Unmanned aerial vehicle fleet and its water detection, monitoring and rescue method

Abstract

The application discloses a water surface investigation, monitoring and rescue method for a UAV fleet, and relates to the technical field of UAV rescue. When a water surface accident occurs, the method can improve rescue efficiency and success rate. The rescue steps are divided into three stages: range search, rescue area construction and accurate rescue. In the range search stage, a UAV is sent to search the water surface until a target to be rescued or a specific target is found. In the rescue area construction stage, the UAV acquires position information of the rescue target, determines a preliminary rescue area and an accurate rescue area through a connecting line, and controls a visual detection UAV to float on the water surface to reduce energy consumption, wherein the accurate rescue area is further divided into a central part and a peripheral part. In the accurate rescue stage, a host UAV calls a swimming ring UAV and a rescue stretcher UAV to perform rescue, drives the rescue target to move to the central part, and facilitates subsequent concentrated rescue. The UAV can quickly lock the target and help the target to survive on the water surface and be quickly rescued.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle rescue, in particular to an unmanned aerial vehicle fleet and a water-based detection, monitoring, and rescue method. BACKGROUND

[0002] With the continuous progress and development of science and technology, unmanned aerial vehicles (UAV) have become an important tool in rescue operations. Unmanned aerial vehicle rescue can use unmanned aerial vehicles to search, monitor, search and rescue, and transport supplies in the air, and can perform rescue operations in places where humans cannot reach or are dangerous, improving the efficiency and success rate of rescue.

[0003] However, existing water or sea rescue mostly uses rescue ships and rescue boats for search and rescue, but water and sea rescue has a wide and unclear rescue range, and the rescued targets are difficult to persist for a long time, making it difficult to search and rescue by manually coordinating rescue ships. SUMMARY

[0004] To solve the above technical problems, the present application provides a water-based detection, monitoring, and rescue method.

[0005] To solve the above technical problems, the present application adopts the following technical solution: The present application provides a water-based detection, monitoring, and rescue method, comprising

[0006] Range search and rescue: after searching and collecting rescue information by a single or multiple unmanned aerial vehicles, the single or multiple unmanned aerial vehicles return;

[0007] Accurate rescue: the unmanned aerial vehicles that return alone deploy a number of unmanned aerial vehicles matching the rescue information to move to the rescue area for rescue.

[0008] Preferably, after the range search and rescue,

[0009] Constructing a rescue area, a plurality of unmanned aerial vehicles construct an accurate rescue area that surrounds all the targets to be rescued, and monitor the targets to be rescued entering and leaving the accurate rescue area.

[0010] Preferably, the unmanned aerial vehicles used to construct the accurate rescue area turn off the visual search.

[0011] Preferably, during the accurate rescue process:

[0012] When a target to be rescued crosses the boundary of the accurate rescue area, the visual search of the unmanned aerial vehicles is restarted, and the moving direction of the rescue target is determined;

[0013] If the rescue target moves outside the accurate rescue area, at least one unmanned aerial vehicle that does not participate in constructing the accurate rescue area continuously tracks the rescue target.

[0014] If the rescue target moves into the precise rescue area, the unmanned aerial vehicle tracking the rescue target re-stands by.

[0015] Preferably, after the precise rescue area is constructed, the single or multiple unmanned aerial vehicles monitor the water flow state,

[0016] If the water flow is at rest, the unmanned aerial vehicle controlling the construction of the precise rescue area is parked on the water surface;

[0017] If the water flow is in motion, the unmanned aerial vehicle controlling the construction of the precise rescue area is suspended on the water surface.

[0018] Preferably, before the precise rescue, the water flow state information is sent to the returning unmanned aerial vehicle;

[0019] During the precise rescue, the position of the precise rescue area is predicted according to the water flow state information, and the shortest flight route of the unmanned aerial vehicle is planned.

[0020] Preferably, the precise rescue area is divided into a central part and a peripheral part, the number of rescue targets in the central part and the peripheral part is calculated respectively, and the number of unmanned aerial vehicles equal to the number of rescue targets in the central part is allocated;

[0021] During the precise rescue, the unmanned aerial vehicles located in the peripheral part drive the rescue targets to move towards the central part of the precise rescue area.

[0022] The unmanned aerial vehicle group system applying the above rescue method comprises:

[0023] At least one host unmanned aerial vehicle: the host unmanned aerial vehicle is used to receive the rescue information collected by other unmanned aerial vehicles and send control instructions to other unmanned aerial vehicles;

[0024] A number of detection unmanned aerial vehicles: the detection unmanned aerial vehicles are used to receive the control instructions sent by the host unmanned aerial vehicle and collect rescue information, and send the rescue information to the host unmanned aerial vehicle;

[0025] A number of rescue unmanned aerial vehicles: the rescue unmanned aerial vehicles receive the control instructions sent by the host unmanned aerial vehicle and are used to help the rescue targets to keep floating or move.

[0026] Preferably, the rescue information includes: the number of rescue targets, the position of the rescue targets, the moving direction of the rescue targets, and the water flow state.

[0027] Preferably, the detection unmanned aerial vehicles include visual detection unmanned aerial vehicles and water flow detection unmanned aerial vehicles;

[0028] Visual detection unmanned aerial vehicles: used for aerial flight and visual search of water surface rescue targets;

[0029] Water flow detection unmanned aerial vehicles: used for measuring water flow state information and / or sending positioning information;

[0030] The rescue unmanned aerial vehicle includes a life buoy unmanned aerial vehicle and a rescue stretcher unmanned aerial vehicle;

[0031] The life buoy unmanned aerial vehicle is used for helping the rescue target to keep floating on the water surface;

[0032] The rescue stretcher unmanned aerial vehicle is used for helping the rescue target to move on the water surface.

[0033] The present application has the beneficial effects that:

[0034] 1. The multiple unmanned aerial vehicle groups can quickly find the rescue target, enclose the rescue range, and improve the rescue efficiency;

[0035] 2. The main unmanned aerial vehicle adopts oil-electric hybrid or oil-driven, can realize long-distance multiple round trips, and realize the rapid deployment of the detection unmanned aerial vehicle and the rescue unmanned aerial vehicle;

[0036] 3. The visual detection unmanned aerial vehicle group can enclose the accurate rescue range, and continuously track the rescue target, thereby improving the rescue success rate and the rescue efficiency;

[0037] 4. The water flow state detection is convenient for quickly determining the shortest route of the rescue unmanned aerial vehicle, and improving the rescue efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1 It is a schematic diagram of the unmanned aerial vehicle group type.

[0040] Figure 2 It is a schematic diagram of the overall process of the emergency rescue method.

[0041] Figure 3 It is a schematic diagram of the method flow of constructing the rescue area.

[0042] Figure 4 It is a schematic diagram of the preliminary rescue area, the accurate rescue area, the center part and the peripheral part.

[0043] Figure 5 It is a schematic diagram of the rescue target continuous tracking method flow.

[0044] Explanation of reference signs: 1, host UAV; 2-1, visual detection UAV; 2-2, water flow detection UAV; 3-1, swimming ring rescue UAV; 3-2, floating board rescue UAV; 4-1, preliminary rescue area; 4-2, accurate rescue area; 4-3, center part; 4-4, peripheral part; 5, target to be rescued. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] Embodiment one: UAV group rescue system,

[0047] As shown in the figure, it includes three categories of host UAV, detection UAV and rescue UAV. Figure 1

[0048] The host UAV adopts an amphibious UAV, and the power source adopts pure oil or oil-electric hybrid. It can receive information of other UAVs and send instructions to control the actions of other UAVs.

[0049] The detection UAV includes visual detection UAV and water flow detection UAV, wherein:

[0050] The visual detection UAV can identify and locate the target to be rescued on the water surface through the camera unit;

[0051] The water flow detection UAV monitors the actual water flow direction and speed by floating on the water surface. At the same time, the detection UAV sends information such as the number of targets to be rescued, positioning, water flow direction, water flow speed, etc. to the host UAV, and waits for the instructions of the host UAV.

[0052] A plurality of visual detection UAVs can also form a geographic fence to define an accurate rescue area. The construction of the geographic fence is the transmission and reception of laser signals between adjacent visual detection UAVs.

[0053] The rescue UAV includes a swimming ring UAV and a rescue stretcher UAV, wherein the swimming ring UAV can fly and float on the water surface, and the rescue stretcher UAV can fly, float and move on the water surface.

[0054] The specific structures of all the above UAVs are prior art and will not be described in detail in this application.

[0055] ​When the water surface accident occurs, the host unmanned aerial vehicle can fly for a long time, so the host unmanned aerial vehicle can fly back and forth for many times, so first start the host unmanned aerial vehicle to locate and determine the number of the water surface rescue target;

[0056] Then, the corresponding number of rescue unmanned aerial vehicles are dispatched to the rescue area with the host unmanned aerial vehicle, and the host unmanned aerial vehicle issues instructions to each rescue unmanned aerial vehicle, so that the rescue unmanned aerial vehicle corresponds to one of the rescue targets respectively, and when the rescue unmanned aerial vehicle reaches the specified rescue target, it descends to the water surface to rescue.

[0057] Embodiment two: a rescue method of unmanned aerial vehicle group,

[0058] Step one: visual search

[0059] When the water surface accident occurs, first send at least one host unmanned aerial vehicle, four visual detection unmanned aerial vehicles and one water surface detection unmanned aerial vehicle, wherein the host unmanned aerial vehicle does not need to search visually and or by radar, thereby reducing the power consumption of the host unmanned aerial vehicle, ensuring the multiple back and forth flight of the host unmanned aerial vehicle, and searching the water surface by the visual detection unmanned aerial vehicle until the rescue target or specific target is found.

[0060] Step two: build rescue area

[0061] The four visual detection unmanned aerial vehicles fly in four different directions respectively within a certain range, and record the information of the position of the farthest rescue target in each direction and send it to the host unmanned aerial vehicle.

[0062] The host unmanned aerial vehicle connects the positions of the four rescue targets in pairs according to the information, and the intersection of two lines is taken as the origin, the distance from the origin to the farthest one of the four rescue targets is L, and the preliminary rescue area is circled with L+X as the radius, X>0; at the same time, the center part is circled with L-Y as the radius, L-Y>0, Y>0, and the outer part between the center part and the preliminary rescue area.

[0063] Then the host unmanned aerial vehicle issues instructions to the five detection unmanned aerial vehicles, so that the four visual detection unmanned aerial vehicles are distributed at intervals on the water surface at the edge of the preliminary rescue area, and one visual detection unmanned aerial vehicle is located on the line connecting the origin and the farthest rescue target from the origin; so that one water flow detection unmanned aerial vehicle moves and falls into the preliminary rescue area or the origin, and the water flow detection unmanned aerial vehicle sends information two of the water flow direction and speed to the host unmanned aerial vehicle.

[0064] At this time, if the water flow speed collected by the water flow detection unmanned aerial vehicle is 0, the visual detection unmanned aerial vehicle is controlled to float on the water surface, thereby effectively reducing the energy consumption of the visual detection unmanned aerial vehicle; if the water flow detection unmanned aerial vehicle collects a certain water flow speed, the visual detection unmanned aerial vehicle is controlled to fly in low altitude suspension;

[0065] Meanwhile, in the clockwise direction, the visual detection UAV transmits infrared laser to the adjacent visual detection UAV, controls the infrared laser to be 1-3 cm above the water surface, and all the infrared lasers form an accurate rescue area to effectively control the rescue target in the accurate rescue area to wait for rescue.

[0066] Step three: accurate rescue

[0067] Then the host UAV returns alone and calls the same number of swimming ring UAVs as the number of targets to be rescued in the center and the same number of rescue stretcher UAVs as the number of targets to be rescued in the periphery.

[0068] Then the host UAV predicts the changing position of the rescue area according to the information II received when returning, and plans the flight route of the host UAV and the rescue UAV based on the prediction.

[0069] After the host UAV and the rescue UAV fly to the accurate rescue area, the host UAV sends instructions to the rescue UAV, so that the swimming ring UAVs correspond to the targets to be rescued in the center one by one for falling rescue, the rescue stretcher UAVs correspond to the targets to be rescued in the periphery one by one for falling rescue, and the rescue stretcher UAVs drive the rescue targets to move to the center.

[0070] Example three is a supplement to example two:

[0071] In step one, two host UAVs send at least five visual detection UAVs;

[0072] In step two, four visual detection UAVs are used to build the accurate rescue area, and one visual detection UAV is in standby state;

[0073] In step three, one host UAV returns to deploy rescue UAVs, and the other host UAV is in continuous rescue information, wherein:

[0074] When the rescue personnel move actively or passively, the rescue personnel break the infrared laser, the visual detection UAV corresponding to the infrared laser starts the camera unit to take a video of the rescue personnel and sends it to the host UAV;

[0075] If the host UAV judges that the rescue personnel move out of the accurate rescue area, the standby visual detection UAV is deployed to continuously track the rescue personnel who have left the accurate rescue area, thereby improving the reliability of rescue;

[0076] If the host UAV judges that the rescue personnel move into the accurate rescue area, the standby visual detection UAV is sent a sleep instruction, which makes the visual detection UAV stop visual search and reduces the energy consumption of the visual detection UAV.

[0077] The above merely describes the preferred embodiments of the present application and is not used to limit the present application, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for unmanned aerial vehicle (UAV) swarms for waterborne reconnaissance, monitoring, and rescue, characterized in that: include Search and rescue operation: After dispatching at least one main drone, four visual detection drones and one surface detection drone to search and collect rescue information, the main drone will return to base. Constructing a rescue zone: Four visual detection drones fly in four different directions within a certain range and record the location of the farthest target to be rescued in each direction, and then send the information to the main drone. The main drone connects the locations of the four targets to be rescued in pairs according to information 1. The intersection of two of the lines is used as the origin. The distance from the origin to the farthest of the four targets to be rescued is L. The initial rescue zone is delineated with a radius of L+X, where X>0. At the same time, the center is delineated with a radius of LY, where LY>0 and Y>0. The area between the outer side of the center and the initial rescue zone is the outer perimeter. Four visual detection drones were evenly distributed on the water surface at the edge of the initial rescue zone. One visual detection drone was located on the line connecting the origin and the target to be rescued at the farthest distance from the origin. This caused one water flow detection drone to move and land in the initial rescue zone or at the origin. The water flow detection drone then sent information on the direction and speed of the water flow to the host drone. Visual detection drones emit infrared lasers to adjacent visual detection drones, controlling the infrared lasers to be 1-3 centimeters above the water surface. All infrared lasers form a precise rescue zone, effectively controlling the rescue target to wait for rescue within the precise rescue zone. After establishing a precise rescue zone, one or more drones monitor the water flow conditions. If the water flow is still, the drone controlling the construction of the precise rescue zone will be anchored on the water surface; If there is water flow, the drone used to construct the precise rescue zone will be suspended on the water surface; Precision rescue: A number of drones, matched with rescue information, are dispatched from individually returning drones to the rescue area to carry out rescue operations; During precise rescue operations: When a target to be rescued crosses the boundary of the precise rescue zone, restart the drone's visual search and determine the target's direction of movement; If the rescue target moves out of the precise rescue zone, at least one of the drones that was not involved in building the precise rescue zone will continue to track the rescue target; If the rescue target moves into the precise rescue area, the drone tracking the target will be put back on standby.

2. The method for unmanned aerial vehicle (UAV) swarm maritime reconnaissance, monitoring, and rescue as described in claim 1, characterized in that, Before precise rescue operations, water flow information is sent to the returning drone; During precise rescue operations, the location of the precise rescue area is predicted based on water flow information, and the shortest flight path for drones is planned.

3. The method for unmanned aerial vehicle (UAV) swarm maritime reconnaissance, monitoring, and rescue as described in claim 1, characterized in that, The precision rescue area is divided into a central part and an outer part. The number of rescue targets in the central part and the outer part are calculated separately, and the number of drones is allocated to the same number of rescue targets in the central part. During the precision rescue operation, drones located on the periphery guided the rescue target toward the center of the precision rescue zone.

4. A drone swarm system applying any one of the rescue methods of claims 1-3, characterized in that, include: At least one host drone: The host drone is used to receive rescue information collected by other drones and send control commands to other drones; Several detection drones: Detection drones are used to receive control commands sent by the host drone and to collect rescue information and send the rescue information back to the host drone; Several rescue drones: Rescue drones receive control commands from the host drone and are used to help the rescue target remain afloat or move.

5. The unmanned aerial vehicle swarm system as described in claim 4, characterized in that, The rescue information includes: the number of targets to be rescued, the location of the targets to be rescued, the direction of movement of the targets to be rescued, and the water flow status.

6. The unmanned aerial vehicle swarm system as described in claim 4, characterized in that, Detection drones include visual detection drones and water flow detection drones; Visual detection drones: used to fly in the air and perform visual searches for targets in water rescue operations; Water flow detection drones: used to measure water flow status information and / or transmit location information; Rescue drones include swimming ring drones and rescue stretcher drones; Swimming ring drones: used to help rescue targets float on the water surface continuously; Rescue stretcher drones: used to assist rescue targets in moving across water.

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