Cluster cooperation method and device of search and rescue unmanned aerial vehicle and search and rescue unmanned aerial vehicle system

Abstract

The invention relates to a cluster cooperation method and device for search and rescue unmanned aerial vehicles and a search and rescue unmanned aerial vehicle system. The method comprises the following steps: sending preset search and rescue information to a plurality of unmanned aerial vehicles; wherein the search and rescue information comprises a search and rescue area and a search and rescue target; acquiring a search and rescue result obtained by the unmanned aerial vehicle based on the search and rescue information Screening out a target result from the search and rescue results; wherein the target result is a search and rescue result of the search and rescue target; and respectively sending the target results to the plurality of unmanned aerial vehicles. The preset search and rescue information is sent to the multiple unmanned aerial vehicles, so that the unmanned aerial vehicles obtain the search and rescue results based on the search and rescue information, the multiple unmanned aerial vehicles can be controlled at the same time, and the control efficiency is improved. And under the condition that the search and rescue target exists in the search and rescue result, the search and rescue result is sent to the multiple unmanned aerial vehicles, so that data sharing among the multiple unmanned aerial vehicles is completed, repeated search of the unmanned aerial vehicles is avoided, and the search and rescue efficiency of the unmanned aerial vehicles is improved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a cluster collaboration method and device for search and rescue drones and a search and rescue drone system. Background Art

[0002] Unmanned aircraft, referred to as "drones", are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices. Drones can be divided into unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned paragliders, etc. As an efficient and flexible flying tool, drones have extremely wide application scenarios, covering military, civil, commercial and other fields. In related technologies, drones can provide aerial search and monitoring functions, providing important support for search and rescue missions. However, in traditional technologies, search and rescue drones only communicate with corresponding remote control devices, which makes it difficult to share data between multiple search and rescue drones, and the search and rescue efficiency is low. Summary of the invention

[0003] Based on this, it is necessary to provide a cluster collaboration method, device and search and rescue drone system for search and rescue drones that can improve search and rescue efficiency in response to the above technical problems.

[0004] In the first aspect, the present application provides a cluster collaboration method for search and rescue drones, which is applied to a search and rescue drone system, wherein the search and rescue drone system includes multiple drones and an upper-level monitoring terminal, and each of the drones is communicatively connected to the upper-level monitoring terminal. The method includes: sending preset search and rescue information to the multiple drones respectively; wherein the search and rescue information includes: a search and rescue area and a search and rescue target; obtaining the search and rescue results obtained by the drones based on the search and rescue information; filtering out target results from the search and rescue results; wherein the target result is the search and rescue result in which the search and rescue target exists; and sending the target result to the multiple drones respectively.

[0005] In one of the embodiments, after the step of sending the target result to multiple drones respectively, the method also includes: determining a non-rescue drone group based on the target result; wherein the non-rescue drone group includes the drones that have not output the target result; controlling the drones in the non-rescue drone group to move to a target area; wherein the target area is the search and rescue area corresponding to the target result.

[0006] In one of the embodiments, after the step of determining the non-rescue drone group based on the target result, the method further includes: controlling the drones in the non-rescue drone group to land.

[0007] In one of the embodiments, the method further includes: collecting regional information based on the search and rescue area; wherein the regional information includes: regional environment information and regional image information; and sending the regional information to the upper-level monitoring terminal.

[0008] In one of the embodiments, the step of sending the area information to the upper-level monitoring terminal includes: compressing the area information to obtain a plurality of compressed packages; and sending the plurality of compressed packages to the upper-level monitoring terminal in sequence.

[0009] In one of the embodiments, after the step of collecting area information based on the search and rescue area, the method further includes: performing image recognition based on the area image information to obtain a recognition result; when it is determined that the recognition result includes the search and rescue target, using the recognition result as the search and rescue result.

[0010] In the second aspect, the present application also provides a cluster collaboration device for search and rescue drones, which is applied to a search and rescue drone system, wherein the search and rescue drone system includes multiple drones and an upper-level monitoring terminal, each of the drones is communicatively connected to the upper-level monitoring terminal, and the device includes: a search and rescue information sending module, used to send preset search and rescue information to the multiple drones respectively; wherein the search and rescue information includes: a search and rescue area and a search and rescue target; a search and rescue result acquisition module, used to obtain the search and rescue results obtained by the drone based on the search and rescue information; a search and rescue result screening module, used to screen out target results from the search and rescue results; wherein the target result is the search and rescue result in which the search and rescue target exists; a search and rescue result sending module, used to send the target result to the multiple drones respectively.

[0011] In a third aspect, the present application further provides a search and rescue drone system, comprising a plurality of drones and a host monitoring terminal, each of the drones being wirelessly connected to the host monitoring terminal, and the search and rescue drone system being used to execute the steps of the search and rescue drone cluster collaboration method described in the first aspect embodiment.

[0012] In one embodiment, each of the drones includes: a drone body and a remote controller, and the drone body and the remote controller are wirelessly connected.

[0013] In one embodiment, the remote controller includes a display screen, and the display screen is used to display image information.

[0014] The above-mentioned search and rescue drone cluster collaboration method, device and search and rescue drone system send preset search and rescue information to multiple drones respectively, so that the drones can obtain search and rescue results based on the search and rescue information, which is convenient for controlling multiple drones at the same time and improves the control efficiency. Then, when it is determined that there is a search and rescue target in the search and rescue result, the search and rescue result is sent to multiple drones respectively, so that the data between the multiple drones is shared, avoiding repeated searches by drones, and improving the search and rescue efficiency of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG1 is a schematic diagram of a drone system according to an embodiment;

[0016] FIG2 is a schematic diagram of a flow chart of a cluster collaboration method for search and rescue drones in one embodiment;

[0017] FIG3 is a schematic flow chart of a cluster collaboration method for search and rescue drones in another embodiment;

[0018] FIG4 is a schematic flow chart of a cluster collaboration method for search and rescue drones in yet another embodiment;

[0019] FIG5 is a schematic diagram of a process for collecting regional information in one embodiment;

[0020] FIG6 is a schematic diagram of a process of sending area information in one embodiment;

[0021] FIG7 is a schematic diagram of a process for determining a search and rescue result in one embodiment;

[0022] FIG8 is a module diagram of a cluster collaboration device for search and rescue drones in one embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] The cluster collaboration method of search and rescue drones provided in the embodiment of the present application can be applied to the search and rescue drone system as shown in Figure 1. The search and rescue drone system includes multiple drones (such as drone 1, drone 2, drone 3, ..., drone N) and an upper monitoring terminal, and each drone is connected to the upper monitoring terminal. The upper monitoring terminal is the control center of multiple drones, which can have functions such as data processing and analysis, command and dispatch, information display and interaction. The upper monitoring terminal can communicate with multiple drones in real time through radio wave communication, satellite communication, network communication technology, etc.

[0025] In one embodiment, as shown in FIG2 , a cluster collaboration method for search and rescue drones is provided, and the method is applied to the upper monitoring end in FIG1 as an example for explanation, including the following steps:

[0026] Step S110, sending preset search and rescue information to multiple drones respectively.

[0027] Specifically, the search and rescue personnel can input or set the search and rescue information through the user interaction interface set in the upper monitoring terminal. After the upper monitoring terminal obtains the corresponding search and rescue information, it will send the preset search and rescue information to multiple drones respectively. The search and rescue information includes: search and rescue area and search and rescue target. The search and rescue area can be a specific latitude and longitude range, or it can be a polygonal area selected on the map. Each drone has a search and rescue area corresponding to it, and the search and rescue areas of multiple drones can overlap or not overlap, which can be set according to specific search and rescue needs. The search and rescue target is a specific object that needs to be searched and rescued, such as a missing person, missing livestock, trapped vehicles, specific items, abnormal areas, etc., which have different feature types. According to the search and rescue target, the target type that the drone needs to search and rescue can be determined. The type of search and rescue target can be one or more, and the search and rescue target sent by the upper monitoring terminal to each drone is the same.

[0028] Step S120, obtaining the search and rescue results obtained by the drone based on the search and rescue information.

[0029] Specifically, the upper monitoring end sends the search and rescue information to multiple drones through a wireless communication network. After receiving the search and rescue information, the drone will start to perform the search and rescue mission according to the preset algorithm and sensor data. When performing the search and rescue mission, the drone can use its own sensors (such as high-definition cameras, infrared thermal imagers, radars, etc.) to scan and monitor the search and rescue area. Through image recognition, data analysis, etc., the drone can identify potential search and rescue targets and return relevant information (such as the target's image, location coordinates, feature description, etc.) as search and rescue results to the upper monitoring end. When the drone identifies a potential search and rescue target during the search and rescue mission, it will send the corresponding search and rescue results to the upper monitoring end. It can be understood that in this case, the search and rescue results sent by the drone obtained by the upper monitoring end are all search and rescue results automatically identified by the drone, which may contain the correct search and rescue target or not.

[0030] Step S130, filtering out target results from the search and rescue results.

[0031] Specifically, after receiving the search and rescue results sent by the drone, the upper monitoring end will conduct further analysis and judgment. The analysis and judgment can be performed through a more accurate recognition model or manually. If it is determined that there is a search and rescue target in the current search and rescue result, that is, the identified target matches the preset search and rescue target, the upper monitoring end will use it as the target result. If it is determined that there is no search and rescue target in the current search and rescue result, it means that the search and rescue result automatically identified by the drone is incorrect, and the corresponding search result is ignored. It can be understood that the target result may include search and rescue results sent by one or more drones.

[0032] Step S140, sending the target results to multiple drones respectively.

[0033] Specifically, after the upper monitoring end screens out the target results, the search and rescue results for the search and rescue targets can be determined. At this time, the upper monitoring end sends the target results to multiple drones respectively. After multiple drones obtain the search and rescue results for the search and rescue targets, they can collaborate to carry out further search and rescue operations based on the information in the search and rescue results, such as photographing the target from different angles, conducting reconnaissance around the target, and delivering rescue supplies. By sharing the search and rescue results, multiple drones can understand each other's search and rescue progress and avoid repeated searches or missing targets. For the identified search and rescue targets, drones can continue to monitor to ensure their safety or wait for further rescue operations.

[0034] The above-mentioned search and rescue drone cluster collaboration method sends preset search and rescue information to multiple drones respectively, so that the drones can obtain search and rescue results based on the search and rescue information, which is convenient for controlling multiple drones at the same time and improves the control efficiency. Then, when it is determined that there is a search and rescue target in the search and rescue result, the search and rescue result is sent to multiple drones respectively, so that the data between multiple drones is shared, avoiding repeated searches by drones, and improving the search and rescue efficiency of drones.

[0035] In one embodiment, as shown in FIG. 3 , in step S140, after the step of sending the target results to the multiple drones respectively, the cluster collaboration method of the search and rescue drones further includes:

[0036] Step S150, determining the unrescued drone group based on the target result.

[0037] Specifically, in this embodiment, after the upper-level monitoring end sends the target results to multiple drones respectively, it determines the drone that sends the target results based on the screened target results. The drone that sends the target result is the drone that has searched and rescued the search and rescue target. At this time, other drones that have not output the target results are drones that have not searched and rescued the search and rescue target, and they are included in the non-rescued drone group.

[0038] Step S160, controlling the drones in the non-search and rescue drone group to move to the target area.

[0039] Specifically, after the upper monitoring end determines the unrescue drone group, it will send control instructions to these drones to control them to move to the search and rescue area corresponding to the target result, that is, the target area. Through this setting, all drones can be moved to the target area to assist in the rescue of the search and rescue target.

[0040] In one embodiment, as shown in FIG. 4 , in step S150, after the step of determining the un-searched and rescued drone group based on the target result, the cluster collaboration method of the search and rescue drones further includes:

[0041] Step S170, controlling the drones in the non-search and rescue drone group to land.

[0042] Specifically, in this embodiment, after the upper monitoring end determines that there is no rescue drone group, it means that the rescue target has been found and the rescue mission has been completed. At this time, the upper monitoring end will send a landing control command to these drones to control them to land. It can be understood that when controlling the drone to land, the drone can be controlled to land on the spot or to return, which can be set according to the specific usage scenario.

[0043] In one embodiment, as shown in FIG5 , a cluster collaboration method for search and rescue drones is also provided, which is described by taking the method applied to the drone in FIG1 as an example, and includes the following steps:

[0044] Step S210, collecting area information based on the search and rescue area.

[0045] Specifically, in this embodiment, after the drone obtains the search and rescue information including the search and rescue area and the search and rescue target, it moves to the corresponding area according to the pre-set search and rescue area to collect the regional information in the corresponding area, and the regional information includes: regional environmental information and regional image information. When collecting regional environmental information, the drone collects all-round environmental information of the search and rescue area by using its own sensors (such as radar, infrared sensor, laser radar, humidity sensor, etc.). These sensors can perceive the terrain, obstacles, weather conditions and other environmental information of the area in real time to determine the environmental conditions of the search and rescue area. When collecting regional image information, the drone is equipped with a high-definition camera or other image acquisition equipment to take images of the search and rescue area, thereby obtaining detailed regional image information. The regional image information can assist in identifying trapped persons, vehicles or other search and rescue targets, and can also provide an intuitive basis for subsequent search and rescue decisions.

[0046] Step S220, sending the area information to the upper monitoring terminal.

[0047] Specifically, after collecting regional environmental information and regional image information, the drone will send this information to the upper-level monitoring end in real time through the wireless communication network. After receiving this information, the upper-level monitoring end will conduct comprehensive analysis and processing, including target identification, location positioning, risk assessment, etc., in order to formulate a more accurate search and rescue plan.

[0048] In one embodiment, as shown in FIG. 6 , in step S220, the step of sending the area information to the upper monitoring terminal includes:

[0049] Step S221, compressing the area information to obtain multiple compressed packages.

[0050] Specifically, in this embodiment, when the drone sends the regional information to the upper monitoring end, it will first integrate the regional information including the regional environment information and the regional image information, which includes high-definition images, radar scanning data, infrared thermal imaging data, etc. Since the amount of original data may be very large, direct transmission will take up a lot of bandwidth and time. Therefore, it is necessary to compress these data. Data compression can use a variety of algorithms, such as JPEG (for images), ZIP or other data compression technologies to reduce the amount of data while trying to maintain the validity and integrity of the data. The compressed data is then divided into multiple compressed packages according to certain rules (such as file size, type, etc.), which facilitates the transmission and management of data and reduces the error rate during the transmission process.

[0051] Step S222, sending multiple compressed packages to the upper monitoring end in sequence.

[0052] Specifically, after obtaining multiple compressed packages, the drone sends the generated multiple compressed packages to the upper monitoring end in sequence through the wireless communication link. It is understandable that during the sending process, priority can be sorted according to the communication status and data importance to ensure that key data can be transmitted first. For example, when transmitting multimedia data, through this streaming transmission technology, the drone can transmit data to the upper monitoring end continuously and in real time. After the upper monitoring end obtains a certain number of compressed packages, it can watch them, which can greatly shorten the waiting time for the upper monitoring end to play, greatly shorten the startup delay, and greatly reduce the demand for system cache capacity.

[0053] In one embodiment, as shown in FIG. 7 , in step S210, after the step of collecting area information based on the search and rescue area, the cluster collaboration method of the search and rescue drones further includes:

[0054] Step S230: performing image recognition based on the regional image information to obtain a recognition result.

[0055] Specifically, after the drone in this embodiment collects the regional information including the regional environment information and the regional image information, it will perform image recognition according to the regional image information to obtain the recognition result. In the process of performing image recognition on the regional image information, the image recognition result is extracted from the image through steps such as image preprocessing, feature extraction, and recognition algorithm processing to obtain the recognition result. It can be understood that the recognition result includes the target obtained by image recognition, such as animals, vehicles, trees, mountains, human bodies, etc.

[0056] Step S240: When it is determined that the recognition result includes the search and rescue target, the recognition result is used as the search and rescue result.

[0057] Specifically, when the drone outputs the corresponding recognition result based on the regional image information, it determines whether the recognition result includes the search and rescue target based on the characteristics of the preset search and rescue target. When it is determined that the recognition result includes the search and rescue target, it means that the current regional image information includes the search and rescue target. Therefore, the recognition result obtained after the image recognition is used as the search and rescue result, and then the search and rescue result is sent to the upper monitoring end. It can be understood that the search and rescue results sent by the drone are all search and rescue results obtained by the drone's automatic recognition. There may be a correct search and rescue target, or there may not be a correct search and rescue target. After sending it to the upper monitoring end, the upper monitoring end will conduct further analysis and judgment.

[0058] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0059] Based on the same inventive concept, the embodiment of the present application also provides a search and rescue drone cluster collaboration device for implementing the search and rescue drone cluster collaboration method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the cluster collaboration device of one or more search and rescue drones provided below can refer to the limitations of the search and rescue drone cluster collaboration method above, and will not be repeated here.

[0060] In one embodiment, as shown in FIG8 , a cluster cooperation device of a search and rescue UAV is provided, which is applied to the search and rescue UAV system in the above embodiment. The cluster cooperation device of the search and rescue UAV includes: a search and rescue information sending module 310, a search and rescue result acquisition module 320, a search and rescue result screening module 330 and a search and rescue result sending module 340, wherein:

[0061] The search and rescue information sending module 310 is used to send preset search and rescue information to the plurality of drones respectively; wherein the search and rescue information includes: a search and rescue area and a search and rescue target;

[0062] A search and rescue result acquisition module 320, used to acquire the search and rescue result obtained by the drone based on the search and rescue information;

[0063] The search and rescue result screening module 330 is used to screen out target results from the search and rescue results; wherein the target results are the search and rescue results in which the search and rescue target exists;

[0064] The search and rescue result sending module 340 is used to send the target result to the multiple drones respectively.

[0065] In one embodiment, the cluster collaboration device of the search and rescue drone further includes:

[0066] A drone classification module is used to determine a non-search and rescue drone group based on the target result; wherein the non-search and rescue drone group includes drones that do not output the target result;

[0067] The drone control module is used to control the drones in the non-search and rescue drone group to move to the target area; wherein the target area is the search and rescue area corresponding to the target result.

[0068] In one embodiment, the drone control module is also used to control the landing of drones in the non-search and rescue drone group.

[0069] In one embodiment, the cluster collaboration device of the search and rescue drone further includes:

[0070] A regional information collection module is used to collect regional information based on the search and rescue area; wherein the regional information includes: regional environment information and regional image information;

[0071] The area information sending module is used to send the area information to the upper monitoring end.

[0072] In one embodiment, the area information sending module is further used to compress the area information to obtain multiple compressed packages; and send the multiple compressed packages to the upper monitoring terminal in sequence.

[0073] In one embodiment, the cluster collaboration device of the search and rescue drone further includes:

[0074] An image recognition module is used to perform image recognition based on regional image information to obtain a recognition result;

[0075] The search and rescue result determination module is used to use the recognition result as the search and rescue result when it is determined that the recognition result includes the search and rescue target.

[0076] Each module in the above-mentioned search and rescue drone cluster cooperation device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0077] In one embodiment, as shown in FIG1 , the present application also proposes a search and rescue drone system, including multiple drones and a host monitoring terminal, each drone is wirelessly connected to the host monitoring terminal, and the search and rescue drone system is used to execute the steps of the cluster collaboration method of the search and rescue drone in the above embodiment. The search and rescue drone system of the present application sends preset search and rescue information to multiple drones respectively, so that the drones can obtain search and rescue results based on the search and rescue information, which is convenient for controlling multiple drones at the same time and improves the control efficiency. Then, when it is determined that there is a search and rescue target in the search and rescue result, the search and rescue result is sent to multiple drones respectively, so that the data between the multiple drones can be shared, avoiding repeated searches by drones, and improving the search and rescue efficiency of drones.

[0078] In one embodiment, each drone includes: a drone body and a remote controller, and the drone body and the remote controller are wirelessly connected. Specifically, the drone in this embodiment includes a drone body that actually flies and a remote controller for controlling the drone body. The drone body includes: sensors, cameras, power systems, control systems and other components, which enable the drone to perform autonomous flight, data collection, target identification and other tasks in the search and rescue area. The remote controller is wirelessly connected to the drone body to enable the operator to remotely control the drone body. In some embodiments, the upper monitoring end is wirelessly connected to the drone body and / or the remote controller. When the upper monitoring end transmits data to the drone, it can be carried out simultaneously with the drone body and the remote controller, or it can communicate with the drone body after being relayed by the remote controller, or it can only communicate with the drone body or the remote controller, which can be set according to specific data transmission needs.

[0079] In one embodiment, the remote controller includes a display screen, and the display screen is used to display image information. Specifically, the remote controller of this embodiment is provided with a display screen, and the display screen can display corresponding image information according to data obtained from the drone body or the upper monitoring terminal, so as to assist the operator in controlling the drone.

[0080] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0081] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A cluster collaboration method for search and rescue drones, characterized in that: Applied in a search and rescue drone system, the search and rescue drone system includes a plurality of drones and a host monitoring terminal, each of the drones is communicatively connected to the host monitoring terminal, and the method includes: Sending preset search and rescue information to the plurality of drones respectively; wherein the search and rescue information includes: a search and rescue area and a search and rescue target; Obtaining a search and rescue result obtained by the drone based on the search and rescue information; Filtering out a target result from the search and rescue results; wherein the target result is the search and rescue result in which the search and rescue target exists; The target results are sent to the multiple drones respectively.

2. The swarm collaboration method of search and rescue drones according to claim 1, characterized in that: After the step of sending the target results to the plurality of drones respectively, the method further comprises: Determine a non-search and rescue drone group based on the target result; wherein the non-search and rescue drone group includes the drone that did not output the target result; Control the drones in the non-search and rescue drone group to move to a target area; wherein the target area is the search and rescue area corresponding to the target result.

3. The swarm collaboration method of search and rescue drones according to claim 2, characterized in that: After the step of determining the un-searched and rescued drone group based on the target result, the method further includes: Control the drones in the non-search and rescue drone group to land.

4. The swarm collaboration method of search and rescue drones according to claim 1, characterized in that: The method further comprises: Collecting regional information based on the search and rescue area; wherein the regional information includes: regional environment information and regional image information; The area information is sent to the upper monitoring terminal.

5. The swarm collaboration method of search and rescue drones according to claim 4, characterized in that: The step of sending the area information to the upper monitoring terminal includes: Compressing the regional information to obtain multiple compressed packages; The plurality of compressed packets are sent to the upper monitoring end in sequence.

6. The swarm collaboration method of search and rescue drones according to claim 4, characterized in that: After the step of collecting area information based on the search and rescue area, the method further includes: Perform image recognition based on the regional image information to obtain a recognition result; When it is determined that the recognition result includes the search and rescue target, the recognition result is used as the search and rescue result.

7. A cluster collaboration device for search and rescue drones, characterized in that: Applied in a search and rescue drone system, the search and rescue drone system includes a plurality of drones and an upper monitoring terminal, each of the drones is communicatively connected to the upper monitoring terminal, and the device includes: A search and rescue information sending module, used to send preset search and rescue information to the plurality of drones respectively; wherein the search and rescue information includes: a search and rescue area and a search and rescue target; A search and rescue result acquisition module, used to obtain the search and rescue result obtained by the drone based on the search and rescue information; A search and rescue result screening module, used to screen out target results from the search and rescue results; wherein the target result is the search and rescue result in which the search and rescue target exists; The search and rescue result sending module is used to send the target result to the multiple drones respectively.

8. A search and rescue drone system, characterized in that: The system comprises a plurality of drones and a host monitoring terminal, each of the drones being wirelessly connected to the host monitoring terminal, and the search and rescue drone system being used to execute the steps of the cluster collaboration method of search and rescue drones described in any one of claims 1 to 6.

9. The search and rescue drone system according to claim 8, characterized in that: Each of the drones comprises a drone body and a remote controller, and the drone body and the remote controller are wirelessly connected.

10. The search and rescue drone system according to claim 9, characterized in that: The remote controller comprises a display screen, and the display screen is used to display image information.

Images