CN111776221A - Demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police - Google Patents
Demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police, which comprises: the system comprises a solar power supply module, a video monitoring module, a main control module, a wireless remote control module, an obstacle ranging module, a target locking module, a searching and positioning module, a pigment spraying module, a voice warning module and a display module. The obstacle ranging module is simple in structure and convenient to install, infrared light cannot be influenced by surrounding environments such as visible light and the like, sensitivity is high, and universality is high; meanwhile, when the unmanned aerial vehicle is used for searching, after a search target is searched, the flight height of the unmanned aerial vehicle and the transmitting power of an antenna on the unmanned aerial vehicle are reduced, the search target is positioned in a reduced search area, and the accuracy of the obtained search position is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology. However, the existing demonstration type automatic striking police intelligent rotor unmanned aerial vehicle has poor universality in distance measurement mode; meanwhile, the accuracy of the criminal target searching position obtained by the unmanned aerial vehicle is low.
In summary, the problems of the prior art are as follows: the existing demonstration type automatic striking police intelligent rotor unmanned aerial vehicle has poor universality in distance measurement mode; meanwhile, the accuracy of the criminal target searching position obtained by the unmanned aerial vehicle is low.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a demonstration type automatic striking type police intelligent rotor unmanned aerial vehicle.
The invention is realized in this way, a demonstration type automatic striking type police intelligent rotor unmanned aerial vehicle comprises:
the system comprises a solar power supply module, a video monitoring module, a main control module, a wireless remote control module, an obstacle ranging module, a target locking module, a searching and positioning module, a pigment spraying module, a voice warning module and a display module;
the solar power supply module is connected with the main control module and used for converting solar energy into electric energy through a solar cell panel to supply power for the demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police;
the video monitoring module is connected with the main control module and used for monitoring the video of the crime target through the camera;
the main control module is connected with the solar power supply module, the video monitoring module, the wireless remote control module, the obstacle distance measuring module, the target locking module, the searching and positioning module, the pigment spraying module, the voice warning module and the display module and is used for controlling the normal work of each module through the main controller;
the wireless remote control module is connected with the main control module and is used for carrying out wireless remote control operation through a remote controller;
the obstacle ranging module is connected with the main control module and used for measuring the flight obstacle distance through the infrared ranging component;
the target locking module is connected with the main control module and used for locking the criminal target through a locking program;
the searching and positioning module is connected with the main control module and used for searching and positioning the crime target area through a searching and positioning program;
the pigment spraying module is connected with the main control module and used for spraying pigment to mark the criminal target through a sprayer;
the voice warning module is connected with the main control module and used for carrying out voice warning on the crime target through the voice player;
and the display module is connected with the main control module and used for displaying the monitoring video, measuring the barrier distance, positioning the area and marking the color through the display.
Further, the obstacle ranging module ranging method is as follows:
(1) acquiring an obstacle unmanned aerial vehicle image by using an unmanned aerial vehicle camera; inputting the obstacle unmanned aerial vehicle image into a pre-trained deep learning network model to obtain obstacle avoidance flight control quantity;
(2) emitting infrared light outwards through the emitting end of the infrared distance measuring component; receiving reflected light corresponding to the infrared light through a receiving end of the infrared ranging component; determining the distance of the obstacle relative to the unmanned aerial vehicle according to the light intensity information of the reflected light; and determining the direction of the obstacle relative to the unmanned aerial vehicle according to the direction information of the reflected light.
Furthermore, an amplifier is also arranged on the transmitting end; the method further comprises the following steps: and adjusting the intensity of the infrared light emitted outwards by the emitting end through the amplifier.
Furthermore, a rotating part is arranged on the infrared ranging component; the method further comprises the following steps:
the rotating part is controlled to drive the infrared distance measuring component to rotate according to a preset rotating mode, so that the infrared distance measuring component senses obstacles in different directions.
Further, the method for determining the direction of the obstacle relative to the unmanned aerial vehicle according to the direction information of the reflected light comprises the following steps:
(2.1) acquiring the distance and the orientation of the obstacle relative to the unmanned aerial vehicle in real time; determining distance change information and direction change information of the obstacle within a preset time interval according to the distance and the direction of the obstacle acquired in real time;
and (2.2) determining the movement track of the obstacle according to the distance change information and the direction change information.
Further, the search positioning module positioning method comprises the following steps:
1) determining a first relative height between the drone and a ground reflector directly below the drone, and a second relative height between the drone and a ground reflector in front of the drone; determining a fusion relative height for representing the front terrain change according to at least the first relative height and the second relative height; controlling the flight attitude of the unmanned aerial vehicle according to the fusion relative height;
2) controlling an unmanned aerial vehicle to search for a crime target in a first search area; after the unmanned aerial vehicle searches the search crime target in the first search area, with the search crime target as a center, demarcating an area with a preset area as a second search area;
3) reducing the flying height of the drone and the transmitting power of an antenna on the drone, locating the search crime target within the second search area; and acquiring the position information of the searched crime target.
Further, when the unmanned aerial vehicle searches for a crime target in a first search area, the flying height is a first height, and the transmitting power of an antenna on the unmanned aerial vehicle is a first transmitting power;
reducing the flying height of the drone and the transmit power of the antenna on the drone includes:
according to the area of the second search area, determining that the flying height of the unmanned aerial vehicle during searching in the second search area is a second height, and determining that the transmitting power of an antenna on the unmanned aerial vehicle is a second transmitting power;
obtaining a height difference between the first height and the second height, and obtaining a power difference between the first transmit power and the second transmit power;
setting a height step length according to the height difference, and controlling the unmanned aerial vehicle to reduce the flying height to the second height according to the height step length; and setting a power step length according to the power difference, and controlling the unmanned aerial vehicle to reduce the transmitting power of the antenna to the second transmitting power according to the power step length.
Further, the searching for the crime target by the drone within the first search area includes:
2.1) within the first search area, taking an image of the search crime target; comparing the shot image with a pre-stored image for searching for a crime target through image recognition;
2.2) when the comparison result is consistent, determining that the unmanned aerial vehicle searches the search crime target in the first search area.
The invention has the advantages and positive effects that: the unmanned aerial vehicle is provided with at least one infrared distance measuring component through the obstacle distance measuring module, infrared light is emitted outwards through the infrared distance measuring component, reflected light corresponding to the infrared light is received, and then the distance of an obstacle relative to the unmanned aerial vehicle is measured according to light intensity information of the reflected light; most infrared distance measuring components are low in cost, simple in structure and convenient to install, infrared light cannot be influenced by surrounding environments such as visible light, sensitivity is high, and universality is high; meanwhile, when the unmanned aerial vehicle is used for searching, after a search target is searched, the flight height of the unmanned aerial vehicle and the transmitting power of an antenna on the unmanned aerial vehicle are reduced, the search target is positioned in a reduced search area, and the accuracy of the obtained search position is improved.
Drawings
Fig. 1 is a block diagram of an intelligent rotor unmanned aerial vehicle for an demonstration type automatic attack police, provided by an embodiment of the invention.
Fig. 2 is a flowchart of a ranging method of an obstacle ranging module according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for determining the direction of the obstacle relative to the drone according to the direction information of the reflected light according to the embodiment of the present invention.
Fig. 4 is a flowchart of a positioning method of a search positioning module according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for searching for the crime target in the first search area by the drone according to the embodiment of the present invention.
In fig. 1: 1. a solar power supply module; 2. a video monitoring module; 3. a main control module; 4. a wireless remote control module; 5. an obstacle ranging module; 6. a target locking module; 7. a search positioning module; 8. a pigment spraying module; 9. a voice warning module; 10. and a display module.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an intelligent rotor-wing drone for police of demonstration type automatic attack provided by the embodiment of the present invention includes: the system comprises a solar power supply module 1, a video monitoring module 2, a main control module 3, a wireless remote control module 4, an obstacle ranging module 5, a target locking module 6, a searching and positioning module 7, a pigment spraying module 8, a voice warning module 9 and a display module 10.
The solar power supply module 1 is connected with the main control module 3 and used for converting solar energy into electric energy through a solar panel to supply power for the demonstration type automatic striking type police intelligent rotor unmanned aerial vehicle;
the video monitoring module 2 is connected with the main control module 3 and is used for monitoring the video of the crime target through a camera;
the main control module 3 is connected with the solar power supply module 1, the video monitoring module 2, the wireless remote control module 4, the obstacle distance measuring module 5, the target locking module 6, the searching and positioning module 7, the pigment spraying module 8, the voice warning module 9 and the display module 10 and is used for controlling each module to normally work through the main controller;
the wireless remote control module 4 is connected with the main control module 3 and is used for carrying out wireless remote control operation through a remote controller;
the obstacle ranging module 5 is connected with the main control module 3 and used for measuring the flight obstacle distance through the infrared ranging component;
the target locking module 6 is connected with the main control module 3 and used for locking the criminal target through a locking program;
the searching and positioning module 7 is connected with the main control module 3 and is used for searching and positioning the crime target area through a searching and positioning program;
the pigment spraying module 8 is connected with the main control module 3 and is used for spraying pigment to mark the criminal target through a sprayer;
the voice warning module 9 is connected with the main control module 3 and used for carrying out voice warning on the crime target through a voice player;
and the display module 10 is connected with the main control module 3 and used for displaying a monitoring video, measuring barrier distance, positioning an area and marking colors through a display.
As shown in fig. 2, the ranging method of the obstacle ranging module 5 provided by the present invention is as follows:
s101, acquiring an obstacle unmanned aerial vehicle image by using an unmanned aerial vehicle camera; inputting the obstacle unmanned aerial vehicle image into a pre-trained deep learning network model to obtain obstacle avoidance flight control quantity;
s102, emitting infrared light outwards through the emitting end of the infrared distance measuring component; receiving reflected light corresponding to the infrared light through a receiving end of the infrared ranging component; determining the distance of the obstacle relative to the unmanned aerial vehicle according to the light intensity information of the reflected light; and determining the direction of the obstacle relative to the unmanned aerial vehicle according to the direction information of the reflected light.
The transmitting end provided by the invention is also provided with an amplifier; the method further comprises the following steps: and adjusting the intensity of the infrared light emitted outwards by the emitting end through the amplifier.
The infrared ranging component is also provided with a rotating part; the method further comprises the following steps:
the rotating part is controlled to drive the infrared distance measuring component to rotate according to a preset rotating mode, so that the infrared distance measuring component senses obstacles in different directions.
As shown in fig. 3, the method for determining the direction of the obstacle relative to the unmanned aerial vehicle according to the direction information of the reflected light provided by the invention includes:
s201, acquiring the distance and the direction of the obstacle relative to the unmanned aerial vehicle in real time; determining distance change information and direction change information of the obstacle within a preset time interval according to the distance and the direction of the obstacle acquired in real time;
s202, determining the movement track of the obstacle according to the distance change information and the direction change information.
As shown in fig. 4, the positioning method of the search positioning module 7 provided by the present invention is as follows:
s301, determining a first relative height between the unmanned aerial vehicle and a ground reflector directly below the unmanned aerial vehicle, and a second relative height between the unmanned aerial vehicle and a ground reflector in front of the unmanned aerial vehicle; determining a fusion relative height for representing the front terrain change according to at least the first relative height and the second relative height; controlling the flight attitude of the unmanned aerial vehicle according to the fusion relative height;
s302, controlling the unmanned aerial vehicle to search for a crime target in a first search area; after the unmanned aerial vehicle searches the search crime target in the first search area, with the search crime target as a center, demarcating an area with a preset area as a second search area;
s303, reducing the flight height of the unmanned aerial vehicle and the transmitting power of an antenna on the unmanned aerial vehicle, and positioning the searched crime target in the second search area; and acquiring the position information of the searched crime target.
When the unmanned aerial vehicle searches for a crime searching target in a first search area, the flight height is a first height, and the transmitting power of an antenna on the unmanned aerial vehicle is a first transmitting power;
reducing the flying height of the drone and the transmit power of the antenna on the drone includes:
according to the area of the second search area, determining that the flying height of the unmanned aerial vehicle during searching in the second search area is a second height, and determining that the transmitting power of an antenna on the unmanned aerial vehicle is a second transmitting power;
obtaining a height difference between the first height and the second height, and obtaining a power difference between the first transmit power and the second transmit power;
setting a height step length according to the height difference, and controlling the unmanned aerial vehicle to reduce the flying height to the second height according to the height step length; and setting a power step length according to the power difference, and controlling the unmanned aerial vehicle to reduce the transmitting power of the antenna to the second transmitting power according to the power step length.
As shown in fig. 5, the searching for the crime target in the first search area by the drone provided by the present invention includes:
s401, shooting an image of the crime searching target in the first searching area; comparing the shot image with a pre-stored image for searching for a crime target through image recognition;
s402, when the comparison result is consistent, determining that the unmanned aerial vehicle searches the crime searching target in the first searching area.
When the intelligent rotor unmanned aerial vehicle works, firstly, solar energy is converted into electric energy through the solar power supply module 1 by utilizing the solar cell panel to supply power for the demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police; monitoring a crime target video by using a camera through a video monitoring module 2; secondly, the main control module 3 utilizes a remote controller to carry out wireless remote control operation through a wireless remote control module 4; measuring the flight obstacle distance by using an infrared distance measuring component through an obstacle distance measuring module 5; locking the criminal object by the object locking module 6 by using a locking program; searching and positioning the crime target area by using a searching and positioning program through a searching and positioning module 7; the criminal target is marked by spraying the pigment through the pigment spraying module 8 by using a sprayer; then, voice warning is performed on the crime target by using a voice player through a voice warning module 9; finally, the monitor video, the obstacle distance measurement, the area location, and the color marking are displayed by the display module 10 using a display.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (8)
1. The utility model provides an it is alert with intelligent rotor unmanned aerial vehicle to demonstrate automatic strike type, a serial communication port, it includes to demonstrate automatic strike type alert with intelligent rotor unmanned aerial vehicle of the type:
the system comprises a solar power supply module, a video monitoring module, a main control module, a wireless remote control module, an obstacle ranging module, a target locking module, a searching and positioning module, a pigment spraying module, a voice warning module and a display module;
the solar power supply module is connected with the main control module and used for converting solar energy into electric energy through a solar cell panel to supply power for the demonstration type automatic striking type intelligent rotor unmanned aerial vehicle for police;
the video monitoring module is connected with the main control module and used for monitoring the video of the crime target through the camera;
the main control module is connected with the solar power supply module, the video monitoring module, the wireless remote control module, the obstacle distance measuring module, the target locking module, the searching and positioning module, the pigment spraying module, the voice warning module and the display module and is used for controlling the normal work of each module through the main controller;
the wireless remote control module is connected with the main control module and is used for carrying out wireless remote control operation through a remote controller;
the obstacle ranging module is connected with the main control module and used for measuring the flight obstacle distance through the infrared ranging component;
the target locking module is connected with the main control module and used for locking the criminal target through a locking program;
the searching and positioning module is connected with the main control module and used for searching and positioning the crime target area through a searching and positioning program;
the pigment spraying module is connected with the main control module and used for spraying pigment to mark the criminal target through a sprayer;
the voice warning module is connected with the main control module and used for carrying out voice warning on the crime target through the voice player;
and the display module is connected with the main control module and used for displaying the monitoring video, measuring the barrier distance, positioning the area and marking the color through the display.
2. An intelligent rotor unmanned aerial vehicle for police of the automatic strike class of presentation of claim 1, wherein the obstacle ranging module range finding method is as follows:
(1) acquiring an obstacle unmanned aerial vehicle image by using an unmanned aerial vehicle camera; inputting the obstacle unmanned aerial vehicle image into a pre-trained deep learning network model to obtain obstacle avoidance flight control quantity;
(2) emitting infrared light outwards through the emitting end of the infrared distance measuring component; receiving reflected light corresponding to the infrared light through a receiving end of the infrared ranging component; determining the distance of the obstacle relative to the unmanned aerial vehicle according to the light intensity information of the reflected light; and determining the direction of the obstacle relative to the unmanned aerial vehicle according to the direction information of the reflected light.
3. An intelligent rotary wing unmanned aerial vehicle for police of the automatic strike class of presentation as claimed in claim 2, wherein an amplifier is also provided on the transmitting end; the method further comprises the following steps: and adjusting the intensity of the infrared light emitted outwards by the emitting end through the amplifier.
4. An intelligent rotary-wing unmanned aerial vehicle for police of automatic strike class of presentation as claimed in claim 2, wherein the infrared ranging component is further provided with a rotating part; the method further comprises the following steps:
the rotating part is controlled to drive the infrared distance measuring component to rotate according to a preset rotating mode, so that the infrared distance measuring component senses obstacles in different directions.
5. An intelligent rotary-wing drone for police with an automated percussive maneuver as set forth in claim 2, wherein said method of determining the orientation of said obstacle relative to said drone based on the directional information of said reflected light includes:
(2.1) acquiring the distance and the orientation of the obstacle relative to the unmanned aerial vehicle in real time; determining distance change information and direction change information of the obstacle within a preset time interval according to the distance and the direction of the obstacle acquired in real time;
and (2.2) determining the movement track of the obstacle according to the distance change information and the direction change information.
6. The demonstrative automated attack-class police intelligent rotor unmanned aerial vehicle of claim 1, wherein the search and location module location method is as follows:
1) determining a first relative height between the drone and a ground reflector directly below the drone, and a second relative height between the drone and a ground reflector in front of the drone; determining a fusion relative height for representing the front terrain change according to at least the first relative height and the second relative height; controlling the flight attitude of the unmanned aerial vehicle according to the fusion relative height;
2) controlling an unmanned aerial vehicle to search for a crime target in a first search area; after the unmanned aerial vehicle searches the search crime target in the first search area, with the search crime target as a center, demarcating an area with a preset area as a second search area;
3) reducing the flying height of the drone and the transmitting power of an antenna on the drone, locating the search crime target within the second search area; and acquiring the position information of the searched crime target.
7. An intelligent rotary wing unmanned aerial vehicle for police use of the demo type automatic strike type according to claim 6, wherein when the unmanned aerial vehicle searches for a criminal object in a first search area, the flying height is a first height, and the transmission power of the antenna on the unmanned aerial vehicle is a first transmission power;
reducing the flying height of the drone and the transmit power of the antenna on the drone includes:
according to the area of the second search area, determining that the flying height of the unmanned aerial vehicle during searching in the second search area is a second height, and determining that the transmitting power of an antenna on the unmanned aerial vehicle is a second transmitting power;
obtaining a height difference between the first height and the second height, and obtaining a power difference between the first transmit power and the second transmit power;
setting a height step length according to the height difference, and controlling the unmanned aerial vehicle to reduce the flying height to the second height according to the height step length; and setting a power step length according to the power difference, and controlling the unmanned aerial vehicle to reduce the transmitting power of the antenna to the second transmitting power according to the power step length.
8. An intelligent rotary-wing drone for a police play with automated assault-type as set forth in claim 6, wherein said drone searches for said search crime target within said first search area comprises:
2.1) within the first search area, taking an image of the search crime target; comparing the shot image with a pre-stored image for searching for a crime target through image recognition;
2.2) when the comparison result is consistent, determining that the unmanned aerial vehicle searches the search crime target in the first search area.
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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