Mobile drone nest platform, field target tracking method, equipment and medium

Abstract

The present invention relates to the field of unmanned aerial vehicle technology, and provides a mobile unmanned aerial vehicle nest platform, a field target tracking method, equipment and medium, wherein the mobile unmanned aerial vehicle nest platform comprises a central fuselage and a small unmanned aerial vehicle storage bin. The mobile unmanned aerial vehicle nest platform provided by the present invention collects a wide range of field environment data in real time through a remote sensing sensor configured on the central fuselage, so as to quickly monitor the approximate position of a wild animal target, and then automatically opens the small unmanned aerial vehicle storage bin to release a plurality of small unmanned aerial vehicles configured with different types of short-range detection sensors. These unmanned aerial vehicles are equipped with different types of high-precision sensors to sense and collect wild animal targets from different angles, thereby ensuring the three-dimensional tracking of wild animal targets, reducing monitoring blind spots, being able to meet the needs of large-scale and high-precision field target tracking, avoiding the problems of limited coverage, high cost, and many human interference factors, and greatly facilitating the monitoring of wild animals.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a mobile unmanned aerial vehicle nest platform, a field target tracking method, equipment and medium. Background Art

[0002] Wild animals are an important part of the ecosystem, and changes in their population size and range of activities can reflect the dynamics of the ecological environment. At present, the monitoring and tracking methods for wild animals rely on wireless collars, satellite tracking, manual observation and other methods, which have the following four limitations: 1) The coverage is limited, which makes it difficult to meet the needs of animal monitoring and tracking in large wild areas; 2) It causes great interference to wild animals and may even affect their natural activities; 3) The tracking equipment is expensive, and the installation and maintenance are complicated, making it difficult to promote and use; 4) The efficiency of data collection and processing is low, making it difficult to obtain valuable information in a timely manner.

[0003] Drone technology has been widely used in aerial photography, surveying and mapping, and its portability and flexibility give it potential advantages in wildlife monitoring. The traditional idea is to integrate sensors, graphics processor computing power and other equipment into a single drone, so that a single drone can complete wildlife tracking tasks. However, the existing single drone flight platform is limited by factors such as sensor resolution, accuracy, flight safety, and endurance, and cannot meet the needs of large-scale and high-precision field target tracking. Summary of the invention

[0004] The present invention provides a mobile drone nest platform, a field target tracking method, a device and a medium, which are used to solve the problem that the prior art uses a single drone to complete the wild animal tracking task, but cannot meet the field target tracking requirements with a large range and high precision.

[0005] In a first aspect, the present invention provides a mobile drone nest platform, including a central fuselage and a small drone storage compartment;

[0006] The central fuselage is used to control the take-off and landing of the mobile drone nest platform, and the opening and closing of the small drone storage compartment;

[0007] The small drone storage warehouse is used to store multiple small drones;

[0008] The central fuselage is equipped with a remote sensing sensor, and the central fuselage is also used to monitor wild animal targets through the remote sensing sensor, generate regional location information of the wild animal targets, and open the small drone storage compartment;

[0009] The multiple small drones are respectively configured with different types of short-range detection sensors; after the small drone storage compartment is opened, several of the small drones take off, and each small drone tracks the wild animal target according to the area location information through its configured short-range detection sensor.

[0010] In one embodiment, the central body is configured with a platform control system; the platform control system includes a remote sensing sensor, a target detection unit, a first signal processing unit and a first Bluetooth device;

[0011] The remote sensing sensor is used to collect remote sensing data of the wild animal target when the wild animal target is monitored;

[0012] The target detection unit is used to generate the regional location information of the wild animal target according to the remote sensing data;

[0013] The first signal processing unit is used to generate a tracking instruction for the wild animal target according to the regional location information;

[0014] The first Bluetooth device is used to transmit the tracking instruction to several small drones used to track the wild animal targets or to receive the geographic coordinates of the wild animal targets returned in real time by several small drones.

[0015] In one embodiment, any of the small drones includes a small drone control system; the small drone control system includes a short-range detection sensor, a target positioning unit, a second signal processing unit, and a second Bluetooth device;

[0016] The second Bluetooth device is used to receive the tracking instruction or transmit the geographical coordinates of the tracked wild animal target to the platform control system in real time;

[0017] The close-range detection sensor is used to collect close-range detection data of the wild animal target in real time when executing the tracking instruction;

[0018] The target positioning unit is used to generate the position information of the wild animal target in real time according to the close-range detection data;

[0019] The second signal processing unit is used to pre-process the location information and generate the geographic coordinates of the wild animal target in real time.

[0020] In one embodiment, the platform control system further comprises a target trajectory generating unit;

[0021] The target trajectory generation unit is used to filter out the target geographic coordinates with the highest frequency of occurrence from the geographic coordinates returned in real time by each of the small drones;

[0022] The target trajectory generating unit is further used to generate a movement trajectory of the wild animal target according to the target geographic coordinates acquired at each moment after the tracking of the wild animal target is completed.

[0023] In one embodiment, the platform control system further comprises a first power supply device; any of the small drone control systems comprises a second power supply device;

[0024] The first power supply device provides power to the platform control system;

[0025] The second power supply device provides power to the small UAV control system.

[0026] In one embodiment, the mobile drone nest platform further includes wings;

[0027] The wings are used to maintain balance when the mobile UAV nest platform is flying.

[0028] In one embodiment, the mobile drone nest platform further includes a landing gear;

[0029] The landing gear is used to provide gliding cushioning when the mobile UAV nest platform lands.

[0030] In a second aspect, the present invention further provides a field target tracking method, comprising:

[0031] Control the central body to monitor wildlife targets through its configured remote sensing sensors;

[0032] After the wildlife target is detected, the central fuselage is controlled to generate the regional location information of the wildlife target, and a small drone storage compartment is opened; the small drone storage compartment stores a plurality of small drones; the plurality of small drones are respectively equipped with different types of short-range detection sensors;

[0033] Controlling a plurality of small drones in the small drone storage bin to take off;

[0034] Each of the small UAVs is controlled to track the wild animal target according to the area location information through the short-range detection sensor configured therein.

[0035] In a third aspect, the present invention provides a device, comprising an electronic device, wherein the electronic device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the field target tracking method as described above are implemented.

[0036] In a fourth aspect, the present invention further provides a medium, comprising a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the field target tracking method as described above are implemented.

[0037] The mobile drone nest platform, field target tracking method, equipment and medium provided by the present invention collect a wide range of field environment data in real time through the remote sensing sensor configured on the central fuselage, so as to quickly monitor the approximate position of the wild animal target, and then automatically open the small drone storage bin to release multiple small drones equipped with different types of short-range detection sensors. These drones are equipped with different types of high-precision sensors to sense and collect wild animal targets from different angles, ensuring the three-dimensional tracking of wild animal targets and reducing monitoring blind spots. It can meet the needs of large-scale and high-precision field target tracking. Since the nest platform has the characteristics of portability and high efficiency, it avoids the problems of limited coverage, high cost, and many human interference factors in traditional monitoring of wild animals, greatly facilitating the monitoring of wild animals. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 It is a structural schematic diagram of the mobile UAV nest platform provided by the present invention.

[0040] Figure 2 It is a structural schematic diagram of the wing provided by the present invention.

[0041] Figure 3 It is a structural schematic diagram of the landing gear provided by the present invention.

[0042] Figure 4 It is a structural schematic diagram of the small UAV provided by the present invention.

[0043] Figure 5 It is a structural schematic diagram of the platform control system provided by the present invention.

[0044] Figure 6 It is a structural schematic diagram of the small UAV control system provided by the present invention.

[0045] Figure 7 It is a flow chart of the field target tracking method provided by the present invention.

[0046] Figure 8It is a structural schematic diagram of the electronic device provided by the present invention.

[0047] Wherein, the accompanying drawings are marked as follows:

[0048] 1: Central fuselage; 2: Wings; 3: Landing gear; 4: Small UAV storage compartment; 5: Wing blades; 6: Wing shaft; 7: Diesel engine; 8: Rollers; 9: Roller shaft; 10: Connecting rod; 11: Small UAV; 12: Platform control system; 13: Remote sensing sensor; 14: Target detection unit; 15: First signal processing unit; 16: First Bluetooth device; 17: Target trajectory generation unit; 18: First power supply device; 19: Small UAV control system; 20: Close-range detection sensor; 21: Target positioning unit; 22: Second signal processing unit; 23: Second Bluetooth device; 24: Second power supply device. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not 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.

[0050] The terms "first", "second", etc. in the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein.

[0051] Combine the following Figure 1-Figure 8 The present invention describes a mobile drone nest platform, a field target tracking method, a device and a medium.

[0052] Combination Figure 1 , Figure 1 It is a structural schematic diagram of the mobile UAV nest platform provided by the present invention.

[0053] like Figure 1 As shown, the mobile drone nest platform provided by the present invention includes a central fuselage and a small drone storage compartment;

[0054] The central fuselage is used to control the take-off and landing of the mobile drone nest platform, and the opening and closing of the small drone storage compartment;

[0055] The small drone storage warehouse is used to store multiple small drones;

[0056] The central fuselage is equipped with a remote sensing sensor, and the central fuselage is also used to monitor wild animal targets through the remote sensing sensor, generate regional location information of the wild animal targets, and open the small drone storage compartment;

[0057] The multiple small drones are respectively configured with different types of short-range detection sensors; after the small drone storage compartment is opened, several of the small drones take off, and each small drone tracks the wild animal target according to the area location information through its configured short-range detection sensor.

[0058] The mobile drone nest platform also includes wings;

[0059] The wings are used to maintain balance when the mobile UAV nest platform is flying.

[0060] The mobile drone nest platform also includes a landing gear;

[0061] The landing gear is used to provide gliding cushioning when the mobile UAV nest platform lands.

[0062] Specifically, the mobile drone nest platform is a nest platform for forestry resource monitoring, which can be suspended in the air or stay on the ground, and can be deployed flexibly and move freely. Figure 1 As shown, the mobile UAV nest platform includes structures such as a central fuselage 1, wings 2, landing gear 3 and a small UAV storage compartment 4.

[0063] The mobile UAV nest platform includes a central fuselage 1, which can control the take-off and landing of the mobile UAV nest platform and provide support for the mobile deployment and free movement of the mobile UAV nest platform.

[0064] Combination Figure 2 , Figure 2 is a schematic diagram of the structure of the wing provided by the present invention. The mobile drone nest platform includes a wing 2, such as Figure 2 As shown, the structure of the wing 2 is composed of a wing blade 5, a wing shaft 6 and a diesel engine 7. The wing blade 5 is connected to the wing shaft 6, and the diesel engine 7 is located at the bottom of the wing blade 5 and connected to the wing shaft 6. The wing shaft 6 is located on both sides of the central fuselage 1 and is symmetrically distributed. The wing blade 5 is connected to the central fuselage 1 through the wing shaft 6, so that it can drive the mobile unmanned aerial vehicle nest platform to fly. The diesel engine 7 serves as a power source, transmitting power to the wing blade 5 to rotate it, thereby providing a driving force for the mobile unmanned aerial vehicle nest platform. Therefore, the wing 2 can maintain balance when the mobile unmanned aerial vehicle nest platform is flying.

[0065] Combination Figure 3 , Figure 3Schematic diagram of the structure of the landing gear provided by the present invention. The mobile drone nest platform includes a landing gear 3, such as Figure 3 As shown, the structure of the landing gear 3 is composed of a roller 8, a roller shaft 9 and a connecting rod 10. The roller 8 is connected to the roller shaft 9, and the two roller shafts 9 are located on both sides of the central fuselage 1 and are symmetrically distributed. The connecting rod 10 is connected to the bottom of the central fuselage 1, and the two roller shafts 9 are connected by the connecting rod 10. Therefore, the landing gear 3 can provide gliding cushioning when the mobile drone nest platform lands.

[0066] Combination Figure 4 , Figure 4 Schematic diagram of the structure of the small drone provided by the present invention. The mobile drone nest platform includes a small drone storage compartment 4, in which a plurality of small drones 11 are stored. The structure of each small drone 11 is as follows: Figure 4 As shown, each small drone 11 is integrated with sensors, graphics processor computing power and other equipment, so that each drone can complete the task of tracking wild animal targets and realize distributed tracking of wild animal targets. The central fuselage 1 can also control the opening of the small drone storage compartment 4, so that when a wild animal target is sensed, several small drones 11 take off from the small drone storage compartment 4 to track the sensed wild animal target.

[0067] The mobile drone nest platform adopts a distributed control method and intelligent collaborative scheduling, which can realize dynamic release and multi-machine task allocation. The distributed control method is to divide the platform control system and the small drone control system. That is to say, the central fuselage 1 is equipped with a platform control system, and the small drone 11 is equipped with a small drone control system. The platform control system and the small drone control system can not only control their internal equipment, but also communicate and interact. The platform control system can sense wild animal targets, and the small drone control system can track the perceived wild animal targets when they are sensed. This distributed control method improves the response speed, flexibility and reliability of the drone group in the wildlife monitoring task by configuring control systems in the central fuselage 1 and the small drone 11 respectively, while optimizing task allocation and data processing, and enhancing the adaptability and cost-effectiveness of the entire system.

[0068] A remote sensing sensor is configured inside the central fuselage 1, or in other words, the platform control system includes a remote sensing sensor. When the mobile drone nest platform is moving, the central fuselage 1 will monitor wildlife targets through the remote sensing sensor. Furthermore, if the remote sensing sensor detects a wildlife target, the regional location information of the wildlife target is generated based on the remote sensing data collected by the remote sensing sensor, and the approximate position of the wildlife target can be identified, which can provide effective basic information for subsequent small drones 11 to track wildlife targets. In addition, when the central fuselage 1 generates the regional location information of the wildlife target, the small drone storage compartment 4 is opened synchronously, so that several small drones 11 used to track wildlife targets take off.

[0069] The plurality of small drones 11 are respectively equipped with different types of short-range detection sensors, or in other words, the small drone control system in each small drone 11 includes a short-range detection sensor, and these short-range detection sensors are of different types. After the central fuselage 1 opens the small drone storage compartment 4, the small drone control system controls the small drone 11 to take off, and the small drone 11 tracks the wild animal target according to the perceived regional location information through the short-range detection sensor configured therein, and returns the geographic coordinates of the wild animal target in real time.

[0070] Finally, the central fuselage 1 generates a movement trajectory of the wild animal target based on the geographic coordinates of the wild animal target returned in real time by a number of small drones 11.

[0071] Optionally, the platform control system includes a remote sensing sensor, a target detection unit, a first signal processing unit and a first Bluetooth device;

[0072] The remote sensing sensor is used to collect remote sensing data of the wild animal target when the wild animal target is monitored;

[0073] The target detection unit is used to generate the regional location information of the wild animal target according to the remote sensing data;

[0074] The first signal processing unit is used to generate a tracking instruction for the wild animal target according to the regional location information;

[0075] The first Bluetooth device is used to transmit the tracking instruction to several small drones used to track the wild animal targets or to receive the geographic coordinates of the wild animal targets returned in real time by several small drones.

[0076] Specifically, combined Figure 5 , Figure 5 Schematic diagram of the structure of the platform control system provided by the present invention. Figure 5As shown, the platform control system 12 includes a remote sensing sensor 13 , a target detection unit 14 , a first signal processing unit 15 and a first Bluetooth device 16 .

[0077] When the mobile drone nest platform is moving, the platform control system 12 continuously monitors wild animal targets through the remote sensing sensor 13. The remote sensing sensor 13 can cover a wide geographical area and monitor the activities of wild animals in the wild environment. It is mainly used for long-distance detection, environmental monitoring and large-scale data collection. The remote sensing sensor 13 can be an optical sensor, an infrared sensor, a radar sensor, etc.

[0078] When the remote sensing sensor 13 detects a wild animal target, a data collection mechanism is triggered to automatically collect remote sensing data of the wild animal target. The remote sensing data may be images, videos, thermal imaging data, or other forms of sensor data, depending on the type of remote sensing sensor 13 used. After the data collection is completed, the remote sensing data of the wild animal target is transmitted to the target detection unit 14.

[0079] Furthermore, the platform control system 12 pre-processes the received remote sensing data through the target detection unit 14, uses the target detection algorithm to identify the wild animal target in the pre-processed remote sensing data, and generates the regional location information of the wild animal target according to the position of the wild animal target in the image and the geographical location information of the remote sensing data, so as to identify the approximate position of the wild animal target. After the regional location information of the wild animal target is detected, the regional location information is transmitted to the first signal processing unit 15. At the same time, the platform control system 12 will open the drone storage compartment and send a take-off command to the small drone control system 19 to control the take-off of several small drones 11 used to track wild animal targets.

[0080] Furthermore, the platform control system 12 analyzes the regional location information through the first signal processing unit 15 to determine the possible movement trend of the wild animal target, and further generates tracking instructions based on the regional location information of the wild animal target and its possible movement trend. The tracking instructions may include adjusting the direction and position of the tracking device, controlling the speed and mode of the tracking device, when to start or stop tracking, etc. Figure 5 In the embodiment, the first signal processing unit 15 specifically includes a signal receiver, a signal processor and a microprocessor. The signal receiver is responsible for receiving external input signals, the signal processor is responsible for processing and analyzing the received signals, and the microprocessor serves as the control core of the entire first signal processing unit and coordinates the work of each module. It can be understood that the signal receiver is responsible for receiving regional location information, the signal processor is responsible for generating tracking instructions, and the microprocessor is responsible for coordinating the work of the signal receiver and the signal processor. After the tracking instruction is generated, the tracking instruction is transmitted to the first Bluetooth device 16.

[0081] Furthermore, the platform control system 12 transmits the tracking instruction to the small drone control system 19 in the small drones 11 used to track wild animal targets through the first Bluetooth device 16, and the instruction is received by the second Bluetooth device 23 in the small drone control system 19. Bluetooth devices can realize signal transmission between different devices or different systems. Therefore, before realizing data transmission between two distributed systems, the first Bluetooth device 16 and the second Bluetooth device 23 need to be paired or bound in advance to ensure that only authorized control systems can establish a connection and exchange data.

[0082] Optionally, any of the small drones includes a small drone control system; the small drone control system includes a short-range detection sensor, a target positioning unit, a second signal processing unit and a second Bluetooth device;

[0083] The second Bluetooth device is used to receive the tracking instruction or transmit the geographical coordinates of the tracked wild animal target to the platform control system in real time;

[0084] The close-range detection sensor is used to collect close-range detection data of the wild animal target in real time when executing the tracking instruction;

[0085] The target positioning unit is used to generate the position information of the wild animal target in real time according to the close-range detection data;

[0086] The second signal processing unit is used to pre-process the location information and generate the geographic coordinates of the wild animal target in real time.

[0087] Specifically, combined Figure 6 , Figure 6 Schematic diagram of the structure of the small UAV control system provided by the present invention. Figure 6 As shown, the small UAV control system 19 includes a short-range detection sensor 20, a target positioning unit 21, a second signal processing unit 22 and a second Bluetooth device 23.

[0088] The small UAV control system 19 receives the tracking instruction sent by the platform control system 12 through the second Bluetooth device 23 .

[0089] Furthermore, the small drone control system 19 executes the tracking instruction to control the small drone 11 to track the wild animal target. In the process of tracking the target, the small drone 11 collects the close-range detection data of the wild animal target in real time through the close-range detection sensor 20 configured therein, and transmits the close-range detection data collected in real time to the target positioning unit 21. The close-range detection sensor 20 is suitable for high-precision and close-range work and can be used for precise positioning. The close-range detection sensor 20 can be a laser radar, an ultrasonic sensor, a high-definition camera, etc. The close-range detection data can be distance data, space data, image data or other forms of sensor data, depending on the type of the close-range detection sensor 20 used.

[0090] Furthermore, the small UAV control system 19 pre-processes the close-range detection data received in real time through the target positioning unit 21, and uses the target positioning algorithm to identify the specific location information of the wild animal target in the pre-processed close-range detection data, and generates the specific location information of the wild animal target according to the location of the wild animal target in the image and the geographical location information of the close-range detection data. After the specific location information of the wild animal target is detected, the specific location information is transmitted to the second signal processing unit 22.

[0091] Furthermore, the small UAV control system 19 pre-processes the specific location information of the wild animal target detected in real time through the second signal processing unit 22, and uses the geographic information system and spatial analysis technology to calculate the precise geographic coordinates of the wild animal target. Figure 6 In the embodiment, the second signal processing unit 22 specifically includes a signal receiver, a signal processor and a microprocessor. The signal receiver is responsible for receiving external input signals, the signal processor is responsible for processing and analyzing the received signals, and the microprocessor serves as the control core of the entire second signal processing unit and coordinates the work of each module. It can be understood that the signal receiver is responsible for receiving real-time specific location information, the signal processor is responsible for generating geographic coordinates in real time, and the microprocessor is responsible for coordinating the work of the signal receiver and the signal processor. After the geographic coordinates are generated, the geographic coordinates are transmitted to the second Bluetooth device 23.

[0092] Furthermore, the small UAV control system 19 transmits the real-time calculated geographic coordinates of the wild animal target to the platform control system 12 via the second Bluetooth device 23 , which is received by the first Bluetooth device 16 in the platform control system 12 .

[0093] Optionally, the platform control system further comprises a target trajectory generating unit;

[0094] The target trajectory generation unit is used to filter out the target geographic coordinates with the highest frequency of occurrence from the geographic coordinates returned in real time by each of the small drones;

[0095] The target trajectory generating unit is further used to generate a movement trajectory of the wild animal target according to the target geographic coordinates acquired at each moment after the tracking of the wild animal target is completed.

[0096] Specifically, the platform control system 12 will receive in real time the geographic coordinates returned by several small drones 11 used to track wild animal targets. The platform control system 12 will filter out the target geographic coordinates with the highest frequency from multiple real-time returned geographic coordinates through the target trajectory generation unit 17 until several small drones 11 complete the tracking task.

[0097] When the small drone 11 completes the tracking task and needs to be stored, the small drone control system 19 sends a signal to the platform control system 12 through the second signal processing unit 22 to open the small drone storage bin 4 and control the small drone 11 to store. After the small drone 11 is stored, the small drone control system 19 sends a signal to the platform control system 12 to close the small drone storage bin 4.

[0098] Furthermore, the platform control system 12 generates a movement trajectory of the wild animal target according to the target geographic coordinates obtained at each moment through the target trajectory unit, which is conducive to further understanding, protection and management of wild animal resources.

[0099] Optionally, the platform control system further includes a first power supply device; any of the small UAV control systems includes a second power supply device;

[0100] The first power supply device provides power to the platform control system;

[0101] The second power supply device provides power to the small UAV control system.

[0102] Specifically, the platform control system 12 includes a first power supply device 18 , which provides power to the platform control system 12 and needs to be designed and selected according to the power demand of the platform control system 12 .

[0103] Any small drone control system 19 includes a second power supply device 24, which provides power to the small drone control system 19, which usually uses a battery because it is light and can provide sufficient power. Each small drone 11 has its own power supply, which means that even if the power supply of one small drone 11 fails, other small drones 11 can continue to operate. The small drone 11 can be operated away from the nest platform without being restricted by power lines or other fixed power sources.

[0104] The independent power supplies of the platform control system 12 and the small UAV control system 19 provide redundancy in power supply, which increases the reliability and robustness of the entire system and can meet the needs of long-flight monitoring of large-scale outdoor areas.

[0105] The mobile drone nest platform provided by the present invention collects a wide range of outdoor environment data in real time through the remote sensing sensor configured on the central fuselage, so as to quickly monitor the approximate position of wild animal targets, and then automatically opens the small drone storage compartment to release multiple small drones equipped with different types of short-range detection sensors. These drones are equipped with different types of high-precision sensors to perceive and collect wild animal targets from different angles, ensuring the three-dimensional tracking of wild animal targets and reducing monitoring blind spots. It can meet the needs of large-scale and high-precision field target tracking. Since the nest platform has the characteristics of portability and high efficiency, it avoids the problems of limited coverage, high cost, and many human interference factors in traditional monitoring of wild animals, and greatly facilitates the monitoring of wild animals.

[0106] In addition, the overall modular and integrated design of the Machine Nest platform is adopted, and the various systems are highly coupled and coordinated, making it highly adaptable and stable in complex terrain and extreme climatic conditions, while simplifying deployment and maintenance.

[0107] Further, Figure 7 Schematic diagram of the process of field target tracking method provided by the present invention. Figure 7 The field target tracking method provided by the present invention may include:

[0108] Step 701, controlling the central body to monitor wild animal targets through the remote sensing sensors configured therein;

[0109] Step 702: after the wildlife target is detected, the central fuselage is controlled to generate the regional location information of the wildlife target, and the small UAV storage compartment is opened;

[0110] Step 703: Control several small drones in the small drone storage bin to take off;

[0111] Step 704: Control each of the small drones to track the wild animal target according to the regional location information through its configured short-range detection sensor.

[0112] Specifically, the mobile drone nest platform is a nest platform for forestry resource monitoring, which can be suspended in the air or stay on the ground, and can be deployed flexibly and move freely. Figure 1 As shown, the mobile UAV nest platform includes structures such as a central fuselage 1, wings 2, landing gear 3 and a small UAV storage compartment 4.

[0113] The mobile UAV nest platform includes a central fuselage 1, which can control the take-off and landing of the mobile UAV nest platform and provide support for the mobile deployment and free movement of the mobile UAV nest platform.

[0114] Combination Figure 2 , Figure 2 is a schematic diagram of the structure of the wing provided by the present invention. The mobile drone nest platform includes a wing 2, such as Figure 2 As shown, the structure of the wing 2 is composed of a wing blade 5, a wing shaft 6 and a diesel engine 7. The wing blade 5 is connected to the wing shaft 6, and the diesel engine 7 is located at the bottom of the wing blade 5 and connected to the wing shaft 6. The wing shaft 6 is located on both sides of the central fuselage 1 and is symmetrically distributed. The wing blade 5 is connected to the central fuselage 1 through the wing shaft 6, so that it can drive the mobile unmanned aerial vehicle nest platform to fly. The diesel engine 7 serves as a power source, transmitting power to the wing blade 5 to rotate it, thereby providing a driving force for the mobile unmanned aerial vehicle nest platform. Therefore, the wing 2 can maintain balance when the mobile unmanned aerial vehicle nest platform is flying.

[0115] Combination Figure 3 , Figure 3 Schematic diagram of the structure of the landing gear provided by the present invention. The mobile drone nest platform includes a landing gear 3, such as Figure 3 As shown, the structure of the landing gear 3 is composed of a roller 8, a roller shaft 9 and a connecting rod 10. The roller 8 is connected to the roller shaft 9, and the two roller shafts 9 are located on both sides of the central fuselage 1 and are symmetrically distributed. The connecting rod 10 is connected to the bottom of the central fuselage 1, and the two roller shafts 9 are connected by the connecting rod 10. Therefore, the landing gear 3 can provide gliding cushioning when the mobile drone nest platform lands.

[0116] Combination Figure 4 , Figure 4 Schematic diagram of the structure of the small drone provided by the present invention. The mobile drone nest platform includes a small drone storage compartment 4, in which a plurality of small drones 11 are stored. The structure of each small drone 11 is as follows: Figure 4 As shown, each small drone 11 is integrated with sensors, graphics processor computing power and other equipment, so that each drone can complete the task of tracking wild animal targets and realize distributed tracking of wild animal targets. The central fuselage 1 can also control the opening of the small drone storage compartment 4, so that when a wild animal target is sensed, several small drones 11 take off from the small drone storage compartment 4 to track the sensed wild animal target.

[0117] The mobile drone nest platform adopts a distributed control method and intelligent collaborative scheduling, which can realize dynamic release and multi-machine task allocation. The distributed control method is to divide the platform control system and the small drone control system. That is to say, the central fuselage 1 is equipped with a platform control system, and the small drone 11 is equipped with a small drone control system. The platform control system and the small drone control system can not only control their internal equipment, but also communicate and interact. The platform control system can sense wild animal targets, and the small drone control system can track the perceived wild animal targets when they are sensed. This distributed control method improves the response speed, flexibility and reliability of the drone group in the wildlife monitoring task by configuring control systems in the central fuselage 1 and the small drone 11 respectively, while optimizing task allocation and data processing, and enhancing the adaptability and cost-effectiveness of the entire system.

[0118] A remote sensing sensor is configured inside the central fuselage 1, or in other words, the platform control system includes a remote sensing sensor. When the mobile drone nest platform is moving, the central fuselage 1 will monitor wildlife targets through the remote sensing sensor. Furthermore, if the remote sensing sensor detects a wildlife target, the regional location information of the wildlife target is generated based on the remote sensing data collected by the remote sensing sensor, and the approximate position of the wildlife target can be identified, which can provide effective basic information for subsequent small drones 11 to track wildlife targets. In addition, when the central fuselage 1 generates the regional location information of the wildlife target, the small drone storage compartment 4 is opened synchronously, so that several small drones 11 used to track wildlife targets take off.

[0119] The plurality of small drones 11 are respectively equipped with different types of short-range detection sensors, or in other words, the small drone control system in each small drone 11 includes a short-range detection sensor, and these short-range detection sensors are of different types. After the central fuselage 1 opens the small drone storage compartment 4, the small drone control system controls the small drone 11 to take off, and the small drone 11 tracks the wild animal target according to the perceived regional location information through the short-range detection sensor configured therein, and returns the geographic coordinates of the wild animal target in real time.

[0120] Finally, the central fuselage 1 generates a movement trajectory of the wild animal target based on the geographic coordinates of the wild animal target returned in real time by a number of small drones 11.

[0121] Optionally, the platform control system includes a remote sensing sensor, a target detection unit, a first signal processing unit and a first Bluetooth device;

[0122] The remote sensing sensor is used to collect remote sensing data of the wild animal target when the wild animal target is monitored;

[0123] The target detection unit is used to generate the regional location information of the wild animal target according to the remote sensing data;

[0124] The first signal processing unit is used to generate a tracking instruction for the wild animal target according to the regional location information;

[0125] The first Bluetooth device is used to transmit the tracking instruction to several small drones used to track the wild animal targets or to receive the geographic coordinates of the wild animal targets returned in real time by several small drones.

[0126] Specifically, combined Figure 5 , Figure 5 Schematic diagram of the structure of the platform control system provided by the present invention. Figure 5 As shown, the platform control system 12 includes a remote sensing sensor 13 , a target detection unit 14 , a first signal processing unit 15 and a first Bluetooth device 16 .

[0127] When the mobile drone nest platform is moving, the platform control system 12 continuously monitors wild animal targets through the remote sensing sensor 13. The remote sensing sensor 13 can cover a wide geographical area and monitor the activities of wild animals in the wild environment. It is mainly used for long-distance detection, environmental monitoring and large-scale data collection. The remote sensing sensor 13 can be an optical sensor, an infrared sensor, a radar sensor, etc.

[0128] When the remote sensing sensor 13 detects a wild animal target, a data collection mechanism is triggered to automatically collect remote sensing data of the wild animal target. The remote sensing data may be images, videos, thermal imaging data, or other forms of sensor data, depending on the type of remote sensing sensor 13 used. After the data collection is completed, the remote sensing data of the wild animal target is transmitted to the target detection unit 14.

[0129] Furthermore, the platform control system 12 pre-processes the received remote sensing data through the target detection unit 14, uses the target detection algorithm to identify the wild animal target in the pre-processed remote sensing data, and generates the regional location information of the wild animal target according to the position of the wild animal target in the image and the geographical location information of the remote sensing data, so as to identify the approximate position of the wild animal target. After the regional location information of the wild animal target is detected, the regional location information is transmitted to the first signal processing unit 15. At the same time, the platform control system 12 will open the drone storage compartment and send a take-off command to the small drone control system 19 to control the take-off of several small drones 11 used to track wild animal targets.

[0130] Furthermore, the platform control system 12 analyzes the regional location information through the first signal processing unit 15 to determine the possible movement trend of the wild animal target, and further generates tracking instructions based on the regional location information of the wild animal target and its possible movement trend. The tracking instructions may include adjusting the direction and position of the tracking device, controlling the speed and mode of the tracking device, when to start or stop tracking, etc. Figure 5 In the embodiment, the first signal processing unit 15 specifically includes a signal receiver, a signal processor and a microprocessor. The signal receiver is responsible for receiving external input signals, the signal processor is responsible for processing and analyzing the received signals, and the microprocessor serves as the control core of the entire first signal processing unit and coordinates the work of each module. It can be understood that the signal receiver is responsible for receiving regional location information, the signal processor is responsible for generating tracking instructions, and the microprocessor is responsible for coordinating the work of the signal receiver and the signal processor. After the tracking instruction is generated, the tracking instruction is transmitted to the first Bluetooth device 16.

[0131] Furthermore, the platform control system 12 transmits the tracking instruction to the small drone control system 19 in the small drones 11 used to track wild animal targets through the first Bluetooth device 16, and the instruction is received by the second Bluetooth device 23 in the small drone control system 19. Bluetooth devices can realize signal transmission between different devices or different systems. Therefore, before realizing data transmission between two distributed systems, the first Bluetooth device 16 and the second Bluetooth device 23 need to be paired or bound in advance to ensure that only authorized control systems can establish a connection and exchange data.

[0132] Optionally, any of the small drones includes a small drone control system; the small drone control system includes a short-range detection sensor, a target positioning unit, a second signal processing unit and a second Bluetooth device;

[0133] The second Bluetooth device is used to receive the tracking instruction or transmit the geographical coordinates of the tracked wild animal target to the platform control system in real time;

[0134] The close-range detection sensor is used to collect close-range detection data of the wild animal target in real time when executing the tracking instruction;

[0135] The target positioning unit is used to generate the position information of the wild animal target in real time according to the close-range detection data;

[0136] The second signal processing unit is used to pre-process the location information and generate the geographic coordinates of the wild animal target in real time.

[0137] Specifically, combined Figure 6 , Figure 6Schematic diagram of the structure of the small UAV control system provided by the present invention. Figure 6 As shown, the small UAV control system 19 includes a short-range detection sensor 20, a target positioning unit 21, a second signal processing unit 22 and a second Bluetooth device 23.

[0138] The small UAV control system 19 receives the tracking instruction sent by the platform control system 12 through the second Bluetooth device 23 .

[0139] Furthermore, the small drone control system 19 executes the tracking instruction to control the small drone 11 to track the wild animal target. In the process of tracking the target, the small drone 11 collects the close-range detection data of the wild animal target in real time through the close-range detection sensor 20 configured therein, and transmits the close-range detection data collected in real time to the target positioning unit 21. The close-range detection sensor 20 is suitable for high-precision and close-range work and can be used for precise positioning. The close-range detection sensor 20 can be a laser radar, an ultrasonic sensor, a high-definition camera, etc. The close-range detection data can be distance data, space data, image data or other forms of sensor data, depending on the type of the close-range detection sensor 20 used.

[0140] Furthermore, the small UAV control system 19 pre-processes the close-range detection data received in real time through the target positioning unit 21, and uses the target positioning algorithm to identify the specific location information of the wild animal target in the pre-processed close-range detection data, and generates the specific location information of the wild animal target according to the location of the wild animal target in the image and the geographical location information of the close-range detection data. After the specific location information of the wild animal target is detected, the specific location information is transmitted to the second signal processing unit 22.

[0141] Furthermore, the small UAV control system 19 pre-processes the specific location information of the wild animal target detected in real time through the second signal processing unit 22, and uses the geographic information system and spatial analysis technology to calculate the precise geographic coordinates of the wild animal target. Figure 6 In the embodiment, the second signal processing unit 22 specifically includes a signal receiver, a signal processor and a microprocessor. The signal receiver is responsible for receiving external input signals, the signal processor is responsible for processing and analyzing the received signals, and the microprocessor serves as the control core of the entire second signal processing unit and coordinates the work of each module. It can be understood that the signal receiver is responsible for receiving real-time specific location information, the signal processor is responsible for generating geographic coordinates in real time, and the microprocessor is responsible for coordinating the work of the signal receiver and the signal processor. After the geographic coordinates are generated, the geographic coordinates are transmitted to the second Bluetooth device 23.

[0142] Furthermore, the small UAV control system 19 transmits the real-time calculated geographic coordinates of the wild animal target to the platform control system 12 via the second Bluetooth device 23 , which is received by the first Bluetooth device 16 in the platform control system 12 .

[0143] Optionally, the platform control system further comprises a target trajectory generating unit;

[0144] The target trajectory generation unit is used to filter out the target geographic coordinates with the highest frequency of occurrence from the geographic coordinates returned in real time by each of the small drones;

[0145] The target trajectory generating unit is further used to generate a movement trajectory of the wild animal target according to the target geographic coordinates acquired at each moment after the tracking of the wild animal target is completed.

[0146] Specifically, the platform control system 12 will receive in real time the geographic coordinates returned by several small drones 11 used to track wild animal targets. The platform control system 12 will filter out the target geographic coordinates with the highest frequency from multiple real-time returned geographic coordinates through the target trajectory generation unit 17 until several small drones 11 complete the tracking task.

[0147] When the small drone 11 completes the tracking task and needs to be stored, the small drone control system 19 sends a signal to the platform control system 12 through the second signal processing unit 22 to open the small drone storage bin 4 and control the small drone 11 to store. After the small drone 11 is stored, the small drone control system 19 sends a signal to the platform control system 12 to close the small drone storage bin 4.

[0148] Furthermore, the platform control system 12 generates a movement trajectory of the wild animal target according to the target geographic coordinates obtained at each moment through the target trajectory unit, which is conducive to further understanding, protection and management of wild animal resources.

[0149] Optionally, the platform control system further includes a first power supply device; any of the small UAV control systems includes a second power supply device;

[0150] The first power supply device provides power to the platform control system;

[0151] The second power supply device provides power to the small UAV control system.

[0152] Specifically, the platform control system 12 includes a first power supply device 18 , which provides power to the platform control system 12 and needs to be designed and selected according to the power demand of the platform control system 12 .

[0153] Any small drone control system 19 includes a second power supply device 24, which provides power to the small drone control system 19, which usually uses a battery because it is light and can provide sufficient power. Each small drone 11 has its own power supply, which means that even if the power supply of one small drone 11 fails, other small drones 11 can continue to operate. The small drone 11 can be operated away from the nest platform without being restricted by power lines or other fixed power sources.

[0154] The independent power supplies of the platform control system 12 and the small UAV control system 19 provide redundancy in power supply, which increases the reliability and robustness of the entire system and can meet the needs of long-flight monitoring of large-scale outdoor areas.

[0155] The field target tracking method provided by the present invention collects a wide range of field environment data in real time through the remote sensing sensor configured on the central body, so as to quickly monitor the approximate position of the wild animal target, and then automatically opens the small drone storage compartment to release multiple small drones equipped with different types of short-range detection sensors. These drones are equipped with different types of high-precision sensors to sense and collect wild animal targets from different angles, ensuring the three-dimensional tracking of wild animal targets and reducing monitoring blind spots. It can meet the needs of large-scale and high-precision field target tracking. Since the machine nest platform has the characteristics of portability and high efficiency, it avoids the problems of limited coverage, high cost, and many human interference factors in traditional monitoring of wild animals, greatly facilitating the monitoring of wild animals.

[0156] In addition, the overall modular and integrated design of the Machine Nest platform is adopted, and the various systems are highly coupled and coordinated, making it highly adaptable and stable in complex terrain and extreme climatic conditions, while simplifying deployment and maintenance.

[0157] Figure 8 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the field target tracking method, which includes: controlling the central fuselage to monitor the wild animal target through the remote sensing sensor configured therein; after monitoring the wild animal target, controlling the central fuselage to generate the regional location information of the wild animal target, and opening the small drone storage bin; the small drone storage bin stores multiple small drones; the multiple small drones are respectively configured with different types of short-range detection sensors; controlling several small drones in the small drone storage bin to take off; controlling each of the small drones to track the wild animal target according to the regional location information through the short-range detection sensor configured therein.

[0158] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0159] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute the field target tracking method provided by the above-mentioned embodiments, the method including: controlling the central fuselage to monitor wild animal targets through the remote sensing sensors configured therein; after monitoring the wild animal targets, controlling the central fuselage to generate regional location information of the wild animal targets and opening a small drone storage bin; the small drone storage bin stores multiple small drones; the multiple small drones are respectively configured with different types of short-range detection sensors; controlling several small drones in the small drone storage bin to take off; controlling each of the small drones to track the wild animal targets according to the regional location information through the short-range detection sensors configured therein.

[0160] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the field target tracking method provided by the above-mentioned embodiments, the method comprising: controlling the central fuselage to monitor wild animal targets through its configured remote sensing sensors; after monitoring the wild animal targets, controlling the central fuselage to generate regional location information of the wild animal targets and opening a small drone storage bin; the small drone storage bin stores a plurality of small drones; the plurality of small drones are respectively configured with different types of short-range detection sensors; controlling a plurality of small drones in the small drone storage bin to take off; controlling each of the small drones to track the wild animal targets according to the regional location information through its configured short-range detection sensors.

[0161] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Those of ordinary skill in the art may understand and implement the present invention without creative effort.

[0162] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile drone nest platform, characterized in that: Includes central fuselage and small drone storage compartment; The central fuselage is used to control the take-off and landing of the mobile drone nest platform, and the opening and closing of the small drone storage compartment; The small drone storage warehouse is used to store multiple small drones; The central fuselage is equipped with a remote sensing sensor, and the central fuselage is also used to monitor wild animal targets through the remote sensing sensor, generate regional location information of the wild animal targets, and open the small drone storage compartment; The multiple small drones are respectively equipped with different types of short-range detection sensors; after the small drone storage compartment is opened, a number of the small drones take off, and each small drone tracks the wild animal target according to the regional location information through the short-range detection sensor configured therein; The central fuselage is equipped with a platform control system; any of the small drones includes a small drone control system; the platform control system and each of the small drones communicate via a Bluetooth device; The platform control system is used to generate a tracking instruction for the wild animal target according to the regional location information, and transmit the tracking instruction to each of the small UAV control systems; Each of the small UAV control systems is used to generate the geographic coordinates of the wild animal target in real time by tracking the wild animal target after receiving the tracking instruction, and return the geographic coordinates to the platform control system; The platform control system further comprises a target trajectory generating unit, which is used to generate a movement trajectory of the wild animal target according to each of the geographic coordinates; The step of generating the movement trajectory of the wild animal target according to each of the geographic coordinates includes: Filter out the target geographic coordinates with the highest frequency of occurrence from the geographic coordinates returned in real time by each of the small drones; After the tracking of the wild animal target is completed, the movement trajectory of the wild animal target is generated according to the target geographic coordinates obtained at each moment.

2. The mobile drone nest platform according to claim 1, characterized in that: The platform control system includes a remote sensing sensor, a target detection unit, a first signal processing unit and a first Bluetooth device; The remote sensing sensor is used to collect remote sensing data of the wild animal target when the wild animal target is monitored; The target detection unit is used to generate the regional location information of the wild animal target according to the remote sensing data; The first signal processing unit is used to generate a tracking instruction for the wild animal target according to the regional location information; The first Bluetooth device is used to transmit the tracking instruction to several small drones used to track the wildlife target or receive the geographic coordinates of the wildlife target returned in real time by several small drones.

3. The mobile drone nest platform according to claim 2, characterized in that: The small UAV control system includes a close-range detection sensor, a target positioning unit, a second signal processing unit, and a second Bluetooth device; The second Bluetooth device is used to receive the tracking instruction or transmit the geographical coordinates of the tracked wild animal target to the platform control system in real time; The close-range detection sensor is used to collect close-range detection data of the wild animal target in real time when executing the tracking instruction; The target positioning unit is used to generate the position information of the wild animal target in real time according to the close-range detection data; The second signal processing unit is used to pre-process the location information and generate the geographic coordinates of the wild animal target in real time.

4. The mobile drone nest platform according to claim 1, characterized in that: The platform control system also includes a first power supply device; any of the small UAV control systems includes a second power supply device; The first power supply device provides power to the platform control system; The second power supply device provides power to the small UAV control system.

5. The mobile drone nest platform according to claim 1, characterized in that: The mobile drone nest platform also includes wings; The wings are used to maintain balance when the mobile UAV nest platform is flying.

6. The mobile drone nest platform according to claim 1, characterized in that: The mobile drone nest platform also includes a landing gear; The landing gear is used to provide gliding cushioning when the mobile UAV nest platform lands.

7. A method for tracking a target in the wild, characterized in that: include: Control the central body to monitor wildlife targets through its configured remote sensing sensors; After the wildlife target is detected, the central fuselage is controlled to generate the regional location information of the wildlife target, and a small drone storage compartment is opened; the small drone storage compartment stores a plurality of small drones; the plurality of small drones are respectively equipped with different types of short-range detection sensors; Controlling a plurality of small drones in the small drone storage bin to take off; Controlling each of the small drones to track the wild animal target according to the regional location information through the short-range detection sensor configured therein; The central fuselage is equipped with a platform control system; any of the small drones includes a small drone control system; the platform control system and each of the small drones communicate via a Bluetooth device; The platform control system is used to generate a tracking instruction for the wild animal target according to the regional location information, and transmit the tracking instruction to each of the small UAV control systems; Each of the small UAV control systems is used to generate the geographic coordinates of the wild animal target in real time by tracking the wild animal target after receiving the tracking instruction, and return the geographic coordinates to the platform control system; The platform control system further comprises a target trajectory generating unit, which is used to generate a movement trajectory of the wild animal target according to each of the geographic coordinates; The step of generating the movement trajectory of the wild animal target according to each of the geographic coordinates includes: Filter out the target geographic coordinates with the highest frequency of occurrence from the geographic coordinates returned in real time by each of the small drones; After the tracking of the wild animal target is completed, the movement trajectory of the wild animal target is generated according to the target geographic coordinates obtained at each moment.

8. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the field target tracking method as claimed in claim 7 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the field target tracking method as claimed in claim 7 are implemented.

Images