UAV rescue method and system based on disaster accidents

Abstract

The present invention discloses a UAV rescue method and system based on disaster accidents. A detection path is defined according to an image of the disaster accident. A first UAV navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident, so as to complete the detection of the disaster accident by the first UAV. In the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV. Based on the state diagram of the disaster accident, each distribution map to be rescued is divided, and a rescue sequence is defined according to each distribution map to be rescued and corresponding disaster data. Targeted rescue is performed along the rescue sequence and each distribution map to be rescued, so that the second UAV can perform direct rescue for the disaster accident with the assistance of the first UAV, thereby avoiding the early detection of the disaster accident by the second UAV and improving the UAV rescue effect based on the disaster accident.

Description

Technical Field

[0001] The present invention relates to the technical field of drone rescue, and in particular to a drone rescue method and system based on disaster accidents. Background Art

[0002] With the development of science and technology, disasters sometimes happen in people's lives. Drones fly in the air and avoid congestion on the ground. Drones are gradually used in disaster rescue scenarios. In the existing technology, the location of the disaster is collected and detected and rescued by a drone. However, in the process of detecting disasters, the drone cannot know the disaster parameters of the disaster in advance, and there may be a situation of going back and forth between fire rescue stations, resulting in the drone being unable to perform direct rescue for disasters, affecting the rescue effect of drones based on disasters. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and system for drone rescue based on disaster accidents, so as to complete the detection of disaster accidents by a first drone, and present the disaster state of the disaster accident based on the state diagram of the disaster accident, so as to trigger the targeted rescue of the second drone, and further realize the information interaction between the second drone and the first drone. At the same time, the second drone performs direct rescue for the disaster accident with the assistance of the first drone, avoiding the early detection of the disaster accident by the second drone, and reflecting the timeliness of the rescue of the second drone, ensuring that the second drone performs targeted rescue along the rescue sequence and each distribution map to be rescued, and improving the drone rescue effect based on disaster accidents.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a disaster accident-based drone rescue method, which is applied to a disaster accident-based drone rescue scenario; The disaster accident-based drone rescue method comprises: Collect disaster signals and define the location of the disaster accident based on the signal analysis of the disaster signals; Determine a navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident, and navigate along the navigation path, and record the navigation speed and navigation time; When the first UAV arrives at the location of the disaster accident, it collects images of the disaster accident, and defines a detection path according to the images of the disaster accident. The first UAV navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident. Matching corresponding disaster data based on the state diagram of the disaster accident, triggering a rescue mode of the second drone according to the multiple disaster data, and defining a disaster level based on the multiple disaster data; In the rescue mode of the second drone, the rescue path of the second drone is optimized according to the disaster level, the flight path of the first drone, and the flight time of the first drone, and corresponding rescue parameters are configured according to the multiple disaster data; The second drone navigates along the rescue path, and divides each rescue distribution map based on the state diagram of the disaster accident, defines the rescue sequence according to each rescue distribution map and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each rescue distribution map.

[0005] Optionally, collecting disaster signals and defining the location of the disaster accident based on signal analysis of the disaster signals includes: Collect disaster signals; Respond to the corresponding signal source based on the reverse tracing of the collected disaster signals; The camera at the location of the signal source collects surrounding images; Define disaster features based on the recognition of surrounding images to clarify the authenticity of disaster signals; In the signal analysis of disaster signals, the location of the disaster accident is defined according to the disaster characteristics and the location of the signal source; The corresponding disaster accident prompt is triggered according to the location of the disaster accident, and the corresponding fire rescue station responds.

[0006] Optionally, the determining of the navigation path of the first drone according to the location of the fire rescue station and the location of the disaster accident, the first drone navigating along the navigation path, and recording the navigation speed and the navigation time, includes: Collect the location of the fire rescue station and the location of the disaster accident. At this time, the first drone serves as a detector of the fire rescue station; Determine the navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident; Define the corresponding relative distance based on the location of the fire rescue station and the location of the disaster accident; Defining a navigation speed of the first UAV according to the relative distance and the navigation path in the first navigation environment; Record the sailing speed and sailing time.

[0007] Optionally, when the first drone arrives at the location of the disaster accident, it collects images of the disaster accident, and defines a detection path according to the images of the disaster accident. The first drone navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident, including: The first UAV navigates along the navigation path and performs dynamic avoidance during the navigation process; When the first UAV arrives at the location of the disaster, the heat distribution of the disaster is collected; defining a shooting sequence of the first drone based on the heat distribution of the disaster accident, and collecting images of the disaster accident along the shooting sequence; defining a detection path according to the image of the disaster accident and the current position of the first drone; The first UAV navigates along the detection path and simultaneously detects the disaster accident to locate multiple disaster accident branch points, and constructs a state diagram of the disaster accident according to the disaster degrees corresponding to the multiple disaster accident branch points.

[0008] Optionally, the state diagram based on the disaster accident matches the corresponding disaster data, triggers the rescue mode of the second drone according to the multiple disaster data, and defines the disaster level based on the multiple disaster data, including: Freeze the state diagram of the disaster accident; Mark the corresponding disaster area based on the state diagram of the disaster accident, and match the corresponding disaster data according to the disaster area; Collect disaster data and corresponding disaster locations, and trigger a rescue mode of the second drone according to the disaster data and the corresponding disaster locations; In the rescue mode of the second drone, a first disaster parameter is defined according to the plurality of disaster data, and a second disaster parameter is defined according to the importance level of the corresponding disaster location; The second disaster parameter and the first disaster parameter are associated, and the disaster level is defined according to the second disaster parameter, the first disaster parameter and the disaster level matching table.

[0009] Optionally, in the rescue mode of the second drone, the rescue path of the second drone is optimized according to the disaster level, the navigation path of the first drone, and the navigation time of the first drone, and corresponding rescue parameters are configured according to multiple disaster data, including: In the rescue mode of the second drone, freeze the disaster level; Matching the response level of the second drone based on the disaster level; Associating the response level of the second drone, the flight path of the first drone, and the flight time of the first drone; The preset flight time of the second UAV is defined based on the response level of the second UAV, the location of the fire rescue station, and the location of the disaster accident.

[0010] Optionally, in the rescue mode of the second drone, the rescue path of the second drone is optimized according to the disaster level, the navigation path of the first drone and the navigation time of the first drone, and corresponding rescue parameters are configured according to the multiple disaster data, further comprising: defining a flight time difference according to a preset flight time of the second drone and a flight time of the first drone; Optimizing the rescue path of the second UAV according to the flight time difference, the flight path of the first UAV, and the shape of the second UAV; A plurality of disaster data are frozen, and corresponding rescue parameters are configured according to the plurality of disaster data. The second UAV receives the rescue parameters and triggers a corresponding rescue method.

[0011] Optionally, the second drone navigates along the rescue path, divides each rescue distribution map based on the state map of the disaster accident, defines a rescue sequence according to each rescue distribution map and corresponding disaster data, and performs targeted rescue along the rescue sequence and each rescue distribution map, including: The second UAV navigates along the rescue path and rehearses the corresponding rescue method based on the rescue parameters; Freeze the state diagram of the disaster accident, and divide the distribution diagrams of various rescue targets based on the state diagram of the disaster accident.

[0012] Optionally, the second drone navigates along the rescue path, divides each rescue distribution map based on the state map of the disaster accident, defines a rescue sequence according to each rescue distribution map and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each rescue distribution map, further comprising: In each distribution map of waiting for rescue, the corresponding disaster data is matched based on the distribution map of waiting for rescue; The distribution map of waiting for rescue defines the level of waiting for rescue based on the corresponding disaster data, and collects multiple levels of waiting for rescue; Defining the rescue order according to multiple rescue waiting levels and the location importance level of the rescue waiting distribution map; Targeted rescue is carried out according to the rescue sequence and each distribution map of rescue waiting, and the corresponding rescue method is matched according to the disaster data of the distribution map of rescue waiting.

[0013] In addition, an embodiment of the present invention further provides a disaster accident-based unmanned aerial vehicle rescue system, the disaster accident-based unmanned aerial vehicle rescue system comprising: A signal analysis module is used to collect disaster signals and define the location of the disaster accident based on the signal analysis of the disaster signals; A first navigation module is used to determine a navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident. The first UAV navigates along the navigation path and records the navigation speed and navigation time. The state diagram module of the disaster accident is used to collect images of the disaster accident when the first UAV arrives at the location of the disaster accident, and define a detection path according to the images of the disaster accident. The first UAV navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident. A disaster level module, used for matching corresponding disaster data based on a state diagram of a disaster accident, triggering a rescue mode of a second UAV according to a plurality of disaster data, and defining a disaster level based on the plurality of disaster data; A rescue parameter module, used to optimize the rescue path of the second drone in the rescue mode of the second drone according to the disaster level, the navigation path of the first drone and the navigation time of the first drone, and configure corresponding rescue parameters according to multiple disaster data; The UAV rescue module is used for the second UAV to navigate along the rescue path, and divide each distribution map to be rescued based on the state diagram of the disaster accident, and define the rescue sequence according to each distribution map to be rescued and the corresponding disaster data, and carry out targeted rescue along the rescue sequence and each distribution map to be rescued.

[0014] In an embodiment of the present invention, through the method in the embodiment of the present invention, disaster signals are collected, and the location of the disaster accident is defined based on the signal analysis of the disaster signals; the navigation path of the first UAV is determined based on the location of the fire rescue station and the location of the disaster accident, the first UAV navigates along the navigation path, and records the navigation speed and navigation time; when the first UAV arrives at the location of the disaster accident, an image of the disaster accident is collected, and a detection path is defined based on the image of the disaster accident, the first UAV navigates along the detection path, and simultaneously detects the disaster accident to construct a state diagram of the disaster accident, so as to complete the detection of the disaster accident by the first UAV, and present the disaster state of the disaster accident based on the state diagram of the disaster accident, so as to trigger the targeted rescue of the second UAV, thereby further realizing the information interaction between the second UAV and the first UAV.

[0015] Furthermore, the corresponding disaster data is matched based on the state diagram of the disaster accident, and the rescue mode of the second UAV is triggered according to multiple disaster data, and the disaster level is defined based on the multiple disaster data; in the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and the corresponding rescue parameters are configured according to the multiple disaster data; the second UAV navigates along the rescue path, and divides each distribution map to be rescued based on the state diagram of the disaster accident, and defines the rescue sequence according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each distribution map to be rescued, so that the second UAV can perform direct rescue for the disaster accident with the assistance of the first UAV, avoiding the second UAV's early detection of the disaster accident, and reflecting the timeliness of the rescue of the second UAV, ensuring that the second UAV performs targeted rescue along the rescue sequence and each distribution map to be rescued, and improving the UAV rescue effect based on the disaster accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a schematic flow chart of a disaster accident-based UAV rescue method in an embodiment of the present invention; Figure 2 is a flow chart of S11 in the disaster accident-based drone rescue method in an embodiment of the present invention; Figure 3 is a flow chart of S12 in the disaster accident-based drone rescue method in an embodiment of the present invention; Figure 4 is a flow chart of S13 in the disaster accident-based drone rescue method in an embodiment of the present invention; Figure 5 is a flow chart of S14 in the disaster accident-based drone rescue method in an embodiment of the present invention; Figure 6 is a flow chart of S15 in the disaster accident-based drone rescue method in an embodiment of the present invention; Figure 7 is a flow chart of S16 in the disaster accident-based drone rescue method in an embodiment of the present invention; Figure 8Schematic diagram of the structure of a disaster accident-based UAV rescue system in an embodiment of the present invention; Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figures 1 to 9 , a UAV rescue method based on disaster accidents is applied to UAV rescue scenarios based on disaster accidents; the UAV rescue method based on disaster accidents includes: Step S11: collecting disaster signals, and defining the location of the disaster accident based on signal analysis of the disaster signals; Step S12: determining a navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident, the first UAV navigates along the navigation path, and records the navigation speed and navigation time; Step S13: When the first UAV arrives at the location of the disaster accident, it collects images of the disaster accident, and defines a detection path according to the images of the disaster accident. The first UAV navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident. Step S14: matching corresponding disaster data based on the state diagram of the disaster accident, triggering the rescue mode of the second drone according to the multiple disaster data, and defining the disaster level based on the multiple disaster data; Step S15: In the rescue mode of the second drone, the rescue path of the second drone is optimized according to the disaster level, the navigation path of the first drone, and the navigation time of the first drone, and corresponding rescue parameters are configured according to the multiple disaster data; Step S16: The second UAV navigates along the rescue path, and divides each rescue distribution map based on the state diagram of the disaster accident, defines the rescue sequence according to each rescue distribution map and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each rescue distribution map.

[0020] In an embodiment of the present invention, through the method in the embodiment of the present invention, disaster signals are collected, and the location of the disaster accident is defined based on the signal analysis of the disaster signals; the navigation path of the first UAV is determined based on the location of the fire rescue station and the location of the disaster accident, the first UAV navigates along the navigation path, and records the navigation speed and navigation time; when the first UAV arrives at the location of the disaster accident, an image of the disaster accident is collected, and a detection path is defined based on the image of the disaster accident, the first UAV navigates along the detection path, and simultaneously detects the disaster accident to construct a state diagram of the disaster accident, so as to complete the detection of the disaster accident by the first UAV, and present the disaster state of the disaster accident based on the state diagram of the disaster accident, so as to trigger the targeted rescue of the second UAV, thereby further realizing the information interaction between the second UAV and the first UAV.

[0021] Furthermore, the corresponding disaster data is matched based on the state diagram of the disaster accident, and the rescue mode of the second UAV is triggered according to multiple disaster data, and the disaster level is defined based on the multiple disaster data; in the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and the corresponding rescue parameters are configured according to the multiple disaster data; the second UAV navigates along the rescue path, and divides each distribution map to be rescued based on the state diagram of the disaster accident, and defines the rescue sequence according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each distribution map to be rescued, so that the second UAV can perform direct rescue for the disaster accident with the assistance of the first UAV, avoiding the second UAV's early detection of the disaster accident, and reflecting the timeliness of the rescue of the second UAV, ensuring that the second UAV performs targeted rescue along the rescue sequence and each distribution map to be rescued, and improving the UAV rescue effect based on the disaster accident.

[0022] In step S11, disaster signals are collected, and the location of the disaster accident is defined based on signal analysis of the disaster signals; In the specific implementation process of the present invention, the specific steps may be: S111: Collect disaster signals; S112: responding to the corresponding signal source based on the reverse tracing of the collected disaster signal; S113: Collect surrounding images according to the camera at the location of the signal source; S114: defining disaster features based on the recognition of surrounding images to clarify the authenticity of the disaster signal; S115: In the signal analysis of the disaster signal, the location of the disaster accident is defined according to the disaster characteristics and the location of the signal source; S116: triggering a corresponding disaster accident prompt according to the location of the disaster accident, and responding to the corresponding fire rescue station.

[0023] In an embodiment of the present application, a disaster signal is collected. The disaster signal can be triggered remotely by humans or by early warning equipment when a disaster is detected. A disaster alert is presented based on the disaster signal. At the same time, a corresponding signal source is responded to based on reverse tracing of the collected disaster signal to facilitate identification of the signal source. The signal source is identified and detection is performed around the signal source to quickly locate the disaster.

[0024] Furthermore, the camera at the location of the signal source collects surrounding images to trigger the operation of the camera at the location of the signal source, thereby collecting surrounding images according to the camera at the location of the signal source, and then presenting the corresponding disaster characteristics through the surrounding images, thereby ensuring the accuracy of the disaster signal.

[0025] Therefore, surrounding images are introduced, and image recognition is performed on the surrounding images, so that the corresponding disaster features can be defined under the recognition of the image learning model, thereby clarifying the disaster features, so that the authenticity of the disaster signal can be presented through the disaster features, so as to clarify the authenticity of the disaster signal and ensure the efficient recognition of the disaster signal.

[0026] At this time, disaster signals are introduced, and signal analysis is performed on the disaster signals so that the corresponding disaster content can be presented based on the disaster signals. Therefore, in the signal analysis of the disaster signals, the disaster characteristics and the location of the signal source are associated so that the disaster characteristics and the location of the signal source can be interacted with, so as to define the location of the disaster accident according to the disaster characteristics and the location of the signal source, and then control the location of the disaster accident so as to trigger the corresponding disaster accident prompt according to the location of the disaster accident and respond to the corresponding fire rescue station, so as to efficiently trigger the fire rescue station and evacuate the corresponding people through the disaster accident prompt.

[0027] In step S12, the navigation path of the first UAV is determined according to the location of the fire rescue station and the location of the disaster accident, and the first UAV navigates along the navigation path and records the navigation speed and navigation time; In the specific implementation process of the present invention, the specific steps may be: S121: collecting the location of the fire rescue station and the location of the disaster accident. At this time, the first drone serves as a detector of the fire rescue station; S122: Determine a navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident; S123: defining a corresponding relative distance based on the location of the fire rescue station and the location of the disaster accident; S124: defining a navigation speed of the first unmanned aerial vehicle in a first navigation environment according to the relative distance and the navigation path; S125: Record the sailing speed and sailing time.

[0028] In an embodiment of the present application, the location of the fire rescue station and the location of the disaster accident are introduced. At this time, the location of the fire rescue station and the location of the disaster accident are collected, and the location of the fire rescue station and the location of the disaster accident are interacted with so as to determine the navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident. At this time, the first UAV serves as a detection aircraft of the fire rescue station and performs on-site detection of the disaster accident, thereby realizing efficient detection of the disaster accident and making full use of the efficiency of the first UAV flying in the air.

[0029] Furthermore, a corresponding relative distance is defined based on the location of the fire rescue station and the location of the disaster accident. The relative distance is the position difference between the location of the fire rescue station and the location of the disaster accident, so as to clarify the travel distance between the location of the fire rescue station and the location of the disaster accident, thereby facilitating the navigation of the first drone.

[0030] Therefore, the relative distance and the navigation path are introduced to the first navigation environment, and the relative distance and the navigation path are associated with the first navigation environment to facilitate control in multiple dimensions. At this time, the navigation speed of the first UAV is defined according to the relative distance and the navigation path with the first navigation environment. The first UAV flies in the air along the navigation speed and is dynamically adjusted with respect to the first navigation environment to ensure the stability of the first UAV in the air. At the same time, the navigation speed level of the first UAV is defined based on the relative distance and the navigation path to facilitate control of the navigation speed of the first UAV. In addition, the navigation speed and the navigation time are recorded to facilitate feedback of the navigation speed and the navigation time of the first UAV to the second UAV. The second UAV serves as a rescue UAV and provides targeted rescue for disaster accidents.

[0031] In step S13, when the first drone arrives at the location of the disaster accident, an image of the disaster accident is collected, and a detection path is defined according to the image of the disaster accident. The first drone navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident. In the specific implementation process of the present invention, the specific steps may be: S131: The first UAV navigates along the navigation path and performs dynamic avoidance during the navigation process; S132: When the first UAV arrives at the location of the disaster accident, collect the heat distribution of the disaster accident; S133: defining a shooting sequence of the first drone based on the heat distribution of the disaster accident, and collecting images of the disaster accident along the shooting sequence; S134: defining a detection path according to the image of the disaster accident and the current position of the first drone; S135: The first UAV navigates along the detection path and simultaneously detects the disaster accident to locate multiple disaster accident branch points, and constructs a state diagram of the disaster accident according to the disaster degrees corresponding to the multiple disaster accident branch points.

[0032] In an embodiment of the present application, the first UAV navigates along a navigation path and performs dynamic avoidance during the navigation process, so that the first UAV can dynamically adjust to the first navigation environment and is compatible with the consideration of the first navigation environment, thereby ensuring the flight stability of the first UAV in the air.

[0033] At this time, when the first UAV arrives at the location of the disaster accident, the first UAV flies in a circle along the location of the disaster accident, and performs heat detection through the heat detector equipped with the first UAV, so as to define the heat of each location in the disaster accident based on the heat detector, so as to define the heat distribution of the disaster accident through the heat of each location in the disaster accident, thereby realizing the collection of the heat distribution of the disaster accident.

[0034] Furthermore, the heat distribution of the disaster accident is introduced, and the heat in the heat distribution of the disaster accident is compared, so as to adjust the shooting order of the first UAV according to the comparison result, thereby defining the shooting order of the first UAV based on the heat distribution of the disaster accident, and collecting images of the disaster accident along the shooting order, ensuring that the locations with higher heat in the disaster accident are photographed first, and synchronizing the images of the disaster accident, so that the second UAV can control the images of the disaster accident, and remote personnel can conduct disaster assessment based on the images of the disaster accident.

[0035] Therefore, the image of the disaster accident and the current position of the first UAV are associated, and a detection path is defined based on the image of the disaster accident and the current position of the first UAV, so as to define the detection flight mode of the first UAV based on the detection path, so that the first UAV detects the disaster accident along the detection path, thereby ensuring the accuracy of the first UAV's detection of the disaster accident.

[0036] At the same time, the first UAV navigates along the detection path and simultaneously detects the disaster accident to locate multiple disaster accident branch points. The disaster accident branch point serves as a local location of the disaster accident and presents the corresponding disaster situation, so as to freeze the various disaster-severe places in the location of the disaster accident through multiple disaster accident branch points, so as to construct a state diagram of the disaster accident according to the disaster degrees corresponding to the multiple disaster accident branch points, so as to control the disaster accident as a whole through the state diagram of the disaster accident, and further process the state diagram of the disaster accident.

[0037] S14: matching corresponding disaster data based on the state diagram of the disaster accident, triggering a rescue mode of the second UAV according to the multiple disaster data, and defining a disaster level based on the multiple disaster data; In the specific implementation process of the present invention, the specific steps may be: S141: freeze state diagram of disaster incident; S142: Marking a corresponding disaster area based on the state diagram of the disaster accident, and matching corresponding disaster data according to the disaster area; S143: Collecting disaster data and corresponding disaster locations, and triggering a rescue mode of the second UAV according to the disaster data and the corresponding disaster locations; S144: In the rescue mode of the second drone, a first disaster parameter is defined according to the plurality of disaster data, and a second disaster parameter is defined according to the importance level of the corresponding disaster location; S145: Associating the second disaster parameter with the first disaster parameter, and defining the disaster level according to the second disaster parameter, the first disaster parameter and the disaster level matching table.

[0038] In an embodiment of the present application, a state diagram of a disaster accident is frozen to facilitate further processing of the state diagram of the disaster accident, thereby marking the corresponding disaster area based on the state diagram of the disaster accident to facilitate clarifying the corresponding disaster area, and matching the corresponding disaster data according to the disaster area to facilitate control of multiple disaster data, thereby achieving accurate processing of the disaster area.

[0039] At this time, disaster data and the corresponding disaster location are collected in order to associate the disaster data and the corresponding disaster location, so as to trigger the rescue mode of the second UAV according to the disaster data and the corresponding disaster location, so as to trigger the second UAV to rescue the disaster accident, so that the second UAV can perform accurate rescue of the disaster accident in the rescue mode, ensuring the adequacy of the second UAV in responding to the disaster accident.

[0040] Therefore, in the rescue mode of the second UAV, the first disaster parameter is defined according to multiple disaster data, and the second disaster parameter is defined according to the importance level of the corresponding disaster location, so as to associate the second disaster parameter and the first disaster parameter, and define the disaster level according to the second disaster parameter, the first disaster parameter and the disaster level matching table, so as to control the disaster level in multiple dimensions, and then control the importance level of multiple disaster data and the corresponding disaster location, so as to ensure the accuracy of the disaster level, so as to trigger the second UAV to perform accurate rescue of disaster accidents in the rescue mode according to the disaster level.

[0041] S15: In the rescue mode of the second drone, the rescue path of the second drone is optimized according to the disaster level, the navigation path of the first drone, and the navigation time of the first drone, and corresponding rescue parameters are configured according to the multiple disaster data; In the specific implementation process of the present invention, the specific steps may be: S151: In the rescue mode of the second drone, freeze the disaster level; S152: Matching a response level of the second UAV based on the disaster level; S153: Associating the response level of the second UAV, the flight path of the first UAV, and the flight time of the first UAV; S154: defining a preset flight time of the second drone based on the response level of the second drone, the location of the fire rescue station, and the location of the disaster accident; S155: defining a flight time difference according to the preset flight time of the second drone and the flight time of the first drone; S156: Optimizing the rescue path of the second UAV according to the flight time difference, the flight path of the first UAV, and the shape of the second UAV; S157: Freeze a plurality of disaster data, and configure corresponding rescue parameters according to the plurality of disaster data. The second UAV receives the rescue parameters and triggers a corresponding rescue method.

[0042] In an embodiment of the present application, in the rescue mode of the second drone, the disaster level is fixed so as to match the response level of the second drone based on the disaster level, thereby controlling the response level of the second drone so as to define the urgency of the second drone to the disaster accident.

[0043] At this time, the response level of the second UAV, the navigation path of the first UAV and the navigation time of the first UAV are associated to facilitate interaction with the response level of the second UAV, the navigation path of the first UAV and the navigation time of the first UAV, thereby making full use of the navigation path of the first UAV and the navigation time of the first UAV. The second UAV collects the navigation path and navigation time transmitted by the first UAV and makes full use of the data of the first UAV, thereby realizing the emergency response of the second UAV, avoiding the early detection of disaster accidents by the second UAV, and reflecting the timeliness of the rescue of the second UAV.

[0044] Furthermore, the preset flight time of the second UAV is defined based on the response level of the second UAV, the location of the fire rescue station and the location of the disaster accident, so as to control the preset flight time of the second UAV and adjust the preset flight time of the second UAV.

[0045] Therefore, a flight time difference is defined according to the preset flight time of the second UAV and the flight time of the first UAV, and the flight time difference is used as the time difference between the preset flight time of the second UAV and the flight time of the first UAV, so as to facilitate further processing of the flight time difference, thereby optimizing the rescue path of the second UAV according to the flight time difference, the flight path of the first UAV and the shape of the second UAV, thereby realizing the adjustment of the rescue path of the second UAV and improving the efficiency of the second UAV in rescue. At the same time, multiple disaster data are frozen, and corresponding rescue parameters are configured according to the multiple disaster data. The second UAV receives the rescue parameters and triggers the corresponding rescue method, so as to configure the corresponding rescue tools along the rescue parameters, thereby realizing accurate coverage of disaster accidents and ensuring the rescue accuracy of the second UAV.

[0046] S16: The second drone navigates along the rescue path, divides each rescue distribution map based on the state map of the disaster accident, defines a rescue sequence according to each rescue distribution map and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each rescue distribution map; In the specific implementation process of the present invention, the specific steps may be: S161: The second UAV navigates along the rescue path and rehearses a corresponding rescue method based on the rescue parameters; S162: freeze the state diagram of the disaster accident, and divide each distribution diagram to be rescued based on the state diagram of the disaster accident; S163: In each rescue waiting distribution map, matching corresponding disaster data based on the rescue waiting distribution map; S164: The rescue waiting distribution map defines the rescue waiting level based on the corresponding disaster data, and collects multiple rescue waiting levels; S165: defining a rescue order according to a plurality of rescue waiting levels and location importance levels of the rescue waiting distribution map; S166: Carry out targeted rescue according to the rescue sequence and each distribution map of rescue waiting, and match the corresponding rescue method according to the disaster data of the distribution map of rescue waiting.

[0047] In an embodiment of the present application, the corresponding disaster data is matched based on the state diagram of the disaster accident, and the rescue mode of the second UAV is triggered according to multiple disaster data, and the disaster level is defined based on the multiple disaster data; in the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and the corresponding rescue parameters are configured according to the multiple disaster data; the second UAV navigates along the rescue path, and divides each distribution map to be rescued based on the state diagram of the disaster accident, and defines the rescue order according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue along the rescue order and each distribution map to be rescued, so that the second UAV can perform direct rescue for the disaster accident with the assistance of the first UAV, avoiding the second UAV's early detection of the disaster accident, and reflecting the timeliness of the rescue of the second UAV, ensuring that the second UAV performs targeted rescue along the rescue order and each distribution map to be rescued, and improving the UAV rescue effect based on the disaster accident.

[0048] At this time, the second UAV navigates along the rescue path and rehearses the corresponding rescue method based on the rescue parameters, so as to make full use of the disaster data collected by the first UAV in the early stage, avoid the early detection of disaster accidents by the second UAV, and reflect the timeliness of the rescue of the second UAV. At the same time, the disaster accident is accurately positioned to match the effective rescue method, ensuring the efficient rescue of the second UAV for the disaster accident.

[0049] At this time, the state diagram of the disaster accident is frozen, and each distribution diagram to be rescued is divided based on the state diagram of the disaster accident, so as to control each distribution diagram to be rescued, so as to carry out effective rescue according to the disaster situation shown in each distribution diagram to be rescued.

[0050] In each distribution map of awaiting rescue, the corresponding disaster data is matched based on the distribution map of awaiting rescue, the disaster data corresponds to the distribution map of awaiting rescue, and corresponding rescue is performed for the distribution map of awaiting rescue, so that the distribution map of awaiting rescue defines the level of awaiting rescue based on the corresponding disaster data, and collects multiple levels of awaiting rescue, thereby enabling the second UAV to perform precise rescue on the location corresponding to the distribution map of awaiting rescue.

[0051] Therefore, the rescue order is defined according to multiple rescue levels and the location importance levels of the rescue distribution map; targeted rescue is carried out along the rescue order and each rescue distribution map, and the corresponding rescue method is matched according to the disaster data of the rescue distribution map, so that the second UAV can perform direct rescue for the disaster accident with the assistance of the first UAV, avoiding the second UAV's early detection of the disaster accident, and embodying the timeliness of the second UAV's rescue, ensuring that the second UAV performs targeted rescue along the rescue order and each rescue distribution map, and improving the UAV rescue effect based on disaster accidents.

[0052] In an embodiment of the present invention, through the method in the embodiment of the present invention, disaster signals are collected, and the location of the disaster accident is defined based on the signal analysis of the disaster signals; the navigation path of the first UAV is determined based on the location of the fire rescue station and the location of the disaster accident, the first UAV navigates along the navigation path, and records the navigation speed and navigation time; when the first UAV arrives at the location of the disaster accident, an image of the disaster accident is collected, and a detection path is defined based on the image of the disaster accident, the first UAV navigates along the detection path, and simultaneously detects the disaster accident to construct a state diagram of the disaster accident, so as to complete the detection of the disaster accident by the first UAV, and present the disaster state of the disaster accident based on the state diagram of the disaster accident, so as to trigger the targeted rescue of the second UAV, thereby further realizing the information interaction between the second UAV and the first UAV.

[0053] Furthermore, the corresponding disaster data is matched based on the state diagram of the disaster accident, and the rescue mode of the second UAV is triggered according to multiple disaster data, and the disaster level is defined based on the multiple disaster data; in the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and the corresponding rescue parameters are configured according to the multiple disaster data; the second UAV navigates along the rescue path, and divides each distribution map to be rescued based on the state diagram of the disaster accident, and defines the rescue sequence according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue along the rescue sequence and each distribution map to be rescued, so that the second UAV can perform direct rescue for the disaster accident with the assistance of the first UAV, avoiding the second UAV's early detection of the disaster accident, and reflecting the timeliness of the rescue of the second UAV, ensuring that the second UAV performs targeted rescue along the rescue sequence and each distribution map to be rescued, and improving the UAV rescue effect based on the disaster accident.

[0054] See also Figure 8 , Figure 8 Schematic diagram of the structure of a UAV rescue system based on disaster accidents in an embodiment of the present invention.

[0055] like Figure 8 As shown, a UAV rescue system based on disaster accidents, the UAV rescue system based on disaster accidents includes: The signal analysis module 21 is used to collect disaster signals and define the location of the disaster accident based on the signal analysis of the disaster signals; The first navigation module 22 is used to determine the navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident. The first UAV navigates along the navigation path and records the navigation speed and navigation time. The state diagram module 23 of the disaster accident is used to collect images of the disaster accident when the first drone arrives at the location of the disaster accident, and define a detection path according to the images of the disaster accident. The first drone navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident. A disaster level module 24 is used to match corresponding disaster data based on the state diagram of the disaster accident, trigger the rescue mode of the second drone according to the multiple disaster data, and define the disaster level based on the multiple disaster data; A rescue parameter module 25, which is used to optimize the rescue path of the second drone according to the disaster level, the navigation path of the first drone and the navigation time of the first drone in the rescue mode of the second drone, and configure corresponding rescue parameters according to multiple disaster data; The drone rescue module 26 is used for the second drone to navigate along the rescue path, and divide each distribution map to be rescued based on the state diagram of the disaster accident, and define the rescue sequence according to each distribution map to be rescued and the corresponding disaster data, and perform targeted rescue along the rescue sequence and each distribution map to be rescued.

[0056] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0057] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0058] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0059] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0060] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0061] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0062] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a trainee to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0063] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0064] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0065] In addition, the above is a detailed introduction to the disaster accident-based drone rescue method and system provided by the embodiments of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method and system for drone rescue based on disaster accidents, characterized in that: Applied to drone rescue scenarios based on disaster accidents; The disaster accident-based drone rescue method and system include: collecting disaster signals, and defining the location of the disaster accident based on signal analysis of the disaster signals; The navigation path of the first UAV is determined according to the location of the fire rescue station and the location of the disaster accident. The first UAV navigates along the navigation path and records the navigation speed and navigation time. When the first UAV arrives at the location of the disaster accident, it collects images of the disaster accident, and defines a detection path based on the images of the disaster accident. The first UAV navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident. The corresponding disaster data is matched based on the state diagram of the disaster accident, and the rescue mode of the second UAV is triggered according to multiple disaster data, and the disaster level is defined based on multiple disaster data. In the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and the corresponding rescue parameters are configured according to the multiple disaster data. The second UAV navigates along the rescue path, and divides each distribution map to be rescued based on the state diagram of the disaster accident, and defines a rescue order according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue along the rescue order and each distribution map to be rescued.

2. The method and system for unmanned aerial vehicle rescue based on disaster accidents according to claim 1, characterized in that: The method of collecting disaster signals and defining the location of the disaster accident based on the signal analysis of the disaster signals includes: collecting disaster signals; responding to the corresponding signal source based on the reverse tracing of the collected disaster signals; collecting surrounding images based on the camera at the location of the signal source; defining disaster characteristics based on the recognition of surrounding images to clarify the authenticity of the disaster signal; in the signal analysis of the disaster signal, defining the location of the disaster accident based on the disaster characteristics and the location of the signal source; triggering a corresponding disaster accident prompt based on the location of the disaster accident, and responding to the corresponding fire rescue station.

3. The disaster accident-based drone rescue method and system according to claim 2, characterized in that: The method determines the navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident, the first UAV navigates along the navigation path, and records the navigation speed and the navigation time, including: collecting the location of the fire rescue station and the location of the disaster accident, at this time, the first UAV serves as a detector of the fire rescue station; determines the navigation path of the first UAV according to the location of the fire rescue station and the location of the disaster accident; defines the corresponding relative distance based on the location of the fire rescue station and the location of the disaster accident; defines the navigation speed of the first UAV according to the relative distance and the navigation path in a first navigation environment; and records the navigation speed and the navigation time.

4. The disaster accident-based drone rescue method and system according to claim 3, characterized in that: When the first drone arrives at the location of the disaster accident, it collects images of the disaster accident, and defines a detection path based on the images of the disaster accident. The first drone navigates along the detection path and simultaneously detects the disaster accident to construct a state diagram of the disaster accident, including: the first drone navigates along the navigation path and performs dynamic avoidance during the navigation process; when the first drone arrives at the location of the disaster accident, it collects the heat distribution of the disaster accident; based on the heat distribution of the disaster accident, the shooting order of the first drone is defined, and images of the disaster accident are collected along the shooting order; the detection path is defined based on the images of the disaster accident and the current position of the first drone; the first drone navigates along the detection path and simultaneously detects the disaster accident to locate multiple disaster accident branch points, and constructs a state diagram of the disaster accident according to the disaster degrees corresponding to the multiple disaster accident branch points.

5. The method and system for drone rescue based on disaster accidents according to claim 4, characterized in that: The state diagram based on the disaster accident matches the corresponding disaster data, triggers the rescue mode of the second drone according to multiple disaster data, and defines the disaster level based on the multiple disaster data, including: freezing the state diagram of the disaster accident; marking the corresponding disaster area based on the state diagram of the disaster accident, and matching the corresponding disaster data according to the disaster area; collecting disaster data and the corresponding disaster location, and triggering the rescue mode of the second drone according to the disaster data and the corresponding disaster location; in the rescue mode of the second drone, defining a first disaster parameter according to multiple disaster data, and defining a second disaster parameter according to the importance level of the corresponding disaster location; associating the second disaster parameter and the first disaster parameter, and defining the disaster level according to the second disaster parameter, the first disaster parameter and the disaster level matching table.

6. The method and system for drone rescue based on disaster accidents according to claim 5, characterized in that: In the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and corresponding rescue parameters are configured according to multiple disaster data, including: in the rescue mode of the second UAV, the disaster level is frozen; the response level of the second UAV is matched based on the disaster level; the response level of the second UAV, the navigation path of the first UAV and the navigation time of the first UAV are associated; and the preset navigation time of the second UAV is defined based on the response level of the second UAV, the location of the fire rescue station and the location of the disaster accident.

7. The method and system for unmanned aerial vehicle rescue based on disaster accidents according to claim 6, characterized in that: In the rescue mode of the second UAV, the rescue path of the second UAV is optimized according to the disaster level, the navigation path of the first UAV and the navigation time of the first UAV, and corresponding rescue parameters are configured according to multiple disaster data. It also includes: defining the navigation time difference according to the preset navigation time of the second UAV and the navigation time of the first UAV; optimizing the rescue path of the second UAV according to the navigation time difference, the navigation path of the first UAV and the shape of the second UAV; freezing multiple disaster data, and configuring corresponding rescue parameters according to the multiple disaster data, the second UAV receives the rescue parameters, and triggers the corresponding rescue method.

8. The disaster accident-based drone rescue method and system according to claim 7, characterized in that: The second UAV navigates along the rescue path, and divides each distribution map to be rescued based on the state diagram of the disaster accident, and defines the rescue sequence according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue according to the rescue sequence and each distribution map to be rescued, including: the second UAV navigates along the rescue path, and rehearses the corresponding rescue method based on the rescue parameters; freezes the state diagram of the disaster accident, and divides each distribution map to be rescued based on the state diagram of the disaster accident.

9. The disaster accident-based drone rescue method and system according to claim 8, characterized in that: The second UAV navigates along the rescue path, divides each distribution map to be rescued based on the state diagram of the disaster accident, defines a rescue order according to each distribution map to be rescued and the corresponding disaster data, and performs targeted rescue along the rescue order and each distribution map to be rescued, and also includes: in each distribution map to be rescued, matching the corresponding disaster data based on the distribution map to be rescued; the distribution map to be rescued defines a rescue level based on the corresponding disaster data, and collects multiple rescue levels; defines a rescue order according to multiple rescue levels and the location importance level of the distribution map to be rescued; performs targeted rescue along the rescue order and each distribution map to be rescued, and matches the corresponding rescue method according to the disaster data of the distribution map to be rescued.

10. A UAV rescue system based on disaster accidents, characterized in that: The disaster accident-based drone rescue system is applied to the disaster accident-based drone rescue method as described in any one of claims 1 to 9, and the disaster accident-based drone rescue system includes: a signal analysis module, which is used to collect disaster signals and define the location of the disaster accident based on the signal analysis of the disaster signals; a first navigation module, which is used to determine the navigation path of the first drone according to the location of the fire rescue station and the location of the disaster accident, the first drone navigates along the navigation path, and records the navigation speed and navigation time; a disaster accident state diagram module, which is used to collect images of the disaster accident when the first drone arrives at the location of the disaster accident, and define a detection path based on the image of the disaster accident, the first drone navigates along the detection path, and simultaneously detects the disaster accident. The invention relates to a method for carrying out detection to construct a state diagram of a disaster accident; a disaster level module, which is used to match the corresponding disaster data based on the state diagram of the disaster accident, trigger the rescue mode of the second drone according to multiple disaster data, and define the disaster level based on multiple disaster data; a rescue parameter module, which is used to optimize the rescue path of the second drone according to the disaster level, the navigation path of the first drone, and the navigation time of the first drone in the rescue mode of the second drone, and configure the corresponding rescue parameters according to multiple disaster data; a drone rescue module, which is used for the second drone to navigate along the rescue path, divide various distribution maps to be rescued based on the state diagram of the disaster accident, define the rescue order according to each distribution map to be rescued and the corresponding disaster data, and perform targeted rescue along the rescue order and each distribution map to be rescued.

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