Amphibious special unmanned platform multi-target tracking control system and control method thereof
By real-time detection of the number and body parameters of the target personnel to be rescued, the load is estimated and the buoyancy adjustment is performed, combined with the stable rate increase threshold and the multi-stage buoyancy improvement strategy, the problem of excessive sinking or loss of balance that may occur during the rescue process of amphibious special unmanned platforms is solved, and the platform's stability and efficient rescue are achieved.
Patent Information
- Application Number
- CN202510097881.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-22
- Publication Date
- 2025-04-25
AI Technical Summary
When rescue is carried out on amphibious special unmanned platforms, the target personnel may cause the platform to sink excessively or lose balance after boarding the platform, especially when multiple target personnel board the platform at the same time or heavier target personnel board the platform.
Through the tracking and identification module, the number of people to be rescued and body parameters are detected in real time, the load lifting amount is estimated, and the buoyancy adjustment amount is obtained based on the estimated load, the stable lifting rate threshold is set, and the buoyancy adjustment strategy is used to regulate buoyancy.
Accurate management of dynamic load of amphibious special unmanned platforms has been achieved, ensuring the stability and smooth rescue of the platform during the rescue process, and reducing the risk of platform tilt or losing balance.
Smart Images
Figure CN119882780A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of amphibious platform control and regulation, and in particular to a multi-target tracking control system for an amphibious special unmanned platform and a control method thereof. Background Art
[0002] Amphibious special unmanned platform is an unmanned platform equipment that has the ability to operate in both water and land environments. Amphibious special unmanned platform can use its own sensor equipment such as cameras and radars to identify and track surrounding targets. Such platforms are usually designed to perform a variety of special operations, such as reconnaissance, surveillance, supply, search and rescue, etc., and can be flexibly used in complex and changing terrain conditions.
[0003] When an amphibious special unmanned platform is traveling on the water, it relies on adjusting the water level of the floats or water tanks inside the platform to change the buoyancy, thereby adjusting the height of the platform above the water. Maintaining appropriate buoyancy can enable the amphibious special unmanned platform to travel at a reasonable height on the water, which can effectively reduce the swaying of the platform on the water and improve overall stability.
[0004] In response to post-flood rescue, amphibious special unmanned platforms can travel on the water and rescue target personnel trapped in the water. After the rescued target personnel board the platform, their weight will cause the platform to sink on the water. Traditional amphibious special unmanned platforms generally adjust the buoyancy and platform height according to the sinking amplitude after the target personnel board the platform. However, this adjustment has a delay. When most target personnel board the platform at the same time or heavier target personnel board the platform, the platform's buoyancy may be insufficient to support the platform instantly, causing the platform to lose balance or even capsize.
[0005] To this end, the present invention provides an amphibious special unmanned platform multi-target tracking control system and a control method thereof. Summary of the invention
[0006] In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide an amphibious special unmanned platform multi-target tracking control system and a control method thereof, so that when the amphibious special unmanned platform is rescuing target personnel on the water surface, it can detect and track multiple target personnel in advance and make appropriate buoyancy adjustments in advance to avoid the platform from sinking excessively or even losing balance after the target personnel board the platform.
[0007] In order to achieve the above-mentioned purpose, the present invention provides the following technical solution: a multi-target tracking control system for an amphibious special unmanned platform, comprising: A tracking and identification module, wherein the tracking and identification module uses sensors to track and identify the number and body shape parameters of target persons to be rescued in the area, wherein the body shape parameters include the height and body width of each identified target person to be rescued; A parameter analysis module, wherein the parameter analysis module includes obtaining an estimated load lifting amount according to the number and body shape parameters of the target persons to be rescued in the area, and obtaining a buoyancy adjustment amount according to the estimated load lifting amount; A parameter adjustment module, wherein the parameter adjustment module includes setting a stable lifting rate threshold, and obtaining a buoyancy lifting rate by comparing a buoyancy adjustment amount with a preset standard buoyancy amount; The buoyancy control module includes comparing the buoyancy increase rate with a stable increase rate threshold, and making corresponding buoyancy control for the amphibious special unmanned platform according to the comparison result.
[0008] In some embodiments, the specific method of obtaining the estimated load lifting amount is: by using the height parameter of the target person to be rescued With the body width parameter Combined to obtain the body surface area parameters of the target person , and set multiple body size levels from low to high, so that the body surface area parameters of each target person to be rescued can fall into the corresponding body size level, and the estimated load increase can be obtained according to the number of target people falling into the corresponding body size level.
[0009] In some embodiments, the specific method of obtaining the estimated load lifting amount based on the number of target persons falling into the corresponding body size level is: corresponding estimated weight values are configured for multiple body size levels respectively, so that each target person to be rescued can simultaneously obtain the corresponding estimated weight value after being marked to the corresponding body size level, and the estimated load lifting amount is obtained by summing up the estimated weight values of all target persons.
[0010] In some embodiments, the specific method of obtaining the buoyancy adjustment amount is to increase the estimated load by Combined with gravity acceleration Get the buoyancy adjustment required to maintain the platform height ,in, It is an adjustment factor less than or equal to 1. Its purpose is to allow the water surface height of an amphibious special unmanned platform to drop within a specified range after it is manned according to actual needs.
[0011] In some embodiments, the specific method of obtaining the buoyancy increase rate is to adjust the buoyancy Divide by the standard buoyancy Get buoyancy increase rate , and the result is converted into a percentage.
[0012] In some embodiments, when the buoyancy increase rate is less than or equal to a stable increase rate threshold, the system will increase the buoyancy of the amphibious special unmanned platform according to the buoyancy adjustment amount; and when the buoyancy increase rate is greater than the stable increase rate threshold, the system will execute a multi-stage buoyancy increase strategy.
[0013] In some embodiments, the multi-stage buoyancy boost strategy includes: and stable rate increase threshold Get the number of buoyancy boost segments , and the number of buoyancy enhancement segments The calculation result is rounded up, and the number of buoyancy increase segments indicates that the amphibious special unmanned platform will divide the buoyancy adjustment amount into equal parts according to the value of the number of buoyancy increase segments, and control the buoyancy of the platform to be adjusted upward in sequence according to the situation of the target personnel to be rescued boarding the platform.
[0014] In some embodiments, a buoyancy lift number threshold is set. , specifically by the total number of people to be rescued and the number of buoyancy boost segments The threshold value of the number of people lifted by buoyancy is obtained The system will control the platform to increase the buoyancy before the target person to be rescued boards the platform. Whenever the number of target people who board the platform reaches the buoyancy increase threshold, Then carry out subsequent buoyancy enhancement.
[0015] The present invention also provides the following technical solution: a multi-target tracking control method for an amphibious special unmanned platform, the method comprising the following steps: Using sensors to identify the number and body shape parameters of the target persons to be rescued in the area, wherein the body shape parameters include the height and body width of each identified target person to be rescued; The estimated load lifting amount is obtained according to the number and body shape parameters of the target persons to be rescued in the area, and the buoyancy adjustment amount is obtained according to the estimated load lifting amount; Set the stable lifting rate threshold, and obtain the buoyancy lifting rate by the buoyancy adjustment amount and the preset standard buoyancy amount; The buoyancy increase rate is compared with the stable buoyancy increase rate threshold, and the buoyancy of the amphibious special unmanned platform is adjusted accordingly according to the comparison result.
[0016] The present invention further provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the above-mentioned amphibious special unmanned platform multi-target tracking and control system.
[0017] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: Firstly, the present invention can accurately estimate the load by detecting the number and body shape parameters of the target persons to be rescued in real time, thereby improving the management capability of the platform's dynamic load and ensuring the stability of the platform during the rescue process. Moreover, the tracking, identification and estimation mechanism enables the platform to respond in the shortest time and adjust the buoyancy in time, thereby improving the rescue efficiency, and being able to respond quickly to changes, especially in emergency situations.
[0018] Secondly, the present invention combines buoyancy control with the setting of a stable lifting rate threshold, adopts a multi-stage buoyancy lifting strategy, and adjusts the buoyancy of the platform in multiple stages according to real-time conditions. It can adapt to the process of multiple target personnel boarding the platform to ensure smooth rescue. It can effectively avoid the problem of excessive buoyancy caused by changes in load and reduce the risk of the platform tilting or losing balance on the water surface, thereby protecting the safety of the rescued personnel and the unmanned platform. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a module schematic diagram of a multi-target tracking control system for an amphibious special unmanned platform of the present invention; Figure 2 The present invention is a flowchart of a multi-target tracking control method for an amphibious special unmanned platform. DETAILED DESCRIPTION
[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.
[0021] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.
[0022] See also Figure 1 , the present invention provides an amphibious special unmanned platform multi-target tracking and control system, the system includes a tracking and identification module, a parameter analysis module, a parameter adjustment module and a buoyancy control module; The tracking and identification module includes using sensors to track and identify the number and body shape parameters of the target personnel to be rescued in the area after the amphibious special unmanned platform travels to the specified rescue water surface area. The body shape parameters include the height and body width of each identified target person to be rescued. Among them, the sensor for detecting and tracking the target personnel to be rescued on the amphibious special unmanned platform can choose to use a combination of cameras (especially combined with infrared functions) and laser radars to achieve efficient and accurate target recognition and tracking. Through this dual sensor configuration, it is possible to maintain good performance under various environmental conditions and improve the accuracy of identifying and tracking the target personnel to be rescued.
[0023] The parameter analysis module includes obtaining an estimated load lifting amount according to the number and body shape parameters of the target persons to be rescued in the area, specifically by calculating the height parameters of the target persons to be rescued. With the body width parameter Combined to obtain the body surface area parameters of the target person Generally speaking, the larger the body surface area parameter is, the heavier the target person is. A plurality of body size levels from low to high are set so that the body surface area parameter of each target person to be rescued can fall into the corresponding body size level. For example, it can be set that there are 4 target persons to be rescued in the rescue surface area where the amphibious special unmanned platform is located. The height parameters of these 4 target persons to be rescued are 1.55m, 1.65m, 1.70m and 1.84m, and the body width parameters are 0.4m, 0.4m, 0.5m and 0.5m, respectively. It can be concluded that the body surface area parameters of these 4 target persons to be rescued are 0.62, 0.66, 0.85 and 0.92, respectively. Three body size levels are set, and the three body size levels represent thin and small people, medium-sized people and heavy-bodied people, respectively. Among them, the range of level 1 body size level covers target persons with a body surface area parameter less than 0.7, the range of level 2 body size level covers target persons with a body surface area parameter between 0.7 and 0.9, and the range of level 3 body size level covers target persons with a body surface area parameter greater than 0.9. According to the above settings, it can be obtained that among the four target persons to be rescued, two target persons belong to level 1 body size level, one target person belongs to level 2 body size level, and one target person belongs to level 3 body size level; It should be noted that the height parameters and body width parameters of the target person are measured by the sensor, and the corresponding body type can only be marked according to the body surface area parameters, so as to estimate the approximate weight range of the target person, and the actual weight of the target person cannot be accurately obtained. Therefore, the system will configure corresponding estimated weight values for the three body types, for example, the estimated weight value of the level 1 body type can be set to 40kg, the estimated weight value of the level 2 body type can be set to 60kg, and the estimated weight value of the level 3 body type can be set to 80kg. After marking each target person to be rescued to the corresponding body type, the corresponding estimated weight value can be obtained. The estimated weight values of all target persons are summed to obtain the estimated load lifting amount. According to the above settings, there are 2 level 1 body types, 1 level 2 body type and 1 level 3 body type among the 4 target persons to be rescued, and the estimated load lifting amount is 40+40+60+80=220kg.
[0024] In the absence of direct measurement conditions, estimating weight by size class is a pragmatic strategy. Although the set estimated weight value (40kg for size class 1, 60kg for size class 2, and 80kg for size class 3) cannot accurately reflect the actual weight of each individual, it can provide a reasonable estimate during the rescue process and provide a basis for the subsequent buoyancy adjustment of the amphibious special unmanned platform.
[0025] In addition, the target personnel are divided into different body types, so that the rescue system can more intuitively understand the physical characteristics of the person to be rescued. The three body types (thin, medium, and tall) can help the rescue team quickly determine the basic situation of the target personnel. Through this classification, rescuers can better allocate and deploy resources when preparing for rescue, such as choosing appropriate rescue equipment or arranging specific rescue methods. This grading method also facilitates emergency response in different environments and helps improve work efficiency.
[0026] After the estimated load lifting amount is obtained, the buoyancy adjustment amount is obtained according to the estimated load lifting amount. Specifically, after the rescued target personnel board the amphibious special unmanned platform, the increased weight of the platform will affect the buoyancy required. In order to enable the platform to maintain its height above the water after being manned, the estimated load lifting amount is adjusted. Combined with gravity acceleration Get the buoyancy adjustment required to maintain the platform height ,in, is an adjustment factor less than or equal to 1, and its purpose is to allow the water surface height of the amphibious special unmanned platform to drop within a specified range after manning according to actual needs. For example, according to the settings of the above embodiment, the estimated load lifting amount is 220kg, and k is set to 0.8, which can be obtained as follows: .
[0027] The parameter adjustment module includes obtaining the buoyancy increase rate by comparing the buoyancy adjustment amount with the preset standard buoyancy amount. Specifically, the buoyancy adjustment amount Divide by the standard buoyancy Get buoyancy increase rate , and the result is converted into a percentage. Combined with the above embodiment, the buoyancy adjustment amount is 1727N, and the standard buoyancy of the amphibious special unmanned platform can be set to 5000N, and the buoyancy increase rate can be obtained as 1727÷5000=0.34, that is, 34%; In addition, the parameter adjustment module should also set a stable lifting rate threshold. The purpose of setting the stable lifting rate threshold is to avoid excessive increase in the buoyancy of the amphibious special unmanned platform, which causes its height above the water surface to rise excessively. This is because the platform's height above the water surface will increase the platform's center of gravity, making it easier to tip over or swing when the water surface fluctuates, so that the platform loses its stability before the target person to be rescued climbs onto the platform. Therefore, in actual applications, it should be avoided that the platform's buoyancy is pre-adjusted to an excessive degree before the target person to be rescued climbs onto the platform.
[0028] The buoyancy control module includes comparing the buoyancy increase rate with the stable increase rate threshold, and making corresponding buoyancy control for the amphibious special unmanned platform according to the comparison result; When the buoyancy increase rate is less than or equal to the stable increase rate threshold, it means that after the system increases the buoyancy of the amphibious special unmanned platform according to the buoyancy adjustment amount, there will be no significant increase in buoyancy, which will cause the platform to be too high above the water surface. Therefore, the system will increase the buoyancy of the amphibious special unmanned platform according to the buoyancy adjustment amount; When the buoyancy increase rate is greater than the stable increase rate threshold, it means that if the system directly increases the buoyancy of the amphibious special unmanned platform according to the buoyancy adjustment amount, the platform buoyancy will be greatly increased and exceed the reasonable water surface height, resulting in instability. Therefore, the system executes a multi-stage buoyancy increase strategy; the multi-stage buoyancy increase strategy includes adjusting the buoyancy increase rate by adjusting the buoyancy increase rate. and stable rate increase threshold Get the number of buoyancy boost segments , and the number of buoyancy enhancement segments The calculation result is rounded up, and the number of buoyancy increase segments indicates that the amphibious special unmanned platform will divide the buoyancy adjustment amount into equal parts according to the value of the number of buoyancy increase segments, and control the buoyancy of the platform to be adjusted upward in sequence according to the situation of the target personnel to be rescued boarding the platform.
[0029] The buoyancy of the control platform is adjusted upward in sequence, specifically by the total number of people to be rescued and the number of buoyancy boost segments The threshold value of the number of people lifted by buoyancy is obtained The system will control the platform to increase the buoyancy before the target person to be rescued boards the platform. Whenever the number of target people who board the platform reaches the buoyancy increase threshold, , subsequent buoyancy enhancement will be performed. In combination with the above-mentioned embodiment, for example, the stable enhancement rate threshold can be set to 20%. Since the buoyancy enhancement rate is 34%, it can be concluded that the number of buoyancy enhancement segments is 34% ÷ 20% = 1.7, which is rounded up to 2. In other words, the 34% buoyancy enhancement rate needs to be divided into 2 equal times for enhancement. Each time, the platform will perform a 17% buoyancy enhancement compared to the standard buoyancy. Since the total number of target personnel to be rescued is set to 4, it can be concluded that the buoyancy enhancement number threshold is 4 ÷ 2 = 2. It can be seen that the system will control the amphibious special unmanned platform to perform a 17% buoyancy enhancement when tracking and rescuing multiple targets. When two people board the platform, another 17% buoyancy enhancement will be performed.
[0030] In summary, the present invention aims to design an amphibious special unmanned platform multi-target tracking and control system, which aims to solve the problem of insufficient buoyancy and loss of balance of the platform after the target personnel board the platform when using an amphibious special unmanned platform to track and rescue multiple targets on the water. The present invention detects the number and body shape parameters of the target personnel in the rescue water surface area through sensors, and can roughly estimate the increased load after the target personnel to be rescued board the platform, and obtain the corresponding platform buoyancy adjustment amount according to the estimated load increase, and adjust the height of the platform above the water surface in advance through the increase of the platform buoyancy. At the same time, through the setting of a stable lifting rate threshold, the main purpose is to avoid excessive increase in the platform buoyancy, resulting in too high a height above the water surface. When the buoyancy is too large, the center of gravity of the platform will rise accordingly, increasing the risk of tipping or swinging when the water surface fluctuates. This risk is unacceptable in actual rescue operations, because the stability of the platform is directly related to the safety of the rescued personnel; by controlling the gradual increase of buoyancy, the platform can remain relatively stable when performing rescue tasks, and will not cause unnecessary dangers due to drastic changes in buoyancy. A stable platform can enable rescuers to perform their tasks better and reduce possible accidents during the transfer process. In this way, the platform can always maintain a reasonable height position on the water surface to achieve a balanced effect.
[0031] See also Figure 2 The present invention provides a multi-target tracking control method for an amphibious special unmanned platform, the method comprising the following steps: Using sensors to identify the number and body shape parameters of the target persons to be rescued in the area, wherein the body shape parameters include the height and body width of each identified target person to be rescued; The estimated load lifting amount is obtained according to the number and body shape parameters of the target persons to be rescued in the area, and the buoyancy adjustment amount is obtained according to the estimated load lifting amount; Set the stable lifting rate threshold, and obtain the buoyancy lifting rate by the buoyancy adjustment amount and the preset standard buoyancy amount; The buoyancy increase rate is compared with the stable buoyancy increase rate threshold, and the buoyancy of the amphibious special unmanned platform is adjusted accordingly according to the comparison result.
[0032] The embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. The embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part, and / or installed from a removable medium. When the computer program is executed by the central processing unit, the above functions defined in the method of the present application are executed. It should be noted that the computer-readable medium mentioned above in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of an electrical, magnetic, optical, electromagnetic, infrared segment, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wire segments, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless segments, wire segments, optical cables, RF, etc., or any suitable combination of the above.
[0033] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0034] Those skilled in the art should understand that the above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.
Claims
1. An amphibious special unmanned platform multi-target tracking control system, characterized in that: include: A tracking and identification module, wherein the tracking and identification module uses sensors to track and identify the number and body shape parameters of target persons to be rescued in the area, wherein the body shape parameters include the height and body width of each identified target person to be rescued; A parameter analysis module, wherein the parameter analysis module includes obtaining an estimated load lifting amount according to the number and body shape parameters of the target persons to be rescued in the area, and obtaining a buoyancy adjustment amount according to the estimated load lifting amount; A parameter adjustment module, wherein the parameter adjustment module includes setting a stable lifting rate threshold, and obtaining a buoyancy lifting rate by comparing a buoyancy adjustment amount with a preset standard buoyancy amount; The buoyancy control module includes comparing the buoyancy increase rate with a stable increase rate threshold, and making corresponding buoyancy control for the amphibious special unmanned platform according to the comparison result.
2. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 1 is characterized in that: The specific method of obtaining the estimated load lifting amount is: by taking the height parameter of the target person to be rescued as With the body width parameter Combined to obtain the body surface area parameters of the target person , and set multiple body size levels from low to high, so that the body surface area parameters of each target person to be rescued can fall into the corresponding body size level, and the estimated load increase can be obtained according to the number of target people falling into the corresponding body size level.
3. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 2 is characterized in that: The specific method of obtaining the estimated load lifting amount based on the number of target personnel who fall into the corresponding body size level is: respectively configure corresponding estimated weight values for multiple body size levels, so that each target person to be rescued can simultaneously obtain the corresponding estimated weight value after being marked to the corresponding body size level, and the estimated load lifting amount is obtained by summing up the estimated weight values of all target personnel.
4. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 3 is characterized in that: The specific method to obtain the buoyancy adjustment is to increase the estimated load by Combined with gravity acceleration Get the buoyancy adjustment required to maintain the platform height ,in, It is an adjustment factor less than or equal to 1. Its purpose is to allow the water surface height of an amphibious special unmanned platform to drop within a specified range after it is manned according to actual needs.
5. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 4 is characterized in that: The specific method of obtaining the buoyancy increase rate is to adjust the buoyancy Divide by the standard buoyancy Get buoyancy increase rate , and the result is converted into a percentage.
6. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 1 is characterized in that: When the buoyancy increase rate is less than or equal to the stable increase rate threshold, the system will increase the buoyancy of the amphibious special unmanned platform according to the buoyancy adjustment amount; when the buoyancy increase rate is greater than the stable increase rate threshold, the system will execute a multi-stage buoyancy increase strategy.
7. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 6 is characterized in that: The multi-stage buoyancy boost strategy includes: and stable rate increase threshold Get the number of buoyancy boost segments , and the number of buoyancy enhancement segments The calculation result is rounded up, and the number of buoyancy increase segments indicates that the amphibious special unmanned platform will divide the buoyancy adjustment amount into equal parts according to the value of the number of buoyancy increase segments, and control the buoyancy of the platform to be adjusted upward in sequence according to the situation of the target personnel to be rescued boarding the platform.
8. The multi-target tracking and control system for an amphibious special unmanned platform according to claim 7 is characterized in that: Set the buoyancy lift threshold , specifically by the total number of people to be rescued and the number of buoyancy boost segments The threshold value of the number of people lifted by buoyancy is obtained The system will control the platform to increase the buoyancy before the target person to be rescued boards the platform. Whenever the number of target people who board the platform reaches the buoyancy increase threshold, Then carry out subsequent buoyancy enhancement.
9. A multi-target tracking control method for an amphibious special unmanned platform, characterized in that: According to an amphibious special unmanned platform multi-target tracking control system according to any one of claims 1 to 8, the method comprises the following steps: Using sensors to identify the number and body shape parameters of the target persons to be rescued in the area, wherein the body shape parameters include the height and body width of each identified target person to be rescued; The estimated load lifting amount is obtained according to the number and body shape parameters of the target persons to be rescued in the area, and the buoyancy adjustment amount is obtained according to the estimated load lifting amount; Set the stable lifting rate threshold, and obtain the buoyancy lifting rate by the buoyancy adjustment amount and the preset standard buoyancy amount; The buoyancy increase rate is compared with the stable buoyancy increase rate threshold, and the buoyancy of the amphibious special unmanned platform is adjusted accordingly according to the comparison result.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement a multi-target tracking and control system for an amphibious special unmanned platform as described in any one of claims 1 to 8.