A multi-source remote sensing all-weather ocean search and rescue system and method based on rainbow unmanned aerial vehicle

Abstract

The present application relates to the field of unmanned aerial vehicle offshore rescue, in particular to a kind of rainbow unmanned aerial vehicle multi-source remote sensing all-weather ocean search and rescue system and method, for solving the problem of existing unmanned aerial vehicle offshore search and rescue efficiency bottom, difficult to bear high-intensity search and rescue task, the method comprises the following steps: determining the original search and rescue area of rescue target;Select remote sensing satellite, and obtain the weather condition and geographic information of the original search and rescue area and surrounding sea area using the remote sensing satellite;According to the weather condition and the geographic information, console formulates the search and rescue task of rainbow unmanned aerial vehicle;According to the search and rescue task, the rainbow unmanned aerial vehicle carries search and rescue equipment and searches and rescues the rescue target;Using the rainbow unmanned aerial vehicle identifies the rescue target and drops rescue materials, and provides guidance for rescue personnel to implement rescue on the rescue target.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle (UAV) maritime rescue, and in particular to a rainbow UAV multi-source remote sensing all-weather maritime search and rescue system and method. BACKGROUND

[0002] With the popularization and continuous development of UAV technology, its technology has become increasingly mature, with the advantages of low cost, high flexibility, the ability to carry specific equipment to complete tasks from the air, greatly improving work efficiency, and making the application scenarios of UAVs more and more rich, especially in rescue activities, as the rescue target is often located in a dangerous environment, using a UAV to help rescue personnel search and rescue can greatly improve the safety and efficiency of the rescue process.

[0003] In the existing technology of using a UAV to search for a rescue target at sea, a single sensor is often used to search for a rescue target, but the efficiency of a single sensor in searching for a rescue target is very limited, and it is also difficult to effectively identify a rescue target in a complex maritime environment. Moreover, since the operating range of maritime search and rescue is generally large, the existing maritime search and rescue UAV cannot search and rescue for a long time, which further limits the efficiency of search and rescue. In addition, there is a lack of a method for determining a relatively accurate search and rescue area in a short period of time in the prior art. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides a rainbow UAV multi-source remote sensing all-weather maritime search and rescue system and method.

[0005] The embodiments of the present application are implemented as follows: In a first aspect, the present application provides a rainbow UAV multi-source remote sensing all-weather maritime search and rescue system, which comprises:

[0006] a rainbow UAV, which is used to search for a rescue target;

[0007] a control console, which is used to manage rainbow UAV information, formulate a search and rescue task for the rainbow UAV, and send instructions to the rainbow UAV and receive information transmitted by the rainbow UAV;

[0008] a hyperspectral data target search module, which is used to take a marine hyperspectral remote sensing image and identify the rescue target using the marine hyperspectral remote sensing image;

[0009] a thermal infrared data target search module, which is used to take a marine infrared remote sensing image and identify the rescue target using the marine infrared remote sensing image;

[0010] A synthetic aperture radar data target search module for taking marine SAR remote sensing images and identifying and tracking the rescue target using the marine SAR remote sensing images;

[0011] A data access and display module for information exchange between the rainbow unmanned aerial vehicle and the console.

[0012] The system, by using the rainbow unmanned aerial vehicle in cooperation with various sensor loads, not only realizes man-machine collaborative all-weather intelligent search and rescue, but also realizes multi-load cooperative search and rescue, greatly improving the efficiency and success rate of marine search and rescue.

[0013] In a second aspect, the present application provides a rainbow unmanned aerial vehicle multi-source remote sensing all-weather marine search and rescue method, which comprises the following steps: determining the original search and rescue area of the rescue target; selecting a remote sensing satellite and using the remote sensing satellite to obtain the weather condition and geographic information of the original search and rescue area and the surrounding sea area; according to the weather condition and the geographic information, the console formulates a search and rescue task for the rainbow unmanned aerial vehicle; according to the search and rescue task, the rainbow unmanned aerial vehicle carries search and rescue equipment to search and rescue the rescue target; the rainbow unmanned aerial vehicle identifies the rescue target and drops rescue materials, and provides guidance for rescue personnel to rescue the rescue target.

[0014] Optionally, the rainbow unmanned aerial vehicle multi-source remote sensing all-weather marine search and rescue method further comprises: if the specific position of the rescue target is known, the rescue personnel can directly go to rescue.

[0015] Optionally, according to the weather condition and the geographic information, the console formulating a search and rescue task for the rainbow unmanned aerial vehicle comprises the following steps:

[0016] determining the final search and rescue area using the weather condition and the geographic information;

[0017] establishing a two-dimensional coordinate interface of the final search and rescue area according to the geographic information;

[0018] dividing the final search and rescue area into multiple task areas and numbering according to the two-dimensional coordinate interface;

[0019] formulating a search route for the rainbow unmanned aerial vehicle according to the task area;

[0020] grouping the rainbow unmanned aerial vehicle and inputting the search route.

[0021] Optionally, the determining the final search and rescue area according to the weather condition and the geographic information comprises calculating the boundary longitude and latitude of the final search and rescue area according to the boundary longitude, latitude and weather condition of the original search and rescue area, and the boundary longitude and latitude of the final search and rescue area satisfy the following relationships respectively:

[0022]

[0023]

[0024] wherein, a1 represents the longitude of the i-th point on the boundary of the final search and rescue area, f1 represents the longitude of the i-th point on the boundary of the original search and rescue area, b1 represents the longitude of the center of the original search and rescue area; a2 represents the latitude of the i-th point on the boundary of the final search and rescue area, f2 represents the latitude of the i-th point on the boundary of the original search and rescue area, b2 represents the latitude of the center of the original search and rescue area; v represents the wind speed of the original search and rescue area when the original search and rescue area of the rescue target is determined, t represents the time required for the rainbow unmanned aerial vehicle to fly from the take-off to the center of the original search and rescue area, P1 is the proportion of rainy days in the seven days before the search and rescue day in the original search and rescue area, P2 is the proportion of sunny days in the seven days before the search and rescue day in the original search and rescue area, R is the distance from the center of the original search and rescue area to the i-th point on the boundary of the original search and rescue area, and 111.1 is the conversion coefficient of 1 degree of longitude into kilometers.

[0025] Optionally, the search and rescue device comprises a search device and rescue materials, the search device comprises one or more of a photoelectric search pod, a hyperspectral imager and a synthetic aperture radar, and the rescue materials comprise a life jacket, a portable shark repellent device, a communication device, fresh water and food.

[0026] Optionally, the identifying the rescue target by the rainbow unmanned aerial vehicle and dropping the rescue materials, and providing guidance for the rescue personnel to implement rescue on the rescue target, comprises the following steps:

[0027] According to the search route, the rainbow unmanned aerial vehicle acquires marine remote sensing images by the search device, and shares the marine remote sensing images and search positions in real time with the rescue personnel through the remote sensing satellite.

[0028] The rainbow unmanned aerial vehicle performs image recognition on the marine remote sensing images to confirm whether the rescue target exists.

[0029] After finding the rescue target, the rainbow unmanned plane highlights and labels the position of the rescue target in the marine remote sensing image, and the rescue personnel confirm whether it is the rescue target according to the highlight;

[0030] After confirming the rescue target, the rainbow unmanned plane receives the instruction of throwing rescue materials, throws the rescue materials according to the instruction, and tracks and locates the rescue target, during which the rainbow unmanned plane continuously updates the position information of the rescue target to the rescue personnel.

[0031] Optionally, the rainbow unmanned plane performs image recognition on the marine remote sensing image, and confirming whether the rescue target exists comprises:

[0032] If the rescue target is not found in the final search and rescue area, the search range is expanded to continue the search and rescue.

[0033] Optionally, according to the search route, the rainbow unmanned plane obtains marine remote sensing images through the search device, and shares the marine remote sensing images and search positions with the rescue personnel in real time through the remote sensing satellite, which comprises the following steps:

[0034] Obtain marine thermal infrared remote sensing images by using photoelectric search pods, label the acquisition position and transmit it to the rescue personnel;

[0035] Obtain marine hyperspectral remote sensing images by using hyperspectral imagers, label the acquisition position and transmit it to the rescue personnel;

[0036] Obtain marine SAR remote sensing images by using synthetic aperture radar, label the acquisition position and transmit it to the rescue personnel.

[0037] Optionally, if the rescue target is not found in the search and rescue area, the search range is expanded to continue the search and rescue, which comprises the following steps:

[0038] Redraw a new search and rescue area, and the new search and rescue area includes the final search and rescue area;

[0039] According to the geographic information and the new search and rescue area, a new two-dimensional coordinate interface is established;

[0040] According to the new two-dimensional coordinate interface, a new task area is redivided and numbered;

[0041] According to the new task area, a new search route is developed, and the new search route is transmitted to the rainbow unmanned plane, and the rainbow unmanned plane can search and rescue the rescue target according to the new search route;

[0042] Repeat the above steps until the rescue target is found.

[0043] In summary, the method provided by the present application realizes all-weather intelligent search and rescue by using the rainbow unmanned aerial vehicle in cooperation with various sensor loads, realizes multi-load cooperative search and rescue, greatly improves the efficiency and success rate of ocean search and rescue, and further improves the success rate of search and rescue by considering the influence of weather on rescue and further determining the search and rescue area according to the weather during search and rescue, thereby saving search and rescue time.

[0044] In order to make the above objectives, features and advantages of the present application more apparent and easy to understand, the following optional embodiments are described in detail below, and the related drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0046] Figure 1 A schematic diagram of a component of a rainbow unmanned aerial vehicle multi-source remote sensing all-weather ocean search and rescue system according to an embodiment of the present application;

[0047] Figure 2 A flowchart of a rainbow unmanned aerial vehicle multi-source remote sensing all-weather ocean search and rescue method according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The specific embodiments of the present application will be described in detail below, and it should be noted that the embodiments described herein are only used for illustration and do not limit the present application. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application does not have to be implemented by using these specific details. In other examples, in order to avoid obscuring the present application, well-known circuits, software or methods are not specifically described.

[0049] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "in one embodiment," "in an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combinations and / or subcombinations in one or more embodiments or examples. Furthermore, those of ordinary skill in the art will appreciate that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0050] It should be noted in advance that, in an optional embodiment, except for independent explanations, the same symbols or letters appearing in all formulas have the same meanings and values.

[0051] In an optional embodiment, the present invention provides an all-weather ocean search and rescue system based on a Rainbow UAV multi-source remote sensing, including a Rainbow UAV A1, a control console A2, a hyperspectral data target search module A3, a thermal infrared data target search module A4, a synthetic aperture radar data target search module A5 and a data access and display module A6.

[0052] Rainbow UAV A1, the Rainbow UAV A1 is used for searching and rescuing targets.

[0053] Specifically, in this embodiment, the Rainbow UAV A1 is directly connected to the hyperspectral data target search module A3, the thermal infrared data target search module A4, the synthetic aperture radar data target search module A5 and the data access and display module A6, and the Rainbow UAV A1 carries rescue supplies.

[0054] The control console A2 is used to manage the Rainbow UAV information, formulate the search and rescue mission of the Rainbow UAV, and send instructions to the Rainbow UAV A1 and receive information transmitted by the Rainbow UAV A1.

[0055] Specifically, in this embodiment, the Rainbow UAV information includes equipment management and scheduling, working status, navigation location and flight time; rescue personnel can query the Rainbow UAV information and participate in the formulation of the search and rescue mission through the console A2, and can send information to the Rainbow UAV A1 through the console A2.

[0056] The hyperspectral data target search module A3 is used to capture ocean hyperspectral remote sensing images and identify the rescue target using the ocean hyperspectral remote sensing images.

[0057] a thermal infrared data target search module A4, configured to take marine infrared remote sensing images and identify the rescue target by using the marine infrared remote sensing images.

[0058] a synthetic aperture radar data target search module A5, configured to take marine SAR remote sensing images and identify and track the rescue target by using the marine SAR remote sensing images.

[0059] a data access and display module A6, configured to exchange information between the rainbow unmanned aerial vehicle A1 and the console A2.

[0060] In an optional embodiment, the present application further provides a rainbow unmanned aerial vehicle multi-source remote sensing all-weather marine search and rescue method, which is applicable to the rainbow unmanned aerial vehicle multi-source remote sensing all-weather marine search and rescue system provided by the present application, and includes the following steps:

[0061] S1, determining an original search and rescue area of a rescue target.

[0062] Specifically, in the present embodiment, when the rescue target is in distress at sea, if the rescue target has available communication equipment, it only needs to use the communication equipment to call for help and inform the current position, and then wait for the rescue personnel to come to rescue. If the rescue target does not know its location, the rescue personnel can locate the position of the rescue target according to the position of the distress signal, and then go to rescue.

[0063] Further, if the rescue target has no communication equipment after being in distress, or has communication equipment but the communication equipment is not available, the relatives or non-distressed accompanying personnel of the rescue target can report to the rescue personnel in time. After receiving the report, the rescue personnel can determine the missing position of the rescue target according to the report of the relatives or the accompanying personnel, and the original search and rescue area is a circular area with the missing position as the center and a radius of 10 kilometers.

[0064] S2, selecting a remote sensing satellite and using the remote sensing satellite to obtain weather conditions and geographical information of the original search and rescue area and surrounding sea areas.

[0065] Specifically, in the embodiment, the rescue target moves due to weather conditions after being in distress at sea, for example, under the influence of sea wind, sea waves push the rescue target to move in any direction, and sea wind is the most influential factor on the search and rescue area. Therefore, it is very important to timely and accurately understand the weather conditions of the original search and rescue area and the surrounding sea area when the rescue target is lost, and this is also conducive to analyzing the survival state of the rescue target and providing sufficient basic information for the development of rescue work and improving the search and rescue efficiency.

[0066] Further, in addition to considering the influence of weather on rescue, the influence of the geographical conditions of the original search and rescue area and the surrounding sea area also needs to be considered: on the one hand, there may be some islands or rocks protruding from the water around the lost position, and the rescue target may take refuge in the islands or rocks, so attention needs to be paid; on the other hand, the geographical information includes the latitude and longitude characteristics of the original search and rescue area and the surrounding sea area, which is conducive to fine division of the search and rescue area and orderly development of the search and rescue of the rescue target, and improves the search and rescue efficiency.

[0067] More specifically, the remote sensing satellite includes Beidou-3 satellite, HY-1 satellite, HY-2 satellite, FY-1 meteorological satellite and FY-3 meteorological satellite, and in other optional embodiments, the remote sensing satellite can also be other satellites, which can be selected according to actual conditions, and in the embodiment, no specific limitation is made.

[0068] S3, the console formulates a search and rescue task of the rainbow unmanned aerial vehicle according to the weather conditions and the geographical information.

[0069] The influence of the weather conditions and the geographical information on search and rescue has been explained in step S2, so under the condition of understanding the weather conditions and the geographical information of the original search and rescue area and the surrounding sea area, step S3 specifically includes the following steps:

[0070] S31, determining a final search and rescue area by using the weather conditions and the geographical information.

[0071] Specifically, in the embodiment, the boundary longitude and latitude of the final search and rescue area are calculated according to the boundary longitude and latitude of the original search and rescue area and the weather conditions, and the boundary longitude and latitude of the final search and rescue area can be used to confirm the final search and rescue area.

[0072] The boundary longitude of the final search and rescue area satisfies the following relationship:

[0073]

[0074] wherein, a1,vi represents the longitude of the i th point on the boundary of the final search and rescue area, v represents the wind speed of the original search and rescue area when determining the original search and rescue area of the rescue target, t represents the time required for the rainbow unmanned aerial vehicle to fly from takeoff to the center of the original search and rescue area, P1 is the proportion of rainy days in the original search and rescue area within seven days before the search day, P2 is the proportion of sunny days in the original search and rescue area within seven days before the search day, f1 represents the longitude of the i th point on the boundary of the original search and rescue area, b1 represents the longitude of the center of the original search and rescue area, R is the distance from the center of the original search and rescue area to the i th point on the boundary of the original search and rescue area, and 111.1 is the conversion coefficient of 1 degree of longitude into kilometers.

[0075] The latitude of the boundary of the final search and rescue area satisfies the following relationship:

[0076]

[0077] wherein, a2 represents the latitude of the i th point on the boundary of the final search and rescue area, f2 represents the latitude of the i th point on the boundary of the original search and rescue area, b2 represents the latitude of the center of the original search and rescue area.

[0078] More specifically, in the above relationship, the wind speed v can be measured by the remote sensing satellite, the time t can be calculated according to the flight speed of the rainbow unmanned aerial vehicle, the distance between the takeoff point of the rainbow unmanned aerial vehicle and the center of the original search and rescue area, the distance R is 10 kilometers, the rescue personnel can manually input the wind speed v, the time t, the distance R, the longitude and latitude of the center of the original search and rescue area, and P1 and P2 into the console, at the same time, the console receives the geographic information obtained by the remote sensing satellite, and selects 100 points as basic points on the boundary of the original search and rescue area at equal intervals, that is, the maximum value of i is 100, according to the longitude and latitude of the basic points and the longitude and latitude of the center of the original search and rescue area, the console calculates the longitude and latitude of 100 search points on the boundary of the final search and rescue area corresponding to the basic points, and then the closed area surrounded by the 100 search points is taken as the final search and rescue area.

[0079] Further, in other optional embodiments, other numbers of the basic points and the distance R can also be selected according to actual conditions, for example, the basic points can be selected as 200, 300 or 400, the more the number of selected basic points and the greater the distance R, the more accurate the final search and rescue area obtained, and the greater the probability of successful search and rescue.

[0080] S32, according to the geographical information, the final search and rescue area of the two-dimensional coordinate interface.

[0081] Specifically, in the present embodiment, the console with the original search and rescue area center as the coordinate origin, the positive east direction as the x-axis positive direction, the positive north direction as the y-axis positive direction to establish a rectangular coordinate system, the interface of the rectangular coordinate system is the two-dimensional coordinate interface, the rectangular coordinate system on the coordinate axis with 20m as an interval, if there is the island and the reef in the final search and rescue area, the console will be marked in the corresponding position in the rectangular coordinate system.

[0082] Further, in another optional embodiment, the rectangular coordinate system on the coordinate axis can also be selected as other distance as an interval, which can be manually selected by the rescue personnel on the console, but the selected interval distance is preferably not less than the body length of the rainbow UAV, which is beneficial to improve the positioning accuracy of the rainbow UAV on the rectangular coordinate system.

[0083] More further, in the case of using the rectangular coordinate system, without considering the change of earth curvature, in other optional embodiments, in order to be more in line with the actual geographical situation, the two-dimensional coordinate interface can also be established according to the longitude and latitude of the final search and rescue area.

[0084] S33, according to the two-dimensional coordinate interface, the final search and rescue area is divided into multiple task areas and numbered.

[0085] Specifically, in the present embodiment, according to the two-dimensional coordinate interface established in step S32, the console divides the final search and rescue area into multiple task areas, in order to improve the division efficiency and the search efficiency of the rainbow UAV, in addition to the places where the boundary of the final search and rescue area is located, the task area is divided into multiple square areas, at the same time, the x-axis coordinate and y-axis coordinate corresponding to the four vertices on the boundary of the task area are all integer multiples of 20.

[0086] Further, after the task area is divided, the console numbers the task area, so as to allocate different task areas to different rainbow UAVs and improve the search efficiency of the rainbow UAV.

[0087] S34, according to the task area, the search route of the rainbow UAV is formulated.

[0088] Specifically, in this embodiment, before formulating the search route of the Rainbow UAV, it is necessary to understand the number of available Rainbow UAVs. Then the console formulates the search route of the Rainbow UAV based on the number of available Rainbow UAVs and the number of mission areas. The search route is the line connecting the centers of the mission areas.

[0089] Furthermore, in order to ensure the efficiency of search and rescue, improve the utilization efficiency of the Rainbow UAV and reduce the safety hazards of the Rainbow UAV during search and rescue, the search route of each Rainbow UAV should maintain a sufficient distance in the horizontal direction or in the direction perpendicular to the horizontal, and the search routes are not parallel and do not intersect.

[0090] In other optional embodiments, the search route may also be a line connecting the diagonals of the mission area, and rescuers may also manually set the search route through the console according to actual needs.

[0091] S35. Group the Rainbow UAVs and input the search route.

[0092] Specifically, in this embodiment, the Rainbow UAVs are grouped and assigned to different mission areas. The Rainbow UAVs are coded with the numbers of the mission areas they pass through, so that the rescue personnel can clearly understand the working status, navigation location and flight time of each Rainbow UAV through the console. At the same time, the console inputs the search route into the corresponding Rainbow UAV.

[0093] S4. According to the search and rescue mission, the Rainbow UAV carries search and rescue equipment to search and rescue the rescue target.

[0094] Specifically, in this embodiment, after receiving the search route input, the Rainbow UAV can take off with the search and rescue equipment, enter the mission area along the search route, and start searching and rescuing the rescue target.

[0095] More specifically, the rescue supplies include life jackets, portable shark repellents, communicators, fresh water, food, etc.

[0096] S5. Utilize the Rainbow UAV to identify the rescue target and drop rescue supplies, and provide guidance for rescue personnel to carry out rescue operations on the rescue target.

[0097] In this embodiment, step S5 specifically includes the following steps:

[0098] S51, according to the search route, the rainbow unmanned aerial vehicle acquires marine remote sensing images through the search device, and shares the marine remote sensing images and search positions in real time with the rescue personnel through the remote sensing satellite.

[0099] S51, according to the search route, the rainbow unmanned aerial vehicle acquires marine remote sensing images through the search device, and shares the marine remote sensing images and search positions in real time with the rescue personnel through the remote sensing satellite.

[0100] S511, acquire marine thermal infrared remote sensing images by using the photoelectric search pod, mark the acquisition position and transmit it to the rescue personnel.

[0101] Specifically, when the photoelectric search pod acquires the marine thermal infrared remote sensing images, it is not affected by weather and light, easy to find thermal targets, and can preliminarily locate the rescue target.

[0102] S512, acquire marine hyperspectral remote sensing images using a hyperspectral imager, mark the acquisition position and transmit it to the rescue personnel.

[0103] Specifically, the hyperspectral remote sensing images can express the ground objects in multiple dimensions, and the continuous spectrum of each pixel or pixel group provided by the hyperspectral remote sensing images can objectively reflect the spectral characteristics of the ground objects and the subtle changes in the spectral characteristics, so it is very advantageous for identifying the rescue target from the sea water.

[0104] S513, acquire marine SAR remote sensing images using a synthetic aperture radar, mark the acquisition position and transmit it to the rescue personnel.

[0105] Specifically, the synthetic aperture radar has the advantages of all-weather, all-day, long distance, resolution independent of flight height, etc., and is not affected by rain, snow, smoke, dust, night, etc. Environment, can remotely and quickly scan a larger area, provide fixed scene images convenient for direct interpretation, and effectively obtain target contour features.

[0106] S52, the rainbow unmanned aerial vehicle performs image recognition on the marine remote sensing images, and confirms whether the rescue target exists.

[0107] The rainbow unmanned aerial vehicle performs image recognition on the marine thermal infrared remote sensing images, the hyperspectral remote sensing images and the marine SAR remote sensing images, and provides marine remote sensing images with clear contours by comprehensively considering the image features.

[0108] If no rescue target is found in the final search and rescue area, the search range is expanded to continue the search and rescue, which specifically includes the following steps:

[0109] S521, re-determine a new search and rescue area, and the new search and rescue area includes the final search and rescue area.

[0110] In the case that the rainbow UAV does not exclude the possibility of missing the target in the final search area, or the rainbow UAV does not identify the target due to the influence of the target's activities in the sea, the final search area should also be included in the new search area, and the boundary of the new search area can be calculated by the formula provided in S31 and the longitude and latitude of the search point, but the wind speed v needs to be re-measured.

[0111] S522, according to the geographical information and the new search area, a new two-dimensional coordinate interface is established.

[0112] Specifically, the operation method of this step has been described in step S32, so it will not be repeated here.

[0113] S523, according to the new two-dimensional coordinate interface, a new task area is re-divided and numbered.

[0114] Specifically, based on step S522, the operation method of this step has been described in step S33, so it will not be repeated here.

[0115] S524, according to the new task area, a new search route is developed, and the new search route is transmitted to the rainbow UAV, so that the rainbow UAV can search and rescue the target according to the new search route.

[0116] Specifically, since the new search area is larger than the final search area, the number of rainbow UAVs searching may not be sufficient, in which case the rescuer can dispatch more rainbow UAVs for search and rescue according to actual needs.

[0117] Repeat steps S521 to S524 until the target is found.

[0118] S53, after finding the target, the rainbow UAV highlights and marks the position of the target in the remote sensing image of the sea, and the rescuer confirms whether it is the target according to the highlight.

[0119] S54, after confirming the target, the rainbow UAV receives the instruction to drop the rescue materials and drops the rescue materials according to the instruction, and tracks and locates the target, during which the rainbow UAV continuously updates the position information of the target to the rescuer.

[0120] Specifically, in the embodiment, after the rescuer confirms that the rescue target is found, the rescuer can issue an instruction of dropping the rescue materials to the rainbow unmanned plane through the control console, the rainbow unmanned plane can drop the rescue materials to the rescue target after receiving the instruction from the control console, and the rainbow unmanned plane can start tracking and positioning the rescue target and constantly update the position information of the rescue target to the rescuer, so that the rescuer can immediately go to the rescue according to the position information updated by the rainbow unmanned plane.

[0121] Further, after the rescue target receives the rescue materials, the rescue target can prevent sinking and drowning by using the life jacket, and can replenish strength by using the fresh water and the food, and meanwhile, the rescuer can send a message of "going to rescue" to the rescue target through the communicator, so that the rescue target can keep a good mentality and improve the survival probability, and if there is a dangerous animal such as a shark nearby, the rescue target can use the portable shark chaser to drive the dangerous animal away, and after the rescuer arrives, the rainbow unmanned plane can return.

[0122] It should be noted that in some cases, the actions described in the specification can be performed in different orders and still achieve the desired results, and in the embodiment, the order of the steps given is only to make the embodiment look clearer and more understandable, and is not a limitation.

[0123] In summary, the rainbow unmanned plane is used as the flight equipment in the embodiment, the rainbow unmanned plane has excellent technical indicators and reliable safety, the longest endurance of the rainbow unmanned plane can reach 30 hours, the effective payload can reach 650 kilograms, the rainbow unmanned plane has four task warehouses and more than eight mounting points, and the rainbow unmanned plane can realize true autonomous take-off and landing and intelligent flight, so that the rainbow unmanned plane can take off in time and carry a large amount of rescue materials for long-time search and rescue on the sea, meanwhile, the rainbow unmanned plane can carry various sensor loads, so that the rainbow unmanned plane can effectively, objectively and stereoscopically explore and restore the original appearance of things even in very bad environment, so that the rainbow unmanned plane can accurately and quickly find the rescue target and provide accurate position information for the rescuer, the cooperation of the rainbow unmanned plane and the various sensor loads realizes all-weather intelligent search and rescue and multi-load cooperative search and rescue, and the rainbow unmanned plane can quickly respond, so that the efficiency and success rate of the ocean search and rescue are greatly improved. In addition, before the rainbow unmanned plane takes off, the method provided by the embodiment considers the influence of the weather on the search and rescue area, and further determines the search and rescue area according to the weather condition, so that the search and rescue time is saved, the search and rescue target is searched in the shortest time, and the success rate of the search and rescue is further improved.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application.

Claims

1. A multi-source remote sensing all-weather ocean search and rescue system based on Rainbow UAV, characterized by: The steps include: Rainbow UAV, which is used for searching and rescuing targets; A control console, which is used to manage the Rainbow UAV information, formulate the Rainbow UAV's search and rescue mission according to weather conditions and geographical information, and send instructions to the Rainbow UAV and receive information transmitted by the Rainbow UAV; The search and rescue mission of the Rainbow UAV is formulated based on weather conditions and geographical information, including the following steps: determining a final search and rescue area using the weather conditions and the geographic information; Establishing a two-dimensional coordinate interface of the final search and rescue area based on the geographic information; Dividing the final search and rescue area into a plurality of task areas according to the two-dimensional coordinate interface and numbering the task areas; Formulate a search route for the Rainbow UAV according to the mission area; Grouping the Rainbow UAVs and inputting the search route; Determining the final search and rescue area by using the weather conditions and the geographic information includes calculating the boundary longitude and latitude of the final search and rescue area according to the boundary longitude and latitude of the original search and rescue area and the weather conditions, wherein the boundary longitude and latitude of the final search and rescue area respectively satisfy the following relationship: in, Represents the longitude of the i-th point on the boundary of the final search and rescue area , Indicates the longitude of the i-th point on the boundary of the original search and rescue area , Indicates the longitude of the center of the original search and rescue area ; Represents the latitude of the i-th point on the boundary of the final search and rescue area , Represents the latitude of the i-th point on the boundary of the original search and rescue area , Indicates the latitude of the center of the original search and rescue area ; represents the wind speed of the original search and rescue area when determining the original search and rescue area of ​​the rescue target, t represents the time required for the Rainbow UAV to take off and reach the center of the original search and rescue area, is the proportion of rainy days in the original search and rescue area within the seven days before the search and rescue day, is the proportion of clear days in the original search and rescue area within the seven days before the search and rescue day, R is the distance from the center of the original search and rescue area to the i-th point on the boundary of the original search and rescue area, and 111.1 is the conversion factor from 1 degree of longitude to kilometers; A hyperspectral data target search module, wherein the hyperspectral data target search module is used to capture ocean hyperspectral remote sensing images and use the ocean hyperspectral remote sensing images to identify the rescue target; A thermal infrared data target search module, which is used to capture ocean infrared remote sensing images and use the ocean infrared remote sensing images to identify the rescue target; A synthetic aperture radar data target search module, the synthetic aperture radar data target search module is used to capture ocean SAR remote sensing images and use the ocean SAR remote sensing images to identify and track the rescue target; A data access and display module is used for information exchange between the Rainbow UAV and the control console.

2. A method for all-weather ocean search and rescue based on multi-source remote sensing of Rainbow UAV, which is applicable to the all-weather ocean search and rescue system based on multi-source remote sensing of Rainbow UAV according to claim 1, characterized in that: The steps include: Determine the original search and rescue area for the rescue target; Selecting a remote sensing satellite and using the remote sensing satellite to obtain weather conditions and geographic information of the original search and rescue area and surrounding sea areas; According to the weather conditions and the geographic information, the control console formulates a search and rescue mission for the Rainbow UAV; According to the search and rescue mission, the Rainbow UAV carries search and rescue equipment to search and rescue the rescue target; Utilizing the Rainbow UAV to identify the rescue target and drop rescue supplies, as well as providing guidance for rescue personnel to carry out rescue operations on the rescue target; The control console formulates the search and rescue mission of the Rainbow UAV according to the weather conditions and the geographical information, including the following steps: determining a final search and rescue area using the weather conditions and the geographic information; Establishing a two-dimensional coordinate interface of the final search and rescue area based on the geographic information; Dividing the final search and rescue area into a plurality of task areas according to the two-dimensional coordinate interface and numbering the task areas; Formulate a search route for the Rainbow UAV according to the mission area; Grouping the Rainbow UAVs and inputting the search route; Determining the final search and rescue area by using the weather conditions and the geographic information includes calculating the boundary longitude and latitude of the final search and rescue area according to the boundary longitude and latitude of the original search and rescue area and the weather conditions, wherein the boundary longitude and latitude of the final search and rescue area respectively satisfy the following relationship: in, Represents the longitude of the i-th point on the boundary of the final search and rescue area , Represents the longitude of the i-th point on the boundary of the original search and rescue area , Indicates the longitude of the center of the original search and rescue area ; Represents the latitude of the i-th point on the boundary of the final search and rescue area , Represents the latitude of the i-th point on the boundary of the original search and rescue area , Indicates the latitude of the center of the original search and rescue area ; represents the wind speed of the original search and rescue area when determining the original search and rescue area of ​​the rescue target, t represents the time required for the Rainbow UAV to take off and reach the center of the original search and rescue area, is the proportion of rainy days in the original search and rescue area within the seven days before the search and rescue day, is the proportion of sunny days in the original search and rescue area within the seven days before the search and rescue day, R is the distance from the center of the original search and rescue area to the i-th point on the boundary of the original search and rescue area, and 111.1 is the conversion coefficient of 1 longitude to kilometers.

3. The all-weather ocean search and rescue method based on multi-source remote sensing of Rainbow UAV according to claim 2 is characterized in that: The all-weather ocean search and rescue method based on Rainbow UAV multi-source remote sensing also includes: if the specific location of the rescue target is known, the rescue personnel can go directly to the rescue.

4. The all-weather ocean search and rescue method based on multi-source remote sensing of Rainbow UAV according to claim 2 is characterized in that: The search and rescue equipment includes search equipment and rescue supplies. The search equipment includes at least one or more of an optoelectronic search pod, a hyperspectral imager, and a synthetic aperture radar. The rescue supplies include life jackets, portable shark repellents, communicators, fresh water, and food.

5. The all-weather ocean search and rescue method based on Rainbow UAV multi-source remote sensing according to claim 4 is characterized in that: The method of using the Rainbow UAV to identify the rescue target and drop rescue supplies, as well as providing guidance for rescue personnel to carry out rescue on the rescue target, includes the following steps: According to the search route, the Rainbow UAV obtains ocean remote sensing images through the search device, and shares the ocean remote sensing images and search location with the rescue personnel in real time through the remote sensing satellite; The Rainbow UAV performs image recognition on the ocean remote sensing image to confirm whether the rescue target exists; After discovering the rescue target, the Rainbow UAV highlights and marks the location of the rescue target in the ocean remote sensing image, and the rescue personnel confirm whether it is the rescue target based on the highlighted image; After the rescue target is confirmed, the Rainbow UAV receives an instruction to deliver rescue supplies, delivers the rescue supplies according to the instruction, and tracks and locates the rescue target. During this period, the Rainbow UAV continuously updates the location information of the rescue target to the rescue personnel.

6. The all-weather ocean search and rescue method based on Rainbow UAV multi-source remote sensing according to claim 5 is characterized in that: The Rainbow UAV performs image recognition on the ocean remote sensing image to confirm whether the rescue target exists, and further includes: If no rescue target is found in the final search and rescue area, the search range will be expanded and the search and rescue will continue.

7. The all-weather ocean search and rescue method based on Rainbow UAV multi-source remote sensing according to claim 5 is characterized in that: According to the search route, the Rainbow UAV obtains ocean remote sensing images through the search device, and shares the ocean remote sensing images and search locations with rescue personnel in real time through the remote sensing satellite, including the following steps: Using an optoelectronic search pod to acquire ocean thermal infrared remote sensing images, marking the acquisition location and transmitting them to the rescue personnel; Acquire ocean hyperspectral remote sensing images using a hyperspectral imager, mark the acquisition location and transmit the images to the rescue personnel; The ocean SAR remote sensing image is taken using synthetic aperture radar, the acquisition location is marked and transmitted to the rescue personnel.

8. The all-weather ocean search and rescue method based on Rainbow UAV multi-source remote sensing according to claim 6 is characterized in that: If no rescue target is found in the search and rescue area, expanding the search range and continuing the search and rescue comprises the following steps: Re-delineating a new search and rescue area, where the new search and rescue area includes the final search and rescue area; Establishing a new two-dimensional coordinate interface based on the geographic information and the new search and rescue area; Re-dividing new task areas and numbering them according to the new two-dimensional coordinate interface; Formulate a new search route according to the new mission area, and transmit the new search route to the Rainbow UAV, so that the Rainbow UAV can search and rescue the rescue target according to the new search route; Repeat the above steps until the rescue target is found.

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