Unmanned aerial vehicle rescue full-coverage search and rescue method and system

Abstract

The invention discloses an unmanned aerial vehicle rescue full-coverage search and rescue method and system, and the method comprises the steps: enabling a search and rescue boundary to deviate inwards for a certain distance, obtaining a search and rescue region boundary deviation line, judging whether the center of a region defined by the search and rescue region boundary deviation line is provided with a hole or not, and if yes, carrying out the search and rescue. When no hole exists, the area is mapped to a circular ring containing a slit through conformal slit mapping by adopting annular slit mapping, the boundary of the area is mapped to the boundary of the inner side and the outer side of the circular ring and the inner arc-shaped slit, and when no hole exists, the area is mapped to a disc containing a slit through slit mapping by adopting disc-shaped slit mapping, and the circular ring is formed. The boundary of the area is mapped into the boundary of the outer side of the disc and an internal arc-shaped slit; unequally-divided spiral lines which are not intersected with the slit in the circular ring or disc image domain are obtained; the unequally divided spiral lines are mapped back to an original image domain through inverse mapping of conformal slit mapping to obtain a spiral track on an original image, search and rescue are carried out along the boundary offset line of the search and rescue area, and dangerous areas which are not searched and rescued through the spiral track are checked.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle search and rescue, and more specifically, relates to a method and system for unmanned aerial vehicle rescue with full coverage. Background Art

[0002] The spiral trajectory search and rescue of drones has the advantages of few trajectory interruptions, smooth turning, and trajectory fitting the boundary of the search and rescue area. Generating shorter, smoother, and less interrupted spiral trajectories is crucial for drone search and rescue. However, for areas with complex boundaries and dangerous conditions that cannot be crossed, traditional spiral trajectory planning methods have problems such as inconsistent trajectory spacing, sharp turns that can be optimized, and many trajectory interruptions that need to be bridged. The above problems lead to more turns in drone search and rescue, longer search and rescue paths, and greater impact of actuator movement, which makes it difficult for drones to quickly cover the entire search and rescue area, increasing the risk of drones and rescuers encountering risks.

[0003] Traditional spiral trajectory generation methods mainly include methods based on the medial axis tree, methods based on solving elliptic partial differential equations on a disk-equivalent single-connected region or annular-equivalent two-connected region, and methods based on disk or annular conformal mapping. The above methods can directly generate spiral trajectories on a single-connected region or a two-connected region. For multi-connected regions with isolated islands, the above methods need to add boundaries to divide the multi-connected region into several single-connected or two-connected sub-regions, then generate independent spiral trajectories in each sub-region, and finally connect the spiral trajectories between each sub-region end to end through bridging. However, due to the additional addition of sub-region boundaries, the generated spiral trajectories have uneven spacing in the sub-regions and a large number of bridges. When the sub-region boundaries contain sharp corners, the path will also turn sharply near the sharp corners, which brings adverse effects to the UAV search and rescue, such as large motion impact, many turns, and long paths. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a drone rescue full coverage search and rescue method, comprising:

[0005] The search and rescue boundary is offset inward by a certain distance to obtain a search and rescue area boundary offset line, and it is determined whether there is a hole in the center of the area surrounded by the search and rescue area boundary offset line. When there is a hole, the area is mapped onto a circular ring containing a slit by conformal slit mapping using annular slit mapping, and the boundary of the area is mapped into inner and outer boundaries of the circular ring and an inner arc-shaped slit. When there is no hole, the area is mapped onto a circular disk containing a slit by slit mapping using disk-shaped slit mapping, and the boundary of the area is mapped into an outer boundary of the disk and an inner arc-shaped slit;

[0006] After the concentric circle line clusters on the ring or disk image domain are mapped back to the original image domain through the inverse mapping of the conformal slit mapping, the isoparametric lines on the original image are obtained, and the radius of the concentric circle line clusters is adjusted so that the maximum inscribed circle radius between adjacent isoparametric lines is a set value; on the ring or disk image domain, the concentric circles are gradually offset toward the adjacent concentric circles to obtain unequally spaced spiral lines, and the offset speed is adjusted to avoid the unequally spaced spiral lines intersecting with the slit in the image domain, so as to obtain unequally divided spiral lines in the ring or disk image domain that do not intersect with the slit;

[0007] The unequally divided spiral line is mapped back to the original image domain through the inverse mapping of the conformal slit mapping to obtain the spiral trajectory on the original image. The search and rescue is carried out along the offset line of the search and rescue area boundary to check the dangerous area that the spiral trajectory cannot search and rescue.

[0008] Furthermore, the boundary function set to determine the boundary of the search and rescue area includes:

[0009]

[0010] Among them, B is the boundary function, M is the number of boundaries, L is the length of the trajectory, a is the transition adjustment factor, s is the arc length on the trajectory, μ′ i is the position where the i-th transition occurs.

[0011] Furthermore, obstacle avoidance by setting an obstacle avoidance function includes:

[0012]

[0013] Among them, O is the obstacle avoidance function, N is the number of obstacles, L is the length of the trajectory, s is the arc length on the trajectory, μ i is the mean of the i-th Gaussian function, σ i is the ith standard deviation.

[0014] Furthermore, the search and rescue trajectory is made smoother by setting the smoothness function, including:

[0015]

[0016] Among them, S' is the smoothness function, k(s) is the curvature of the point on the trajectory with arc length s, v(s) is the velocity of the point on the trajectory with arc length s, is the turning rate of a point on a trajectory with arc length s, is the acceleration of a point on a trajectory with an arc length of s, L is the length of the trajectory, β is the turning rate weight, γ is the velocity weight, and δ is the acceleration weight.

[0017] Furthermore, the spacing function is set to avoid excessive tortuosity of the search and rescue trajectory, including:

[0018]

[0019] Where D is the spacing function, N′ is the number of points on the trajectory with arc length s, and d i is the distance between the i-th point and the adjacent point on the trajectory with arc length s, is the average distance between points on a trajectory with arc length s.

[0020] The present invention also proposes a drone rescue full coverage search and rescue system, comprising:

[0021] A slit acquisition module is used to offset the search and rescue boundary inward by a certain distance to obtain a search and rescue area boundary offset line, and determine whether there is a hole in the center of the area surrounded by the search and rescue area boundary offset line. When there is a hole, an annular slit mapping is used to map the area to a circular ring containing a slit through conformal slit mapping, and the boundary of the area is mapped into inner and outer boundaries of the circular ring and an inner arc-shaped slit. When there is no hole, a disk-shaped slit mapping is used to map the area to a disk containing a slit through slit mapping, and the boundary of the area is mapped into an outer boundary of the disk and an inner arc-shaped slit;

[0022] The module for obtaining unequally divided spiral lines is used to obtain isoparametric lines on the original image after mapping the concentric circle line clusters on the annular or disk image domain back to the original image domain through the inverse mapping of the conformal slit mapping, and adjusting the radius of the concentric circle line clusters so that the maximum inscribed circle radius between adjacent isoparametric lines is a set value; on the annular or disk image domain, the concentric circles are gradually offset toward the adjacent concentric circles to obtain unequally spaced spiral lines, and the offset speed is adjusted to avoid the unequally spaced spiral lines from intersecting with the slits in the image domain, so as to obtain unequally divided spiral lines in the annular or disk image domain that do not intersect with the slits;

[0023] The module for checking dangerous areas is used to map the unequally divided spiral lines back to the original image domain through the inverse mapping of conformal slit mapping to obtain the spiral trajectory on the original image, search and rescue along the offset line of the search and rescue area boundary, and check the dangerous areas that cannot be rescued by the spiral trajectory.

[0024] Furthermore, the boundary function set to determine the boundary of the search and rescue area includes:

[0025]

[0026] Among them, B is the boundary function, M is the number of boundaries, L is the length of the trajectory, a is the transition adjustment factor, s is the arc length on the trajectory, μ′ i is the position where the i-th transition occurs.

[0027] Furthermore, obstacle avoidance by setting an obstacle avoidance function includes:

[0028]

[0029] Among them, O is the obstacle avoidance function, N is the number of obstacles, L is the length of the trajectory, s is the arc length on the trajectory, μ i is the mean of the i-th Gaussian function, σ i is the ith standard deviation.

[0030] Furthermore, the search and rescue trajectory is made smoother by setting the smoothness function, including:

[0031]

[0032] Among them, S' is the smoothness function, k(s) is the curvature of the point on the trajectory with arc length s, v(s) is the velocity of the point on the trajectory with arc length s, is the turning rate of a point on a trajectory with arc length s, is the acceleration of a point on a trajectory with an arc length of s, L is the length of the trajectory, β is the turning rate weight, γ is the velocity weight, and δ is the acceleration weight.

[0033] Furthermore, the spacing function is set to avoid excessive tortuosity of the search and rescue trajectory, including:

[0034]

[0035] Where D is the spacing function, N′ is the number of points on the trajectory with arc length s, and d i is the distance between the i-th point and the adjacent point on the trajectory with arc length s, is the average distance between points on a trajectory with arc length s.

[0036] Compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0037] 1. Compared with the existing spiral trajectory planning method, the present invention no longer divides the multi-connected area into several sub-areas, but directly generates a non-bridging spiral trajectory to approximately cover the entire area. This avoids the problem of a large number of bridging between sub-areas caused by sub-area division. At the same time, since no additional sub-area boundaries are added, the spiral trajectory path generated by this method is shorter, smoother, and the trajectory spacing is more consistent.

[0038] 2. The present invention introduces a strategy for controlling the spacing of spiral trajectories based on the maximum inscribed circle. This strategy can ensure the upper limit of the spacing of spiral trajectories and avoid paths being too sparse or too dense, so that the redundant coverage rate of the paths is smaller while ensuring full coverage of the paths.

[0039] 3. Connecting the spiral trajectory with the offset boundary of the danger zone solves the problem of incomplete coverage of the spiral trajectory, and also avoids discontinuities or sharp turns in the path. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of Example 1;

[0041] Figure 2 is a conformal slit mapping of the search and rescue area boundary and the search and rescue area;

[0042] Figure 3 It is a diagram of isoparametric lines in the original image domain and concentric circles in the image domain;

[0043] Figure 4 is the graph of the spiral trajectory in the original image domain and the spiral trajectory in the image domain;

[0044] Figure 5 It is the merged graph of the search and rescue path and the spiral trajectory along the offset boundary;

[0045] Figure 6 This is a flow chart of switching between three working modes. DETAILED DESCRIPTION

[0046] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0048] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0049] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0050] The display screen is used to display the user interface of each application.

[0051] All subscripts in the formulas of the present invention are only used to distinguish parameters and have no actual meaning.

[0052] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0053] Example 1

[0054] like Figure 1 As shown, the present invention proposes a drone rescue full coverage search and rescue method, which is divided into six steps:

[0055] The first step is to shift the search and rescue boundary inwards for a certain distance to prevent the drone from encountering danger. Figure 2 As shown in (a)(c), the dotted line is the boundary of the area to be searched and rescued, and the multiply connected area enclosed by it is recorded as the inside of the search and rescue area. The boundary of the search and rescue area is offset inward by a certain distance to obtain the offset line of the boundary of the search and rescue area.

[0056] The second step is to determine whether there is a hole in the center of the area enclosed by the offset line of the search and rescue area boundary. If there is a hole, the area containing the boundary is mapped to the ring containing the slit through conformal slit mapping, such as Figure 2 As shown in (a) and (b), the boundary of the region is mapped into the inner and outer boundaries of the ring and the inner arc-shaped slit. When there is no hole, the disk-shaped slit mapping is used to map the region with the boundary to the disk with slits through slit mapping, as shown in Figure 2 As shown in (c) and (d), the boundary of the region is mapped into the outer boundary of the disk and the inner arc-shaped slit.

[0057] In the third step, the concentric circle line clusters on the ring or disk image domain are mapped back to the original image domain by the inverse mapping of the conformal slit mapping to obtain the isoparametric lines on the original image, and the radius of the concentric circle line clusters is adjusted so that the maximum inscribed circle radius of the area between adjacent isoparametric lines is the set value, such as Figure 3 shown.

[0058] The fourth step is to gradually shift the concentric circles toward the adjacent concentric circles in the image domain to obtain unequally spaced spirals. The speed of the shift is adjusted to avoid the unequally spaced spirals from intersecting the slits in the image domain, and to obtain unequally spaced spirals that do not intersect the slits in the image domain, such as Figure 4 As shown in (b)(d).

[0059] In the fifth step, the unequally divided spiral line is mapped back to the original image domain by the inverse mapping of the conformal slit mapping to obtain the spiral trajectory on the original image, as shown in Figure 4 As shown in (a)(c).

[0060] The sixth step is to search and rescue along the boundary offset line to eliminate the dangerous areas that cannot be searched by the spiral trajectory. Since the spiral trajectory generated by the above method has the property of being close to the edge, the search and rescue along the boundary offset line can be carried out as follows: Figure 5 The method shown is combined with the search and rescue along the spiral trajectory. The merging method is to find the position where the boundary offset line and the spiral trajectory are close and the tangent vector direction is approximately on the same line, and merge the two trajectories into one through a smooth curve cross bridge. This avoids the sharp turn of the merged path, but also creates an intersection point in the trajectory. The search and rescue along the boundary offset line can also be performed separately.

[0061] Specifically, the boundary function used to determine the boundary of the search and rescue area includes:

[0062]

[0063] Among them, B is the boundary function, M is the number of boundaries, L is the length of the trajectory, a is the transition adjustment factor, s is the arc length on the trajectory, μ′ i is the position where the i-th transition occurs.

[0064] Specifically, obstacle avoidance by setting the obstacle avoidance function includes:

[0065]

[0066] Among them, O is the obstacle avoidance function, N is the number of obstacles, L is the length of the trajectory, s is the arc length on the trajectory, μ i is the mean of the i-th Gaussian function, σ i is the ith standard deviation.

[0067] Specifically, setting the smoothness function to make the search and rescue trajectory smoother includes:

[0068]

[0069] Among them, S' is the smoothness function, k(s) is the curvature of the point on the trajectory with arc length s, v(s) is the velocity of the point on the trajectory with arc length s, is the turning rate of a point on a trajectory with arc length s, is the acceleration of a point on a trajectory with an arc length of s, L is the length of the trajectory, β is the turning rate weight, γ is the velocity weight, and δ is the acceleration weight.

[0070] Specifically, the spacing function is set to avoid excessive twists and turns in the search and rescue trajectory, including:

[0071]

[0072] Where D is the spacing function, N′ is the number of points on the trajectory with arc length s, and d i is the distance between the i-th point and the adjacent point on the trajectory with arc length s, is the average distance between points on a trajectory with arc length s.

[0073] Example 2

[0074] like Figure 6 As shown, the present invention also proposes a drone rescue full coverage search and rescue system, comprising:

[0075] A slit acquisition module is used to offset the search and rescue boundary inward by a certain distance to obtain a search and rescue area boundary offset line, and determine whether there is a hole in the center of the area surrounded by the search and rescue area boundary offset line. When there is a hole, an annular slit mapping is used to map the area to a circular ring containing a slit through conformal slit mapping, and the boundary of the area is mapped into inner and outer boundaries of the circular ring and an inner arc-shaped slit. When there is no hole, a disk-shaped slit mapping is used to map the area to a disk containing a slit through slit mapping, and the boundary of the area is mapped into an outer boundary of the disk and an inner arc-shaped slit;

[0076] The module for obtaining unequally divided spiral lines is used to obtain isoparametric lines on the original image after mapping the concentric circle line clusters on the annular or disk image domain back to the original image domain through the inverse mapping of the conformal slit mapping, and adjusting the radius of the concentric circle line clusters so that the maximum inscribed circle radius between adjacent isoparametric lines is a set value; on the annular or disk image domain, the concentric circles are gradually offset toward the adjacent concentric circles to obtain unequally spaced spiral lines, and the offset speed is adjusted to avoid the unequally spaced spiral lines from intersecting with the slits in the image domain, so as to obtain unequally divided spiral lines in the annular or disk image domain that do not intersect with the slits;

[0077] The module for checking dangerous areas is used to map the unequally divided spiral lines back to the original image domain through the inverse mapping of conformal slit mapping to obtain the spiral trajectory on the original image, search and rescue along the offset line of the search and rescue area boundary, and check the dangerous areas that cannot be rescued by the spiral trajectory.

[0078] Specifically, the boundary function used to determine the boundary of the search and rescue area includes:

[0079]

[0080] Among them, B is the boundary function, M is the number of boundaries, L is the length of the trajectory, a is the transition adjustment factor, s is the arc length on the trajectory, μ′ i is the position where the i-th transition occurs.

[0081] Specifically, obstacle avoidance by setting the obstacle avoidance function includes:

[0082]

[0083] Among them, O is the obstacle avoidance function, N is the number of obstacles, L is the length of the trajectory, s is the arc length on the trajectory, μ i is the mean of the i-th Gaussian function, σ i is the ith standard deviation.

[0084] Specifically, setting the smoothness function to make the search and rescue trajectory smoother includes:

[0085]

[0086] Among them, S' is the smoothness function, k(s) is the curvature of the point on the trajectory with arc length s, v(s) is the velocity of the point on the trajectory with arc length s, is the turning rate of a point on a trajectory with arc length s, is the acceleration of a point on a trajectory with an arc length of s, L is the length of the trajectory, β is the turning rate weight, γ is the velocity weight, and δ is the acceleration weight.

[0087] Specifically, the spacing function is set to avoid excessive twists and turns in the search and rescue trajectory, including:

[0088]

[0089] Where D is the spacing function, N′ is the number of points on the trajectory with arc length s, and d i is the distance between the i-th point and the adjacent point on the trajectory with arc length s, is the average distance between points on a trajectory with arc length s.

[0090] Example 3

[0091] An embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the full coverage search and rescue method for unmanned aerial vehicle rescue.

[0092] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0093] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the method steps of Embodiment 1;

[0094] Example 4

[0095] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor to enable the processor to execute a drone rescue full coverage search and rescue method.

[0096] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0097] Among them, the storage medium can be used to store software programs and modules, such as a drone rescue full coverage search and rescue method in an embodiment of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned drone rescue full coverage search and rescue method. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely arranged relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0098] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the method steps of Example 1.

[0099] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0100] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or 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 for 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, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0105] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A drone rescue full coverage search and rescue method, characterized in that: include: The search and rescue boundary is offset inward by a certain distance to obtain a search and rescue area boundary offset line, and it is determined whether there is a hole in the center of the area surrounded by the search and rescue area boundary offset line. When there is a hole, the area is mapped onto a circular ring containing a slit by conformal slit mapping using annular slit mapping, and the boundary of the area is mapped into inner and outer boundaries of the circular ring and an inner arc-shaped slit. When there is no hole, the area is mapped onto a circular disk containing a slit by slit mapping using disk-shaped slit mapping, and the boundary of the area is mapped into an outer boundary of the disk and an inner arc-shaped slit; After the concentric circle line clusters on the ring or disk image domain are mapped back to the original image domain through the inverse mapping of the conformal slit mapping, the isoparametric lines on the original image are obtained, and the radius of the concentric circle line clusters is adjusted so that the maximum inscribed circle radius between adjacent isoparametric lines is a set value; on the ring or disk image domain, the concentric circles are gradually offset toward the adjacent concentric circles to obtain unequally spaced spiral lines, and the offset speed is adjusted to avoid the unequally spaced spiral lines intersecting with the slit in the image domain, so as to obtain unequally divided spiral lines in the ring or disk image domain that do not intersect with the slit; The unequally divided spiral line is mapped back to the original image domain through the inverse mapping of the conformal slit mapping to obtain the spiral trajectory on the original image. The search and rescue is carried out along the offset line of the search and rescue area boundary to check the dangerous area that the spiral trajectory cannot search and rescue.

2. The method for full coverage search and rescue by unmanned aerial vehicle rescue as claimed in claim 1, characterized in that: The boundary function set by the search and rescue area includes: Among them, B is the boundary function, M is the number of boundaries, L is the length of the trajectory, a is the transition adjustment factor, s is the arc length on the trajectory, μ′ i is the position where the i-th transition occurs.

3. The method for full coverage search and rescue by unmanned aerial vehicle rescue as claimed in claim 1, characterized in that: Obstacle avoidance by setting the obstacle avoidance function includes: Among them, O is the obstacle avoidance function, N is the number of obstacles, L is the length of the trajectory, s is the arc length on the trajectory, μ i is the mean of the i-th Gaussian function, σ i is the ith standard deviation.

4. The method for full coverage search and rescue by unmanned aerial vehicle rescue as claimed in claim 1, characterized in that: Making the search and rescue trajectory smoother by setting the smoothness function includes: Among them, S' is the smoothness function, k(s) is the curvature of the point on the trajectory with arc length s, v(s) is the velocity of the point on the trajectory with arc length s, is the turning rate of a point on a trajectory with arc length s, is the acceleration of a point on a trajectory with an arc length of s, L is the length of the trajectory, β is the turning rate weight, γ is the velocity weight, and δ is the acceleration weight.

5. The method for full coverage search and rescue by unmanned aerial vehicle rescue as claimed in claim 1, characterized in that: Avoid excessive twists and turns in the search and rescue trajectory by setting the spacing function, including: Where D is the spacing function, N′ is the number of points on the trajectory with arc length s, and d i is the distance between the i-th point and the adjacent point on the trajectory with arc length s, is the average distance between points on a trajectory with arc length s.

6. A drone rescue full coverage search and rescue system, characterized in that: include: A slit acquisition module is used to offset the search and rescue boundary inward by a certain distance to obtain a search and rescue area boundary offset line, and determine whether there is a hole in the center of the area surrounded by the search and rescue area boundary offset line. When there is a hole, an annular slit mapping is used to map the area to a circular ring containing a slit through conformal slit mapping, and the boundary of the area is mapped into inner and outer boundaries of the circular ring and an inner arc-shaped slit. When there is no hole, a disk-shaped slit mapping is used to map the area to a disk containing a slit through slit mapping, and the boundary of the area is mapped into an outer boundary of the disk and an inner arc-shaped slit; The module for obtaining unequally divided spiral lines is used to obtain isoparametric lines on the original image after mapping the concentric circle line clusters on the annular or disk image domain back to the original image domain through the inverse mapping of the conformal slit mapping, and adjusting the radius of the concentric circle line clusters so that the maximum inscribed circle radius between adjacent isoparametric lines is a set value; on the annular or disk image domain, the concentric circles are gradually offset toward the adjacent concentric circles to obtain unequally spaced spiral lines, and the offset speed is adjusted to avoid the unequally spaced spiral lines from intersecting with the slits in the image domain, so as to obtain unequally divided spiral lines in the annular or disk image domain that do not intersect with the slits; The module for checking dangerous areas is used to map the unequally divided spiral lines back to the original image domain through the inverse mapping of conformal slit mapping to obtain the spiral trajectory on the original image, search and rescue along the offset line of the search and rescue area boundary, and check the dangerous areas that cannot be rescued by the spiral trajectory.

7. The unmanned aerial vehicle rescue full coverage search and rescue system as claimed in claim 6, characterized in that: The boundary function set by the search and rescue area includes: Among them, B is the boundary function, M is the number of boundaries, L is the length of the trajectory, a is the transition adjustment factor, s is the arc length on the trajectory, μ′ i is the position where the i-th transition occurs.

8. The unmanned aerial vehicle rescue full coverage search and rescue system as claimed in claim 6, characterized in that: Obstacle avoidance by setting the obstacle avoidance function includes: Among them, O is the obstacle avoidance function, N is the number of obstacles, L is the length of the trajectory, s is the arc length on the trajectory, μ i is the mean of the i-th Gaussian function, σ i is the ith standard deviation.

9. The unmanned aerial vehicle rescue full coverage search and rescue system as claimed in claim 6, characterized in that: Making the search and rescue trajectory smoother by setting the smoothness function includes: Among them, S' is the smoothness function, k(s) is the curvature of the point on the trajectory with arc length s, v(s) is the velocity of the point on the trajectory with arc length s, is the turning rate of a point on a trajectory with arc length s, is the acceleration of a point on a trajectory with an arc length of s, L is the length of the trajectory, β is the turning rate weight, γ is the velocity weight, and δ is the acceleration weight.

10. The unmanned aerial vehicle rescue full coverage search and rescue system as claimed in claim 6, characterized in that: Avoid excessive twists and turns in the search and rescue trajectory by setting the spacing function, including: Where D is the spacing function, N′ is the number of points on the trajectory with arc length s, and d i is the distance between the i-th point and the adjacent point on the trajectory with arc length s, is the average distance between points on a trajectory with arc length s.

Images