Intelligent safety system and method based on operation guiding and monitoring of double unmanned aerial vehicles

Abstract

The invention relates to the field of safety monitoring, in particular to an intelligent safety system and method based on operation guiding and monitoring of double unmanned aerial vehicles. The system comprises a front guiding unmanned aerial vehicle which is used for guiding an operator to go to next to-be-operated equipment according to preset operation steps and guiding the operator to follow by using a visual or sound signal; and the rear monitoring unmanned aerial vehicle is used for keeping a certain distance behind the operator, monitoring the position and behavior of the operator in real time, and triggering an alarm mechanism when the operator exceeds a preset guide range. According to the invention, the operator is guided to go to the next to-be-operated device through the front guiding unmanned aerial vehicle, the operator is guided to follow, the time waste of the operator for searching the target device is effectively reduced, and the working efficiency is improved. In addition, the real-time monitoring function of the rear monitoring unmanned aerial vehicle ensures that the operator is always on a safe and correct path, and extra time and resource consumption caused by deviation from a predetermined path is reduced.

Description

Technical Field

[0001] The present invention relates to the field of security monitoring, and in particular to an intelligent security system and method based on dual-unmanned aerial vehicle operation guidance and monitoring. Background Art

[0002] In the field of modern industry and security monitoring, the application of drone technology is becoming more and more extensive, especially in operation guidance and monitoring. With the development of industrial automation and intelligence, operators often need to perform tasks in complex or vast environments, such as equipment maintenance, inspection or emergency response. Traditional guidance methods rely on ground markings or manual guidance, which are not only inefficient but also may pose safety hazards in some cases. For example, in conditions of low visibility or complex environment, it may be difficult for operators to accurately identify ground markings, or manual guidance may cause operators to mistakenly enter dangerous areas due to poor communication or incorrect guidance. In addition, it is also necessary to monitor the behavior of operators to ensure safety, but without the support of effective technical means, real-time monitoring and rapid response to potential safety issues become extremely challenging.

[0003] In this field, some technologies have attempted to solve the above problems. For example, patent CN111857178A describes a drone system for safety inspections at construction sites. The system includes a drone and an output terminal system. The drone is equipped with multiple modules, such as a flight monitoring module, an obstacle avoidance monitoring module, a GPS module, etc., to monitor the construction site and search for personnel. However, the system mainly focuses on monitoring and searching, and does not provide real-time interactive guidance functions with operators.

[0004] On the other hand, patent CN111077905A discloses a construction site safety monitoring and guidance method and system, which guides users through drones to ensure that users reach their destinations safely and efficiently in the construction site. Although this method provides a guidance mechanism, it mainly relies on a preset path and user identity confirmation, and does not describe in detail how to make real-time adjustments and alarms when the operator deviates from the preset path.

[0005] Therefore, in the prior art, although the existing drone systems can provide monitoring and guidance functions to a certain extent, they still have the following limitations: first, the existing systems often lack the real-time interactive guidance function between the operators; second, when the operators deviate from the predetermined path, the existing systems lack effective real-time adjustment and alarm mechanisms. Therefore, in order to overcome these limitations, an intelligent safety system and method based on dual drone operation guidance and monitoring is urgently needed. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent safety system and method based on dual-UAV operation guidance and monitoring to solve the problems of low efficiency and insufficient safety of operation guidance in the prior art.

[0007] To achieve the above purpose, the following technical solution is adopted.

[0008] An intelligent safety system based on dual UAV operation guidance and monitoring, comprising:

[0009] The front guidance drone is used to lead the operator to the next device to be operated according to the preset operation steps, and use visual or sound signals to guide the operator to follow;

[0010] The rear surveillance drone is used to maintain a certain distance behind the operator, monitor the operator's position and behavior in real time, and trigger an alarm mechanism when the operator exceeds the preset guidance range.

[0011] Optionally, the front guiding drone and the rear monitoring drone both include a drone platform, a positioning system, a path planning and navigation module, a communication module and an autonomous obstacle avoidance module;

[0012] The UAV platform adopts quad-rotor or multi-rotor and integrates a flight control system for flight control and autonomous navigation.

[0013] The positioning system, including differential GPS or real-time motion measurement system, cooperates with the flight control system to provide centimeter-level positioning accuracy;

[0014] The path planning and navigation module cooperates with the positioning system to dynamically plan an obstacle avoidance path according to the A* search algorithm or the fast random tree algorithm;

[0015] The communication module is connected to the guidance signal module and the flight control system, uses wireless local area network or long-distance wireless communication technology to transmit guidance signals and monitoring data, and implements end-to-end encryption to ensure the security of data transmission;

[0016] The autonomous obstacle avoidance module collaborates with the positioning system and the flight control system, combines airborne radar, stereo vision and lidar technology, and deep learning algorithms to perform environmental perception and obstacle avoidance decisions.

[0017] Optionally, the front-guiding UAV further includes:

[0018] The guidance signal module works in conjunction with the path planning module to send visual and auditory guidance signals to the operator using wireless radio frequency identification technology or visible light communication technology, as well as an integrated indicator light and audio module.

[0019] Optionally, the rear surveillance drone further includes:

[0020] The drone tracking system is used to locate the position of the operator and the leading drone in real time using a radio frequency tag or a GPS tracking module; integrates a visual tracking algorithm, including an optical flow method or a target tracking algorithm or a Kalman filter, to accurately track the operator and send the tracking data to a real-time data processing module;

[0021] Airborne sensors include infrared cameras or thermal imagers, and laser radars or stereo vision systems; the infrared cameras or thermal imagers are used to monitor operators in low-light or nighttime environments; the laser radars or stereo vision systems are used to construct three-dimensional environmental maps and detect obstacles; the monitoring data obtained are input into the real-time data processing module;

[0022] The real-time data processing module adopts edge computing technology to receive tracking data and monitoring data, uses machine learning algorithms to analyze monitoring data, and identifies the location and behavior patterns of operators; determines whether the operator is within a safe range and follows a predetermined path based on preset behavior parameters; and triggers an alarm mechanism of the rear monitoring drone when the analysis results show that the operator's behavior deviates from the predetermined path or exhibits potentially unsafe behavior;

[0023] An autonomous flight control system, integrating a PID controller or an adaptive control algorithm, adjusts the flight attitude of the rear monitoring UAV according to the output of the real-time data processing unit, the positioning system and the path planning navigation module to maintain a predetermined monitoring distance.

[0024] Optionally, a user interface is further included, which is used to provide an operator with the function of monitoring the status of the front guiding drone and the rear monitoring drone and receiving alarm information; the user interface includes:

[0025] A real-time video streaming interface for displaying the real-time images captured by the rear surveillance drone;

[0026] An alarm information visualization module is used to immediately display the alarm information on the user interface when the rear monitoring drone detects an abnormal situation;

[0027] 3D map integration module, used to generate 3D models based on SLAM technology, and obtain and display enhanced immersive 3D models through panoramic image fusion technology;

[0028] Point cloud data and equipment annotation module, which is used to combine point cloud data with the generated 3D model and annotate the coordinate information of the drone equipment on the 3D map by clicking or labeling;

[0029] A personnel positioning module, used to receive the personnel location information provided by the front guiding drone and the rear monitoring drone, and update the personnel location information in the form of icons or marks on the 3D map in real time;

[0030] Real-time data synchronization module, used to synchronize the user interface with the video stream and alarm information sent back by the drone in real time;

[0031] The multi-UAV monitoring module is used to view and control the video streams and data of multiple UAVs at the same time, and to select and switch UAVs.

[0032] Optionally, it also includes a ground control station, which is used to preset the flight paths of the front guiding UAV and the rear monitoring UAV, monitor the status of the front guiding UAV and the rear monitoring UAV in real time and adjust operating parameters, and exchange data with the front guiding UAV and the rear monitoring UAV through the communication module.

[0033] Optionally, the rear monitoring drone further includes an alarm mechanism, and the alarm mechanism includes:

[0034] Proximity sensing technology, using ultrasonic sensors or radio frequency identification technology to detect the distance between the operator and the front-guided drone;

[0035] A threshold monitoring module is used to set safety thresholds for safety distance and safety behavior, and monitor whether the operator is within the preset safety threshold range through the real-time data analysis module. The real-time data analysis module is event-driven to ensure that an alarm instruction is immediately sent to the alarm system when a safety threshold is detected to be breached;

[0036] an alarm system, for receiving alarm instructions, issuing visual and audible alarm signals, and sending the alarm signals to a central monitoring system via the communication module;

[0037] The central monitoring system is deployed in the ground control station, integrating large-screen display and real-time data analysis functions, and performs multi-UAV monitoring, and the status and alarm information of all UAVs can be viewed in real time through the integrated user interface;

[0038] Emergency response protocols, including immediate actions and follow-up steps after alarm triggering, are configured with automatic recording and logging systems for event tracking and post-event analysis.

[0039] A dual-UAV operation guidance and monitoring method includes the following steps:

[0040] Initialize the system and set the flight missions of the front guidance UAV and the rear monitoring UAV through the ground control station, including the target equipment location and operation steps;

[0041] Start the forward guidance drone, fly it to the target equipment location according to the preset flight path, and guide the operator to follow it using visual or sound signals;

[0042] Launch a rear surveillance drone, keep it at a certain distance behind the operator, and use onboard sensors to monitor the operator's position and behavior in real time;

[0043] The rear surveillance drone receives monitoring data from the onboard sensors and uses machine learning algorithms to analyze the monitoring data, identify the location and behavior patterns of the operator, and obtain identification results;

[0044] The rear monitoring drone compares the recognition result with the preset safety threshold to determine whether the operator is within the safe range;

[0045] If the judgment result indicates that the operator exceeds the preset safety range, the rear monitoring drone triggers the alarm mechanism, issues an on-site sound and light alarm, and sends the alarm information to the front guiding drone and the central monitoring system of the ground control station through the communication module;

[0046] The ground control station server records the UAV flight data, video stream and alarm events, while the user interface synchronizes the video stream and alarm information sent back by the UAV in real time to ensure the timeliness of the monitoring data;

[0047] The front-guiding UAV adjusts its guidance strategy based on the alarm information;

[0048] The system determines whether the operator has safely reached the target location and completed all mission instructions;

[0049] If the judgment result indicates that the mission has been completed, the front guidance drone guides the operator to leave the equipment area;

[0050] The front guidance drone and rear monitoring drone automatically return, land and shut down.

[0051] Optionally, the front guide drone performs the following steps:

[0052] Receive flight missions and preset operation steps sent by the ground control station;

[0053] Start the flight control system and perform take-off and navigation to the target equipment location according to the received mission and steps;

[0054] Use the onboard differential GPS or RTK GPS module to work with the flight control system to achieve centimeter-level precise positioning;

[0055] The path planning and navigation module plans an obstacle-free flight path based on the data provided by the positioning system using the A* search algorithm or the RRT algorithm;

[0056] During the flight to the target equipment, the guidance signal module is activated, sending visual and auditory guidance signals to the operator through RFID or VLC technology, as well as integrated LED indicators and audio modules;

[0057] The communication module transmits guidance signals and monitoring data to the rear monitoring drone and ground control station through wireless LAN or long-distance wireless communication technology;

[0058] When receiving the alarm information from the rear monitoring drone, the operator's position is relocated according to the alarm information and the guidance strategy is adjusted.

[0059] Optionally, the rear surveillance drone performs the following steps:

[0060] Receive monitoring parameters and preset safety following range sent by the ground control station;

[0061] Activate the flight control system, execute takeoff and navigation to the predetermined position behind the operator according to the received monitoring parameters;

[0062] Use the onboard differential GPS or RTK GPS module to work with the flight control system to achieve centimeter-level precise positioning;

[0063] Collect the operator's location and behavior data in real time through onboard sensors, and transmit the operator's location and behavior data to a real-time data processing module;

[0064] Analyze the collected operator location and behavior data using machine learning algorithms through the real-time data processing module to identify the operator's location and behavior patterns;

[0065] Based on the recognition results, the real-time data processing module combines with the threshold monitoring module to determine whether the operator is within the preset safety range and follows the predetermined path;

[0066] When receiving the signal sent by the leading UAV in front that it has reached the location of the target device, the monitoring UAV behind switches the monitoring mode from the path monitoring mode to the working monitoring mode;

[0067] If the operator exceeds the preset safety range or his behavior pattern deviates, the real-time data processing module activates the alarm system and triggers the alarm mechanism;

[0068] The alarm system emits visual and audible alarm signals, and transmits the alarm signals to the central monitoring system through the communication module;

[0069] The central monitoring system at the ground control station receives the alarm information, displays the alarm prompt on a large-screen display, and records the event at the same time.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] The dual-UAV operation guidance and monitoring system of the present invention uses the front-guiding UAV to lead the operator to the next device to be operated according to the preset operation steps, and uses visual or sound signals to guide the operator to follow, effectively reducing the operator's time wasted in finding the target device and improving the operation efficiency. In addition, the real-time monitoring function of the rear monitoring UAV ensures that the operator is always on a safe and correct path, reducing the extra time and resource consumption caused by deviation from the predetermined path.

[0072] The present invention significantly improves operator safety by monitoring the operator's position and behavior in real time through a rear surveillance drone and triggering an alarm mechanism when the operator exceeds the preset guidance range. This function is particularly useful in dangerous or restricted areas such as chemical plants, power facilities or disaster response sites, where operator safety is of paramount importance.

[0073] The present invention combines real-time data processing modules with advanced sensor technology. The system can quickly identify the operator's location and behavior pattern, detect any deviation from the preset path in a timely manner, and immediately issue a warning through the sound and light alarm system. This real-time feedback mechanism not only increases the operator's alertness to potential dangers, but also makes it possible to respond quickly in emergency situations.

[0074] The present invention provides an interactive 3D view for users through the integrated 3D map integration module and the point cloud data and equipment annotation module, which enhances the immersiveness and realism of monitoring. This enables monitoring personnel to understand the operator's position and surrounding environment more accurately, so as to monitor and guide more effectively.

[0075] The user interface of the present invention supports multi-UAV monitoring, allowing users to view and control the video streams and data of multiple UAVs simultaneously, which not only improves the monitoring coverage, but also enhances the system's adaptability to complex environments.

[0076] The design of the ground control station of the present invention enables the system to flexibly preset the flight path, monitor the status of the drone in real time, and adjust the operating parameters. This design facilitates the expansion of the system and adaptability to different operating environments, making the system widely applicable to different industrial and security monitoring scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 The present invention is a module schematic diagram of an intelligent safety system based on dual-UAV operation guidance and monitoring.

[0078] Figure 2Another module schematic diagram of an intelligent safety system based on dual-UAV operation guidance and monitoring of the present invention. DETAILED DESCRIPTION

[0079] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0080] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0081] Example 1

[0082] like Figure 1 As shown, an intelligent safety system based on dual UAV operation guidance and monitoring includes a front guidance UAV, which is used to lead the operator to the next device to be operated according to preset operation steps, and guide the operator to follow by using visual or sound signals; a rear monitoring UAV, which is used to maintain a certain distance behind the operator, monitor the operator's position and behavior in real time, and trigger an alarm mechanism when the operator exceeds the preset guidance range.

[0083] Forward Guidance Drone:

[0084] Task: Lead the operator to the next device to be operated according to the preset operating steps.

[0085] Guidance method: Use visual or sound signals to guide the operator to follow.

[0086] UAV platform: adopts quad-rotor or multi-rotor design to ensure stability and maneuverability.

[0087] Flight control system: enables precise flight control and autonomous navigation.

[0088] Positioning system: Use differential GPS or RTK GPS to provide centimeter-level positioning accuracy.

[0089] Path planning and navigation: Path planning is performed through the ground control station or automatic flight mission planning software, and dynamic obstacle avoidance is performed using the A* search algorithm or RRT algorithm.

[0090] Guidance signal module: Use RFID or VLC technology, as well as integrated LED indicators and audio modules to send guidance signals.

[0091] Rear surveillance drone:

[0092] Mission: Stay a certain distance behind the operator and monitor the operator's position and behavior in real time.

[0093] Monitoring method: Real-time monitoring through onboard sensors and cameras.

[0094] Drone tracking system: Use radio frequency tags or GPS tracking modules to locate the position of operators and drones in real time.

[0095] Onboard sensors: These include infrared cameras or thermal imagers, and lidar or stereo vision systems to build a 3D map of the environment and detect obstacles.

[0096] Real-time data processing module: Use edge computing technology to perform real-time data analysis and apply machine learning models for behavior recognition and anomaly detection.

[0097] Alarm mechanism: When the operator exceeds the preset safe following range, the alarm is triggered, an on-site sound and light alarm is issued, and the alarm information is sent to the monitoring room and the guardian's mobile phone via wireless communication.

[0098] Example 2

[0099] The front guiding drone and the rear monitoring drone both include a drone platform, a positioning system, a path planning navigation module, a communication module and an autonomous obstacle avoidance module as follows:

[0100] UAV platform: adopts quad-rotor or multi-rotor design to ensure the stability and maneuverability of the UAV. The UAV platform is integrated with a flight control system to execute the preset flight path and operation steps, leading the operator to the next device to be operated.

[0101] Positioning system: including differential GPS (DGPS) or real-time kinematic measurement system (RTK GPS), which works with the flight control system to provide centimeter-level positioning accuracy. The positioning system ensures that the drone flies accurately along the predetermined path, while updating its position information in real time for monitoring and navigation.

[0102] Path planning and navigation module: In cooperation with the positioning system, it dynamically plans obstacle avoidance paths based on the A* search algorithm or the Rapid Random Tree (RRT) algorithm. The path planning and navigation module is responsible for generating an obstacle-free flight path to ensure that the drone leads the operator safely and efficiently.

[0103] Communication module: connected to the guidance signal module and the flight control system, using wireless local area network (WLAN) or long-distance wireless communication technology such as LoRa or Sigfox to transmit guidance signals and monitoring data, and implementing end-to-end encryption to ensure the security of data transmission.

[0104] Autonomous obstacle avoidance module: Combining airborne radar, stereo vision and laser radar (LiDAR) technology, as well as deep learning algorithms, to perform environmental perception and obstacle avoidance decisions. The autonomous obstacle avoidance module ensures that the drone can identify and avoid obstacles during flight, ensuring flight safety.

[0105] Through the above implementation, the front guidance drone and the rear monitoring drone can work together to improve operational efficiency and safety. The front guidance drone is responsible for guiding the operator, while the rear monitoring drone is responsible for monitoring the operator's position and behavior and triggering an alarm mechanism when necessary. This system is suitable for various occasions that require operation guidance and monitoring, such as power inspection, industrial maintenance, emergency rescue, etc., and can significantly improve the efficiency and safety of operations.

[0106] Example 3

[0107] The forward guide UAV integrates a guidance signal module, which works in conjunction with the path planning module. During the system initialization phase, the ground control station sends the flight mission and preset operation steps to the forward guide UAV through the communication module. The guidance signal module receives these steps and is ready to send guidance signals to the operator when the UAV reaches the target device location.

[0108] Application of RFID or VLC: The guidance signal module uses RFID or VLC to send guidance signals. These technologies allow the drone to communicate with the operator during flight and provide precise guidance signals. For example, VLC technology can transmit information through the rapid flashing of LED lights, which are invisible to the naked eye and will not interfere with the operator's vision.

[0109] Integrated indicator light and audio module: The guidance signal module also includes an integrated LED indicator light and an audio module. The LED indicator light can display different colors and flashing patterns to indicate the direction of the operator's progress or specific operation steps. The audio module can play preset sound signals, such as beeps or voice commands, to guide the operator to the next device to be operated.

[0110] Guidance signal transmission and operator following: When the UAV is guided to the target device location, the guidance signal module is activated. The flight control system of the UAV platform ensures that the UAV flies accurately along the preset path. The guidance signal module sends visual and auditory guidance signals to the operator based on the location of the UAV and the preset operation steps, and the operator follows the UAV according to these signals.

[0111] Synchronization of guidance signals with operator responses: The guidance signal module is designed to be synchronized with the operator's response. For example, the drone can be equipped with a camera or other sensor to detect the operator's position and movement. If the operator does not move in accordance with the guidance signal, the drone can adjust its flight path or repeat the guidance signal to ensure that the operator can follow correctly.

[0112] Through the above implementation, the guidance signal module can provide clear and intuitive guidance signals to help operators reach the target location safely and efficiently in a complex or vast environment.

[0113] The rear surveillance drone also includes

[0114] Drone tracking system: This includes installing a radio frequency (RF) tag on the operator and integrating a GPS tracking module on the leading drone. These technologies are used together to locate the position of the operator and the drone in real time. The tracking system uses a real-time data analysis module and visual tracking algorithms such as optical flow or Kalman filter to accurately track the movement of the operator and send the tracking data to the data processing unit.

[0115] Airborne sensors: Involves carrying infrared cameras or thermal imagers, as well as LiDAR or stereo vision systems on rear surveillance drones. These sensors are used to monitor operators in low-light or nighttime environments and build three-dimensional environmental maps to detect obstacles. The monitoring data is then input into the real-time data processing module.

[0116] Real-time data processing module: Use edge computing technology to perform real-time data analysis on the drone. This module receives tracking data and monitoring data, uses machine learning algorithms (such as convolutional neural networks (CNNs)) to analyze the data, and identifies the operator's location and behavior patterns. Based on the preset behavior parameters, the module determines whether the operator is within a safe range and follows the predetermined path.

[0117] Alarm mechanism: When the analysis results of the real-time data processing module indicate that the operator's behavior deviates from the predetermined path or exhibits potentially unsafe behavior, the alarm mechanism of the rear monitoring drone is triggered. The alarm mechanism includes an LED flash and buzzer integrated on the drone, and the alarm information is transmitted in real time to the monitoring room and the mobile phone of the supervisor through wireless communication protocols (such as Wi-Fi or cellular networks).

[0118] Autonomous flight control system: involves integrating PID controller or adaptive control algorithm, adjusting the flight attitude of the rear monitoring UAV according to the output of real-time data processing unit, positioning system and path planning navigation module to maintain the predetermined monitoring distance. At the same time, obstacle avoidance algorithm (such as dynamic programming or artificial potential field method) is used to ensure the safe flight of UAV in complex environment.

[0119] Example 4

[0120] User interface integration and functionality: This includes developing a user interface that integrates a real-time video streaming interface, an alarm information visualization module, a 3D map integration module, a point cloud data and equipment annotation module, a personnel positioning module, a real-time data synchronization module, and a multi-UAV monitoring module.

[0121] The user interface is connected with the front guidance drone and the rear monitoring drone through wireless communication protocols, and receives real-time data from the drones, including video streams, sensor data, and alarm information.

[0122] Real-time video streaming interface: Contains a dedicated video streaming player for real-time display of the footage captured by the rear surveillance drone.

[0123] Adopting streaming protocols such as RTMP or WebRTC ensures real-time transmission and low-latency playback of video streams, allowing operators to monitor on-site conditions in real time.

[0124] Alarm information visualization module: When the rear surveillance drone detects an abnormal situation, the user interface immediately displays the alarm information.

[0125] Alarm messages are highlighted through color coding, flashing icons or other visual cues so operators can quickly identify potential safety issues.

[0126] 3D map integration module: The user interface uses a 3D model generated based on SLAM technology, and through the fusion technology of panoramic images, it obtains and displays an enhanced immersive 3D model to provide an interactive three-dimensional view.

[0127] Point cloud data and equipment annotation module: Combine point cloud data with 3D models to enable users to clearly see the precise location of each device on the map.

[0128] The device coordinate information is marked on the 3D map by clicking or labeling, making it easier for users to find and identify.

[0129] Personnel positioning module: The drone uses built-in GPS or other positioning technologies to track the location of the operator in real time. The personnel location information is updated in real time on the 3D map in the form of icons or marks, so that the monitoring personnel can understand the distribution of personnel on site at any time.

[0130] Real-time data synchronization module: The user interface can synchronize the video stream and alarm information sent back by the drone in real time to ensure the timeliness of monitoring data. Use efficient data transmission and processing technologies, such as WebSocket or RESTful API, to support rapid updates of real-time data.

[0131] Multi-UAV Monitoring Module: Design an interface that supports multi-UAV monitoring, allowing users to view and control video streams and data from multiple UAVs simultaneously. Implement UAV selection and switching functions, so users can select and monitor specific UAVs through simple interface operations.

[0132] Example 5

[0133] Ground Control Station Settings and Functions: The Ground Control Station (GCS) is the control center of the system, responsible for presetting the flight path of the front-guided UAV and the rear-monitored UAV. It exchanges data with the UAV through the communication module to achieve real-time monitoring and adjustment of operating parameters. The ground control station is equipped with a high-performance computer or mobile device to handle complex flight missions and monitor data.

[0134] Preset flight path: The operator enters the flight mission parameters, including the location of the target equipment, operation steps and safety thresholds, on the interface of the ground control station. These parameters are sent to the front guidance drone and the rear monitoring drone, and the flight control system of the drone automatically plans the flight path based on these parameters.

[0135] Real-time monitoring and data exchange: The ground control station exchanges data with the drone via wireless local area network (WLAN) or long-distance wireless communication technology (such as 4G / 5G modules). The data exchange includes the flight status of the drone, environmental data collected by onboard sensors, and the real-time location information of the operator.

[0136] Data processing and decision-making: The ground control station receives real-time data from the drone, including video streams, sensor data, and alarm information. These data are stored in the ground control station's server and analyzed in real time to facilitate operators to make quick decisions.

[0137] User interface interaction: The user interface of the ground control station provides an intuitive interaction method, allowing operators to easily monitor the status of the drone and receive alarm information. The user interface includes a real-time video stream interface, an alarm information visualization module, a 3D map integration module, etc., providing a comprehensive monitoring experience.

[0138] Multi-UAV collaborative control: The ground control station supports multi-UAV collaborative control, allowing operators to monitor and control multiple UAVs simultaneously. The user interface provides UAV selection and switching functions, allowing operators to select and monitor specific UAVs as needed.

[0139] Example 6

[0140] Triggering conditions of the alarm mechanism: The proximity sensing technology carried by the rear monitoring drone uses ultrasonic sensors or radio frequency identification (RFID) technology to monitor the distance between the operator and the front guiding drone in real time. This technology accurately calculates the operator's position and safety range through integrated distance measurement algorithms such as trilateration.

[0141] Threshold Monitoring Module: Sets the safety distance threshold and monitors whether the operator is within the preset safety range through the real-time data analysis module. This module uses event-driven programming to ensure immediate response when the safety threshold is detected to be breached.

[0142] Alarm system: When the operator's position exceeds the preset safety range, the sound and light alarm system on the rear surveillance drone is activated. The system includes an LED flash light and a buzzer to issue visual and auditory alarm signals. The pattern of the alarm signal, such as the flashing frequency and sound rhythm, can be varied to distinguish different types of alarms.

[0143] Wireless communication protocol: Alarm information is transmitted in real time via wireless LAN (Wi-Fi) or cellular network (Cellular Networks). The adopted protocols such as Message Queue Telemetry Transmission (MQTT) or Hypertext Transfer Protocol (HTTPS) ensure the fast and secure transmission of alarm information.

[0144] Mobile App Notifications: Mobile apps send alarm information to the monitoring personnel’s mobile phones in real time through push notifications. Geofencing is implemented to trigger notifications when operators enter or leave a specific area.

[0145] Central monitoring system: A central monitoring system is deployed in the ground control station, which integrates large-screen display and real-time data analysis functions to monitor multiple drones. Through the integrated user interface, the status and alarm information of all drones can be viewed in real time.

[0146] Emergency response protocol: Develop emergency response procedures, including immediate actions and follow-up steps after an alarm is triggered. Configure automatic recording and logging systems for event tracking and post-event analysis.

[0147] As a preferred example, the front guiding drone and the rear monitoring drone adopt a detachable design. When performing guidance tasks, the front guiding drone and the rear monitoring drone are operated separately. When performing work monitoring tasks, they can be merged or monitor from multiple angles at the same time.

[0148] Example 7

[0149] like Figure 2 As shown, a dual-UAV operation guidance and monitoring method includes:

[0150] The ground control station (GCS) starts up and performs self-checks, initializes UAV parameters and settings, loads maps and mission information, and sets flight missions for the front guidance UAV and rear surveillance UAV, including target equipment locations and operation steps.

[0151] The forward-guided drone receives the preset flight path and operating steps, activates the flight control system, and performs the operations of taking off and navigating to the target device location.

[0152] The rear surveillance drone is activated and flies to a predetermined position behind the operator, ready for monitoring.

[0153] The drone is guided forward to fly to the target equipment location and guides the operator to follow using visual (such as LED indicators) or sound signals (such as audio modules).

[0154] The rear surveillance drone uses onboard sensors to collect the operator's location and behavior data in real time and transmits the data to the real-time data processing module.

[0155] The real-time data processing module uses machine learning algorithms to analyze the collected operator location and behavior data and identify the operator's location and behavior patterns.

[0156] Based on the recognition results, the real-time data processing module combines with the threshold monitoring module to determine whether the operator is within the preset safety range and follows the predetermined path.

[0157] If the operator exceeds the preset safety range or his behavior pattern deviates, the real-time data processing module activates the alarm system and triggers the alarm mechanism.

[0158] The alarm system emits visual and audible alarm signals and sends the alarm signals to the central monitoring system through the communication module.

[0159] The ground control station server records the UAV flight data, video stream and alarm events. At the same time, the user interface synchronizes the video stream and alarm information sent back by the UAV in real time to ensure the timeliness of the monitoring data.

[0160] The system determines whether the operator has safely reached the target location and completed all mission instructions.

[0161] If the mission is completed, the front guidance drone guides the operator to leave the equipment area, and the front guidance drone and the rear monitoring drone automatically return, land and shut down.

[0162] Specifically, the front guides the drone to perform the following steps:

[0163] The ground control station (GCS) starts up and performs self-checks, initializes UAV parameters and settings, loads maps and mission information, and sets flight missions for the front guidance UAV and rear surveillance UAV, including target equipment locations and operation steps.

[0164] The forward-guided drone receives the preset flight path and operating steps, activates the flight control system, and performs the operations of taking off and navigating to the target device location.

[0165] The rear surveillance drone is activated and flies to a predetermined position behind the operator, ready for monitoring.

[0166] The drone is guided forward to fly to the target equipment location and guides the operator to follow using visual (such as LED indicators) or sound signals (such as audio modules).

[0167] The rear surveillance drone uses onboard sensors to collect the operator's location and behavior data in real time and transmits the data to the real-time data processing module.

[0168] The real-time data processing module uses machine learning algorithms to analyze the collected operator location and behavior data and identify the operator's location and behavior patterns.

[0169] Based on the recognition results, the real-time data processing module combines with the threshold monitoring module to determine whether the operator is within the preset safety range and follows the predetermined path.

[0170] If the operator exceeds the preset safety range or his behavior pattern deviates, the real-time data processing module activates the alarm system and triggers the alarm mechanism.

[0171] The alarm system emits visual and audible alarm signals and sends the alarm signals to the central monitoring system through the communication module.

[0172] The ground control station server records the UAV flight data, video stream and alarm events. At the same time, the user interface synchronizes the video stream and alarm information sent back by the UAV in real time to ensure the timeliness of the monitoring data.

[0173] When receiving the alarm information from the rear monitoring drone, the operator's position is relocated according to the alarm information and the guidance strategy is adjusted. When the operator stops, the guidance strategy is adjusted to wait. When the operator deviates from the route, the operator is found and the route is replanned.

[0174] The system determines whether the operator has safely reached the target location and completed all mission instructions.

[0175] If the mission is completed, the front guidance drone guides the operator to leave the equipment area, and the front guidance drone and the rear monitoring drone automatically return, land and shut down.

[0176] Specifically, the rear surveillance drone performs the following steps:

[0177] The rear surveillance drone receives monitoring parameters and preset safe following ranges sent by the ground control station through its communication module. These parameters include the operator's safe distance threshold and behavioral norms to ensure the operator's safety when performing tasks.

[0178] The rear surveillance drone activates its flight control system, takes off according to the received surveillance parameters, and navigates to the predetermined position behind the operator. This step ensures that the drone can quickly reach the surveillance position and is ready to start the surveillance mission.

[0179] The rear surveillance drone uses an onboard differential GPS or RTK GPS module, working in conjunction with the flight control system, to provide centimeter-level accurate positioning. This ensures that the drone can accurately maintain its intended position behind the operator.

[0180] Through onboard sensors such as infrared cameras, thermal imagers, lidar or stereo vision systems, drones collect real-time data on the operator's location and behavior. These data are transmitted to a real-time data processing module, which uses machine learning algorithms to analyze the collected data and identify the operator's location and behavior patterns.

[0181] When receiving the signal sent by the leading UAV in front that it has reached the target equipment location, the monitoring UAV at the rear switches the monitoring mode from the path monitoring mode to the working monitoring mode; the path monitoring mode is to monitor the operator's arrival at the target equipment location and monitor the operator's path safety, and the working monitoring mode is to monitor the operator's working status and provide real-time monitoring for the operator.

[0182] The real-time data processing module combines with the threshold monitoring module to determine whether the operator is within the preset safety range and whether he follows the predetermined path. If the operator exceeds the safety range or the behavior pattern deviates, the real-time data processing module activates the alarm system and triggers the alarm mechanism.

[0183] The alarm system sends out visual and audible alarm signals, and transmits the alarm signals to the central monitoring system through the communication module. This step ensures that the monitoring personnel can be aware of the abnormal situation on site in time and take corresponding countermeasures.

[0184] The central monitoring system at the ground control station receives alarm information and displays alarm prompts on a large screen display while recording events. This allows monitoring personnel to view the status and alarm information of all drones in real time, thereby achieving effective monitoring and emergency response.

[0185] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. An intelligent safety system based on dual UAV operation guidance and monitoring, characterized in that: include, The front guidance drone is used to lead the operator to the next device to be operated according to the preset operation steps, and use visual or sound signals to guide the operator to follow; The rear surveillance drone is used to maintain a certain distance behind the operator, monitor the operator's position and behavior in real time, and trigger an alarm mechanism when the operator exceeds the preset guidance range.

2. According to claim 1, the intelligent safety system based on dual UAV operation guidance and monitoring is characterized in that: The front guiding drone and the rear monitoring drone both include a drone platform, a positioning system, a path planning and navigation module, a communication module, and an autonomous obstacle avoidance module; The UAV platform adopts a quad-rotor or multi-rotor, and integrates a flight control system for flight control and autonomous navigation; The positioning system, including differential GPS or real-time motion measurement system, cooperates with the flight control system to provide centimeter-level positioning accuracy; The path planning and navigation module cooperates with the positioning system to dynamically plan an obstacle avoidance path according to the A* search algorithm or the fast random tree algorithm; The communication module is connected to the guidance signal module and the flight control system, uses wireless local area network or long-distance wireless communication technology to transmit guidance signals and monitoring data, and implements end-to-end encryption to ensure the security of data transmission; The autonomous obstacle avoidance module collaborates with the positioning system and the flight control system, combines airborne radar, stereo vision and lidar technology, and deep learning algorithms to perform environmental perception and obstacle avoidance decisions.

3. The intelligent safety system based on dual UAV operation guidance and monitoring according to claim 2 is characterized in that: The front-guided drone also includes: The guidance signal module works in conjunction with the path planning module to send visual and auditory guidance signals to the operator using wireless radio frequency identification technology or visible light communication technology, as well as an integrated indicator light and audio module.

4. The intelligent safety system based on dual UAV operation guidance and monitoring according to claim 2 is characterized in that: The rear surveillance drone also includes: The drone tracking system is used to locate the position of the operator and the leading drone in real time using a radio frequency tag or a GPS tracking module; integrates a visual tracking algorithm, including an optical flow method or a target tracking algorithm or a Kalman filter, to accurately track the operator and send the tracking data to a real-time data processing module; Airborne sensors include infrared cameras or thermal imagers, and laser radars or stereo vision systems; the infrared cameras or thermal imagers are used to monitor operators in low-light or nighttime environments; the laser radars or stereo vision systems are used to construct three-dimensional environmental maps and detect obstacles; the monitoring data obtained are input into the real-time data processing module; The real-time data processing module adopts edge computing technology to receive tracking data and monitoring data, uses machine learning algorithms to analyze monitoring data, and identifies the location and behavior patterns of operators; determines whether the operator is within a safe range and follows a predetermined path based on preset behavior parameters; and triggers an alarm mechanism of the rear monitoring drone when the analysis results show that the operator's behavior deviates from the predetermined path or exhibits potentially unsafe behavior; An autonomous flight control system, integrating a PID controller or an adaptive control algorithm, adjusts the flight attitude of the rear monitoring UAV according to the output of the real-time data processing unit, the positioning system and the path planning navigation module to maintain a predetermined monitoring distance.

5. The intelligent safety system based on dual UAV operation guidance and monitoring according to claim 1 is characterized in that: It also includes a user interface for providing an operator with the function of monitoring the status of the front guiding drone and the rear monitoring drone and receiving alarm information; the user interface includes: A real-time video streaming interface for displaying the real-time images captured by the rear surveillance drone; An alarm information visualization module is used to immediately display the alarm information on the user interface when the rear monitoring drone detects an abnormal situation; 3D map integration module, used to generate 3D models based on SLAM technology, and obtain and display enhanced immersive 3D models through panoramic image fusion technology; Point cloud data and equipment annotation module, which is used to combine point cloud data with the generated 3D model and annotate the coordinate information of the drone equipment on the 3D map by clicking or labeling; A personnel positioning module, used to receive the personnel location information provided by the front guiding drone and the rear monitoring drone, and update the personnel location information in the form of icons or marks on the 3D map in real time; Real-time data synchronization module, used to synchronize the user interface with the video stream and alarm information sent back by the drone in real time; The multi-UAV monitoring module is used to view and control the video streams and data of multiple UAVs at the same time, and to select and switch UAVs.

6. The intelligent safety system based on dual UAV operation guidance and monitoring according to claim 2 is characterized in that: It also includes a ground control station, which is used to preset the flight paths of the front-guiding UAV and the rear-monitoring UAV, monitor the status of the front-guiding UAV and the rear-monitoring UAV in real time and adjust operating parameters, and exchange data with the front-guiding UAV and the rear-monitoring UAV through the communication module.

7. The intelligent safety system based on dual UAV operation guidance and monitoring according to claim 4 is characterized in that: The rear monitoring drone also includes an alarm mechanism, which includes: Proximity sensing technology, using ultrasonic sensors or radio frequency identification technology to detect the distance between the operator and the front-guided drone; A threshold monitoring module is used to set safety thresholds for safety distance and safety behavior, and monitor whether the operator is within the preset safety threshold range through the real-time data analysis module. The real-time data analysis module is event-driven to ensure that an alarm instruction is immediately sent to the alarm system when a safety threshold is detected to be breached; an alarm system, for receiving alarm instructions, issuing visual and audible alarm signals, and sending the alarm signals to a central monitoring system via the communication module; The central monitoring system is deployed in the ground control station, integrating large-screen display and real-time data analysis functions, and performs multi-UAV monitoring, and the status and alarm information of all UAVs can be viewed in real time through the integrated user interface; Emergency response protocols, including immediate actions and follow-up steps after alarm triggering, are configured with automatic recording and logging systems for event tracking and post-event analysis.

8. A method for guiding and monitoring dual UAV operations, an intelligent safety system based on guiding and monitoring dual UAV operations according to any one of claims 1 to 7, characterized in that: The following steps are included: Initialize the system and set the flight missions of the front guidance UAV and the rear monitoring UAV through the ground control station, including the target equipment location and operation steps; Start the forward guidance drone, fly it to the target equipment location according to the preset flight path, and guide the operator to follow it using visual or sound signals; Launch a rear surveillance drone, keep it at a certain distance behind the operator, and use onboard sensors to monitor the operator's position and behavior in real time; The rear surveillance drone receives monitoring data from the onboard sensors and uses machine learning algorithms to analyze the monitoring data, identify the location and behavior patterns of the operator, and obtain identification results; The rear monitoring drone compares the recognition result with the preset safety threshold to determine whether the operator is within the safe range; If the judgment result indicates that the operator exceeds the preset safety range, the rear monitoring drone triggers the alarm mechanism, issues an on-site sound and light alarm, and sends the alarm information to the front guiding drone and the central monitoring system of the ground control station through the communication module; The ground control station server records the UAV flight data, video stream and alarm events, while the user interface synchronizes the video stream and alarm information sent back by the UAV in real time to ensure the timeliness of the monitoring data; The front-guiding UAV adjusts its guidance strategy based on the alarm information; The system determines whether the operator has safely reached the target location and completed all mission instructions; If the judgment result indicates that the mission has been completed, the front guidance drone guides the operator to leave the equipment area; The front guidance drone and rear monitoring drone automatically return, land and shut down.

9. The method for guiding and monitoring dual UAV operations according to claim 8 is characterized in that: The front guides the drone to perform the following steps: Receive flight missions and preset operation steps sent by the ground control station; Start the flight control system and perform take-off and navigation to the target equipment location according to the received mission and steps; Use the onboard differential GPS or RTK GPS module to work with the flight control system to achieve centimeter-level precise positioning; The path planning and navigation module plans an obstacle-free flight path based on the data provided by the positioning system using the A* search algorithm or the RRT algorithm; During the flight to the target equipment, the guidance signal module is activated, sending visual and auditory guidance signals to the operator through RFID or VLC technology, as well as integrated LED indicators and audio modules; The communication module transmits guidance signals and monitoring data to the rear monitoring drone and ground control station through wireless LAN or long-distance wireless communication technology; When receiving the alarm information from the rear monitoring drone, the operator's position is relocated according to the alarm information and the guidance strategy is adjusted.

10. The method for guiding and monitoring dual UAV operations according to claim 8, characterized in that: The rear surveillance drone performs the following steps: Receive monitoring parameters and preset safety following range sent by the ground control station; Activate the flight control system, execute takeoff and navigation to the predetermined position behind the operator according to the received monitoring parameters; Use the onboard differential GPS or RTK GPS module to work with the flight control system to achieve centimeter-level precise positioning; Collect the operator's location and behavior data in real time through onboard sensors, and transmit the operator's location and behavior data to a real-time data processing module; Analyze the collected operator location and behavior data using machine learning algorithms through the real-time data processing module to identify the operator's location and behavior patterns; Based on the recognition results, the real-time data processing module combines with the threshold monitoring module to determine whether the operator is within the preset safety range and follows the predetermined path; When receiving the signal sent by the leading UAV in front that it has reached the location of the target device, the monitoring UAV behind switches the monitoring mode from the path monitoring mode to the working monitoring mode; If the operator exceeds the preset safety range or his behavior pattern deviates, the real-time data processing module activates the alarm system and triggers the alarm mechanism; The alarm system emits visual and audible alarm signals, and transmits the alarm signals to the central monitoring system through the communication module; The central monitoring system at the ground control station receives the alarm information, displays the alarm prompt on a large-screen display, and records the event at the same time.

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