Emergency navigation method and system based on remote sensing and unmanned aerial vehicle

Abstract

The present invention proposes an emergency navigation method based on the combination of remote sensing and drones, which is characterized in that images of the disaster site are obtained through remote sensing images and the images are divided into multiple areas to be detected, and each area to be detected is searched and a passable path is planned by a group of multiple drones, and suspected search and rescue targets are marked to achieve rescue navigation in the disaster area. This application combines satellite remote sensing data with swarm drones, captures overall data through satellite remote sensing, obtains detailed ground information through swarm drones, and preliminarily plans rescue paths and targets to be rescued, thereby improving rescue efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of remote sensing and unmanned aerial vehicle (UAV), and in particular to an emergency navigation method and system based on the combination of remote sensing and unmanned aerial vehicle (UAV). Background Art

[0002] When a major sudden disaster occurs, traffic and signal obstruction may occur in urban areas or some mountainous areas. In general, it is generally believed that the 48 hours after a disaster is the golden time for rescue. Therefore, how to shorten the rescue preparation time is the key to whether the disaster-stricken areas can be rescued efficiently. At present, the human coverage method is generally used for rescue in disaster areas, that is, to dispatch as many rescue forces as possible, organize social rescue forces, and coordinate surrounding enterprises, institutions and government agencies to organize rescue. However, the above-mentioned human rescue takes a long time to organize in the early stage. After arriving at the scene, it still takes a lot of time to allocate the rescue area, how to quickly reach the target area, and how to determine the high-value rescue points. There is still a lot of room for optimization in the rescue timeliness. At present, there is no effective way to guide rescue personnel to arrive at the rescue point and carry out rescue through effective path planning after arriving at the scene. Summary of the invention

[0003] In order to make up for the above-mentioned deficiencies in emergency rescue in terms of rescue paths and rescue targets, this application proposes an emergency navigation method based on remote sensing and drones. Its technical solution includes obtaining images of the disaster site through remote sensing images and dividing the images into multiple areas to be detected, searching each area to be detected through multiple drone groups, planning a passable path, and marking suspected search and rescue targets, so as to achieve rescue navigation in the disaster area;

[0004] The plurality of drone groups are all connected to the communication relay drone signal at high altitude, the communication relay drone is connected to the rear server signal, each of the drone groups includes a command drone at mid-altitude and a plurality of mission drones at low altitude, the command drone is selected from the mission drones;

[0005] The process of the drone group searching each area to be detected and planning a passable path includes: dividing the area to be detected corresponding to the drone cluster into (n-1) sub-areas according to the number n of the group of drones, assigning a task drone to each sub-area to perform image acquisition and search, each task drone plans a potential rescue path for the sub-area according to the image acquisition result of the corresponding sub-area, marking suspected search targets according to the search results, and splicing the potential rescue paths, suspected search results and images of the corresponding areas of multiple sub-areas into a search and rescue planning map of the area to be detected, and splicing multiple search and rescue planning maps into a general search and rescue planning map of the disaster site to achieve rescue navigation in the disaster area.

[0006] The present application also proposes an emergency navigation system based on the combination of remote sensing and unmanned aerial vehicles, and the system adopts the above-mentioned method to perform rescue navigation planning.

[0007] This application combines satellite remote sensing data with swarm drones, captures overall data through satellite remote sensing, obtains detailed ground information through swarm drones, and preliminarily plans rescue routes and targets to be rescued, thereby improving rescue efficiency. At the same time, this application uses high-altitude communication relay drones to maintain contact with the rear in the event of communication obstruction due to damage to ground base stations or lack of power, and dispatches swarm drones at any time according to the current status of the mission drone search, thereby improving mission execution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A schematic diagram of a communication structure of an implementation method of the present invention; DETAILED DESCRIPTION

[0009] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0010] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0011] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0012] In the present application, an emergency navigation method based on remote sensing and drones is applied, characterized in that images of the disaster site are acquired through remote sensing images and the images are divided into a plurality of areas to be detected, and each area to be detected is searched by a plurality of drone groups, and a passable path is planned and suspected search and rescue targets are marked, so as to realize rescue navigation to the disaster area; the plurality of drone groups are all connected to the communication relay drone signal at high altitude, the communication relay drone is connected to the rear server signal, each of the drone groups includes a command drone located in the middle altitude and a plurality of mission drones located in the low altitude, the command drone is selected from the mission drones; the drone group performs rescue operations on each area to be detected. The process of searching the detection area and planning a passable path includes: dividing the detection area corresponding to the drone cluster into (n-1) sub-areas according to the number of drones in the group n, assigning a task drone to each sub-area for image acquisition and search, each task drone plans a potential rescue path for the sub-area according to the image acquisition results of the corresponding sub-area, marking suspected search targets according to the search results, and splicing the potential rescue paths, suspected search results and images of the corresponding areas of multiple sub-areas to form a search and rescue planning map of the detection area, and splicing multiple search and rescue planning maps to form a general search and rescue planning map of the disaster site, so as to realize rescue navigation of the disaster area. In this embodiment, the task drone and the command drone are the same type of drones. After arriving at the detection area, the communication relay drone designates a certain task drone as the command drone according to the distribution of drones, the position of the communication relay drone, the on-site status of the detection area, the estimated execution time of each task drone and the altitude of the drone. When selecting the command drone, it is generally referred to whether the task drone first arrives at the detection area, whether it is at the highest position, and whether the overall image of the detection area has been taken. If the above conditions are met or the mission drone is the closest to being met, then the mission drone is designated as the command drone, and the designated instruction is sent to the mission drone, and the designated ciphertext is sent to the other mission drones in the group. The mission drone generates the command ciphertext according to the designated instruction, and the other mission drones in the group generate the verification ciphertext according to the designated ciphertext and send it to the designated mission drone. The mission drone verifies the verification ciphertext according to the command ciphertext and sends the verification result to the other mission drones in the group after passing it, so as to determine the number of drones in the group and the command range, and send each sub-region image and detection instruction to the mission drone closest to the area. The mission drones of this application all have the function of communicating with the communication relay drone, but in order to facilitate the overall scheduling, generally only the command drone and the communication relay drone maintain the communication state. When the mission drone needs to communicate directly with the communication relay drone, it needs to send a direct connection request to the communication relay drone first, and can communicate only after the communication link is allocated, so as to facilitate the communication relay drone to maintain smooth communication with multiple command drones, facilitate stable communication in complex environments, and facilitate the effective use of resources when the communication bandwidth and port resources are limited.

[0013] This embodiment uses swarm drones as detection and search and rescue units, and combined with remote sensing images, it can obtain detailed images of the area to be rescued and plan potential rescue routes and target points to be rescued in the shortest time after the disaster occurs, saving rescue time and improving search and rescue efficiency. At the same time, the mission drones of this embodiment can carry some rescue supplies, such as medicines, equipment, food, bottled water, etc., to deliver to suspected rescue targets according to mission needs, thereby improving the self-rescue and survival capabilities of suspected rescue targets.

[0014] On the basis of one or more of the above embodiments, further, the command drone can also transfer command authority according to the instructions of the rear server, and the command authority transfer process includes: taking the drone with the smallest task weight as the priority transfer target, and arranging the task weights of the tasks performed by the task drones in order from small to large to establish a command authority transfer queue; after the command drone receives the authority transfer instruction, according to the transfer queue, a verification instruction is issued to the task drone a to be transferred authority and a command authority pre-transfer instruction is issued to other drones in the group, and the pre-transfer instruction contains a first key; after receiving the verification instruction, the task drone a broadcasts the verification instruction to other task drones in the group The first ciphertext, after receiving the first ciphertext, other task drones in the group generate a first response message and send it to the task drone a and the command drone; the task drone a generates verification information according to the first response information and the sender of the response information and sends the verification information to the command drone, the command drone determines whether the task drone a has established an effective connection with other task drones according to the first response information and the verification information, if so, sends a command authority transfer instruction to transfer the command authority to the task drone a, if not, it is determined that the task drone a does not have the command conditions and selects the next drone according to the command authority transfer queue to repeat the above verification steps. This embodiment fully considers the complex environment and occlusion of the rescue site, and at the same time uses the command drone as a backup task machine. In an emergency, the command drone with a relatively high altitude can quickly arrive at the emergency site for processing after handing over the command authority. In this embodiment, the authority transfer process is verified by multiple communications and multiple ciphertexts to avoid external interference and avoid cross-talk with other groups of drones. At the same time, laser communication can be used in the verification process of this application to improve the security and directionality of information transmission.

[0015] Based on one or more of the above embodiments, further, the communication relay UAV is a fixed-wing UAV, and the mission UAV is a rotary-wing UAV.

[0016] Based on one or more of the above embodiments, the mission drone is further provided with an infrared image acquisition module and a visible light image acquisition module, respectively, to plan potential rescue paths and mark suspected search targets based on infrared images and visible light images. In this embodiment, infrared images can effectively display the location information of living things such as human bodies, and visible light images can effectively display the difficulty of on-site rescue and improve the efficiency of path planning.

[0017] On the basis of one or more of the above embodiments, further, when the mission drone loses contact with the command drone, the mission drone sends interactive signals and disconnection questions and answers to the adjacent mission drones. If an interactive response is received and the responding mission drone is also in a disconnected state with the command drone, it is counted whether the number of lost mission drones exceeds one-third. If it exceeds one-third, a request to re-designate the command drone is sent to the command relay drone; if the number of lost mission drones does not exceed one-third or no response is received, the mission drone rises to search for the command drone signal again. In this embodiment, since the command drone is relatively high, it is easy to be affected by external interference or wind and lose contact. At the same time, some mission drones are also easy to lose contact with the command drone in a rugged environment. Therefore, the use of this embodiment can improve the online capability of the mission drone and avoid the loss of mission drones.

[0018] Based on one or more of the above embodiments, further, the process of re-designating a command drone when more than one-third of the mission drones are lost includes: the lost mission drone sends a request to re-designate a command drone and the mission weight of the drone to the command relay drone, and the command relay drone designates the drone with the lowest mission weight as the command drone according to the mission weight; or, the command relay drone incorporates the batch of lost drones into the command range of the adjacent command drones according to the situation of the adjacent mission drone groups. This embodiment further improves the online capability of the mission drone based on the previous embodiment.

[0019] On the basis of one or more of the above embodiments, further, when the command drone loses contact with a certain mission drone, it sends an inquiry command to the mission drones adjacent to the mission drone. If the mission drones adjacent to the mission drone do not receive the interactive signal of the mission drone, the command drone marks the lost mission drone as lost. If the interactive signal of the mission drone is received, the command drone marks the lost mission drone as temporarily offline. In this embodiment, in order to improve the autonomous capability of the entire group of drones, the command drone can verify the status of the mission drone through the technical solution of this embodiment, improve the control capability of the entire group of drones, and avoid being impersonated or mixed into the group of drones by external drones.

[0020] Based on one or more of the above embodiments, further, when the lost mission drone is marked as lost, the command drone determines whether the lost mission drone has completed the mission based on the communication content with the non-lost mission drone. If not, it dispatches other mission drones to perform the mission of the lost mission drone; if yes, it marks the mission of the lost mission drone as completed. In this embodiment, even after some mission drones are lost, the command drone can still ensure the completion of the mission within the effective dispatch range.

[0021] An emergency navigation system based on the combination of remote sensing and unmanned aerial vehicles, the system adopts the method described in any one of the above embodiments to carry out rescue navigation planning.

[0022] This application combines satellite remote sensing data with swarm drones, captures overall data through satellite remote sensing, obtains detailed ground information through swarm drones, and preliminarily plans rescue routes and targets to be rescued, thereby improving rescue efficiency. At the same time, this application uses high-altitude communication relay drones to maintain contact with the rear in the event of communication obstruction due to damage to ground base stations or lack of power, and dispatches swarm drones at any time according to the current status of the mission drone search, thereby improving mission execution efficiency.

[0023] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. An emergency navigation method based on remote sensing and unmanned aerial vehicle, characterized in that: The disaster site is acquired through remote sensing images and divided into multiple areas to be detected. Multiple drone groups are used to search each area to be detected, plan traversable paths, and mark suspected search and rescue targets to achieve rescue navigation in the disaster area. The plurality of drone groups are all connected to the communication relay drone signal at high altitude, and the communication relay drone is connected to the rear server signal, and each of the drone groups includes a command drone located in the middle altitude and a plurality of task drones located in the low altitude, and the command drone is selected from the drone group; Each drone group corresponds to a drone group. The drone group searches each area to be detected and plans a passable path. The process includes: dividing the area to be detected corresponding to the drone group into (n-1) sub-areas according to the number of drones in the drone group n, assigning task drones to each sub-area to collect images and search, each task drone plans a potential rescue path for the sub-area according to the image collection result of the corresponding sub-area, marking suspected search targets according to the search results, combining the potential rescue paths of multiple sub-areas, suspected search results and images of the corresponding areas to form a search and rescue planning map of the area to be detected, and combining multiple search and rescue planning maps to form a general search and rescue planning map of the disaster site, so as to realize rescue navigation for the disaster area; The commanding drone can also transfer the command authority according to the rear server instruction, and the command authority transfer process includes: The UAV with the smallest mission weight is selected as the priority transfer target, and the command authority transfer queue is established according to the mission weights of the mission UAVs from small to large. After the command drone receives the authority transfer instruction, it sends a verification instruction to the task drone a to transfer authority according to the transfer queue and sends a command authority pre-transfer instruction to other drones in the drone group, wherein the pre-transfer instruction includes the first key; After receiving the verification instruction, the task drone a broadcasts the first ciphertext to other task drones in the drone group according to the verification instruction. After receiving the first ciphertext, other task drones in the drone group generate a first response message and send it to the task drone a and the command drone; The task drone a generates verification information according to the first response information and the sender of the response information and sends the verification information to the command drone. The command drone determines whether the task drone a has established a valid connection with other task drones according to the first response information and the verification information. If so, it sends a command authority transfer instruction to transfer the command authority to the task drone a. If not, it determines that the task drone a does not meet the command conditions and selects the next drone according to the command authority transfer queue to repeat the above verification steps. When a mission drone loses contact with the command drone, the mission drone sends interactive signals and loss of connection questions and answers to adjacent mission drones. If an interactive response is received and the responding mission drone is also in a state of loss of connection with the command drone, it will count whether the number of lost mission drones exceeds one-third. If so, a request to re-designate the command drone will be sent to the command relay drone; if the number of lost mission drones does not exceed one-third or no response is received, the mission drone will rise in altitude to search for the command drone signal again.

2. The emergency navigation method based on remote sensing and unmanned aerial vehicle combination according to claim 1 is characterized in that: The communication relay UAV is a fixed-wing UAV, and the mission UAV is a rotary-wing UAV.

3. The emergency navigation method based on remote sensing and unmanned aerial vehicle combination according to claim 1 is characterized in that: The mission drone is respectively provided with an infrared image acquisition module and a visible light image acquisition module, which respectively plan potential rescue paths and mark suspected search targets based on the infrared images and the visible light images.

4. The emergency navigation method based on remote sensing and unmanned aerial vehicle combination according to claim 1 is characterized in that: The process of re-designating a command drone when more than one-third of the mission drones are out of contact includes: the lost mission drone sends a request for re-designating a command drone and its own mission weight to the command relay drone, and the command relay drone designates the drone with the lowest mission weight as the command drone based on the mission weight; or, The command relay drone will incorporate the lost drone into the command range of the adjacent command drone based on the situation of the adjacent mission drone group.

5. The emergency navigation method based on remote sensing and unmanned aerial vehicle combination according to claim 1 is characterized in that: When the command drone loses contact with a mission drone, it sends an inquiry command to the mission drones adjacent to the mission drone. If the mission drones adjacent to the mission drone do not receive the interactive signal of the mission drone, the command drone marks the lost mission drone as lost. If the command drone receives the interactive signal of the mission drone, the command drone marks the lost mission drone as temporarily offline.

6. The emergency navigation method based on remote sensing and unmanned aerial vehicle combination according to claim 5 is characterized in that: When the lost mission drone is marked as lost, the command drone determines whether the lost mission drone has completed the mission based on the communication content with the lost mission drone. If not, other mission drones are dispatched to perform the mission of the lost mission drone; if so, the lost mission drone is marked as completed.

7. An emergency navigation system based on remote sensing and unmanned aerial vehicles, characterized in that: The system adopts the method described in any one of claims 1 to 6 to perform rescue navigation planning.

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