on the width, determine the lateral detection distance of a preset model of drone.

[0222] In one possible implementation, the determination module 702 is specifically used to determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the height and detection distance of the preset model of drone; and to determine the width detected by the preset model of drone at the current flight altitude based on the pre-saved width angle of the preset model of drone, the target detection distance and the current flight altitude.

[0223] Embodiment 9:

[0224] Based on the same inventive concept, the present application embodiment provides an electronic device, which can realize the function of the drone area search mentioned above, please refer to Figure 8 The device includes a processor 801, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802 and the memory 803 communicate with each other through the communication bus 804.

[0225] The memory 803 stores a computer program. When the program is executed by the processor 801, the processor 801 performs the following steps:

[0226] If a control request is received, the target area and target detection duration of the area to be detected carried in the control request are obtained;

[0227] Determine a unit detection area of ​​a drone of a preset model during the target detection time; determine the number of targets based on the target area and the unit detection area;

[0228] If the number of currently assigned drones is greater than the target number, it is determined to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, it is determined to increase the flight altitude of the assigned drone of the preset model.

[0229] In a possible implementation, after receiving the control request, determining a drone of a preset model before the unit detection area of ​​the target detection duration, the method further includes:

[0230] Obtaining the longitudinal distance of the field of view of the drone of the preset model;

[0231] And according to the flight speed of the preset model of the drone and the duration corresponding to the pre-saved scanning cycle of the wide area detection, determine the longitudinal flight distance of the preset model of the drone in the duration;

[0232] Determining whether the longitudinal flight distance is greater than the longitudinal distance of the field of view;

[0233] If yes, the detection mode of the preset drone model is controlled to be local detection; otherwise, the detection mode of the preset drone model is controlled to be wide-area detection;

[0234] The step of determining a unit detection area of ​​a drone of a preset model during the target detection duration includes:

[0235] Based on the determined detection mode, a lateral detection distance of a drone of a preset model is determined; based on the lateral detection distance, the flight speed of the drone of the preset model and the target detection time, a unit detection area of ​​a drone of the preset model during the target detection time is determined.

[0236] In a possible implementation, the obtaining of the longitudinal distance of the field of view of the drone of the preset model includes:

[0237] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the longitudinal direction; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

[0238] In a possible implementation, determining a lateral detection distance of a drone of a preset model based on the determined detection mode includes:

[0239] If the current detection mode is local detection, the lateral distance of the field of view of the preset model of drone is obtained;

[0240] Based on the lateral distance of the field of view, a lateral detection distance of a preset model of drone is determined.

[0241] In a possible implementation, the obtaining the lateral distance of the field of view of the drone of the preset model includes:

[0242] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the horizontal direction; and determine the lateral distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved length of the target to be identified.

[0243] In a possible implementation, determining a lateral detection distance of a drone of a preset model based on the determined detection mode includes:

[0244] If the current detection mode is wide-area detection, the detection width of the preset model of drone at the current flight altitude is determined;

[0245] Based on the width, a lateral detection distance of a drone of a preset model is determined.

[0246] In a possible implementation, determining the width detected by the drone of a preset model at the current flight altitude includes:

[0247] Determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the altitude and the detection distance of the preset model of drone;

[0248] The width detected by the drone of the preset model at the current flight altitude is determined according to the pre-saved width angle of the drone of the preset model, the target detection distance and the current flight altitude.

[0249] The communication bus mentioned in the above server can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0250] The communication interface 802 is used for communication between the above electronic device and other devices.

[0251] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0252] The above-mentioned processor can be a general-purpose processor, including a central processing unit, a network processor (Network Processor, NP), etc.; it can also be a digital signal processing processor (Digital Signal Processing, DSP), an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0253] Embodiment 10:

[0254] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by an electronic device. When the program runs on the electronic device, the electronic device implements the following steps when executing:

[0255] If a control request is received, the target area and target detection duration of the area to be detected carried in the control request are obtained;

[0256] Determine a unit detection area of ​​a drone of a preset model during the target detection time; determine the number of targets based on the target area and the unit detection area;

[0257] If the number of currently assigned drones is greater than the target number, it is determined to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, it is determined to increase the flight altitude of the assigned drone of the preset model.

[0258] In a possible implementation, after receiving the control request, determining a drone of a preset model before the unit detection area of ​​the target detection duration, the method further includes:

[0259] Obtaining the longitudinal distance of the field of view of the drone of the preset model;

[0260] And according to the flight speed of the preset model of the drone and the duration corresponding to the pre-saved scanning cycle of the wide area detection, determine the longitudinal flight distance of the preset model of the drone in the duration;

[0261] Determining whether the longitudinal flight distance is greater than the longitudinal distance of the field of view;

[0262] If yes, the detection mode of the preset drone model is controlled to be local detection; otherwise, the detection mode of the preset drone model is controlled to be wide-area detection;

[0263] The step of determining a unit detection area of ​​a drone of a preset model during the target detection duration includes:

[0264] Based on the determined detection mode, a lateral detection distance of a drone of a preset model is determined; based on the lateral detection distance, the flight speed of the drone of the preset model and the target detection time, a unit detection area of ​​a drone of the preset model during the target detection time is determined.

[0265] In a possible implementation, the obtaining of the longitudinal distance of the field of view of the drone of the preset model includes:

[0266] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the longitudinal direction; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

[0267] In a possible implementation, determining a lateral detection distance of a drone of a preset model based on the determined detection mode includes:

[0268] If the current detection mode is local detection, the lateral distance of the field of view of the preset model of drone is obtained;

[0269] Based on the lateral distance of the field of view, a lateral detection distance of a preset model of drone is determined.

[0270] In a possible implementation, the obtaining the lateral distance of the field of view of the drone of the preset model includes:

[0271] Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the horizontal direction; and determine the lateral distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved length of the target to be identified.

[0272] In a possible implementation, determining a lateral detection distance of a drone of a preset model based on the determined detection mode includes:

[0273] If the current detection mode is wide-area detection, the detection width of the preset model of drone at the current flight altitude is determined;

[0274] Based on the width, a lateral detection distance of a drone of a preset model is determined.

[0275] In a possible implementation, determining the width detected by the drone of a preset model at the current flight altitude includes:

[0276] Determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the altitude and the detection distance of the preset model of drone;

[0277] The width detected by the drone of the preset model at the current flight altitude is determined according to the pre-saved width angle of the drone of the preset model, the target detection distance and the current flight altitude.

[0278] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0279] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0280] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0281] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0282] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for searching an area of ​​a drone, characterized in that: The method comprises: If a control request is received, the target area and target detection duration of the area to be detected carried in the control request are obtained; Determine a unit detection area of ​​a drone of a preset model during the target detection time; determine the number of targets based on the target area and the unit detection area; If the number of currently assigned drones is greater than the target number, it is determined to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, it is determined to increase the flight altitude of the assigned drone of the preset model.

2. The method according to claim 1, characterized in that After receiving the control request, before determining a drone of a preset model within a unit detection area of ​​the target detection duration, the method further includes: Obtaining the longitudinal distance of the field of view of the drone of the preset model; And according to the flight speed of the preset model of the drone and the duration corresponding to the pre-saved scanning cycle of the wide area detection, determine the longitudinal flight distance of the preset model of the drone in the duration; Determining whether the longitudinal flight distance is greater than the longitudinal distance of the field of view; If yes, the detection mode of the preset drone model is controlled to be local detection; otherwise, the detection mode of the preset drone model is controlled to be wide-area detection; The step of determining a unit detection area of ​​a drone of a preset model during the target detection duration includes: Based on the determined detection mode, a lateral detection distance of a drone of a preset model is determined; based on the lateral detection distance, the flight speed of the drone of the preset model and the target detection time, a unit detection area of ​​a drone of the preset model during the target detection time is determined.

3. The method according to claim 2, characterized in that The obtaining of the longitudinal distance of the field of view of the drone of the preset model includes: Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the longitudinal direction; and determine the longitudinal distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the longitudinal direction of the image, and the pre-saved length of the target to be identified.

4. The method according to claim 2, characterized in that: The step of determining a lateral detection distance of a drone of a preset model based on the determined detection mode includes: If the current detection mode is local detection, the lateral distance of the field of view of the preset model of drone is obtained; Based on the lateral distance of the field of view, a lateral detection distance of a preset model of drone is determined.

5. The method according to claim 4, characterized in that The obtaining of the lateral distance of the field of view of the drone of the preset model includes: Acquire an image collected by the drone of the preset model; acquire the number of pixels occupied by the target to be identified in the image in the horizontal direction; and determine the lateral distance of the field of view of the drone of the preset model based on the number of pixels, the total number of pixels in the vertical direction of the image, and the pre-saved length of the target to be identified.

6. The method according to claim 2, characterized in that The step of determining a lateral detection distance of a drone of a preset model based on the determined detection mode includes: If the current detection mode is wide-area detection, the detection width of the preset model of drone at the current flight altitude is determined; Based on the width, a lateral detection distance of a drone of a preset model is determined.

7. The method according to claim 6, characterized in that The determining of the width detected by the drone of the preset model at the current flight altitude includes: Determine the target detection distance corresponding to the current flight altitude based on the mapping relationship between the altitude and the detection distance of the preset model of drone; The width detected by the drone of the preset model at the current flight altitude is determined according to the pre-saved width angle of the drone of the preset model, the target detection distance and the current flight altitude.

8. A drone area search device, characterized in that: The device comprises: A receiving and obtaining module, configured to obtain, if a control request is received, a target area of ​​the area to be detected and a target detection duration carried in the control request; A determination module, configured to determine a unit detection area of ​​a drone of a preset model during the target detection time; and determine the number of targets based on the target area and the unit detection area; A processing module is used to determine whether to lower the flight altitude of the assigned drone of the preset model or change it to another model of drone if the number of currently assigned drones is greater than the target number, wherein the flight altitude of the other model of drone is lower than the flight altitude of the preset model of drone; if it is less than the target number, determine to increase the flight altitude of the assigned drone of the preset model.

9. An electronic device, characterized in that: include: A memory for storing program instructions; A processor is used to call the program instructions stored in the memory, and execute the steps included in the drone area search method according to any one of claims 1 to 7 according to the obtained program instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a computer, the computer executes the steps included in the drone area search method according to any one of claims 1 to 7.

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