Detection method and system for earthquake search and rescue

Abstract

The invention provides a detection method and system for earthquake search and rescue, and relates to the technical field of search and rescue robots, and the system comprises an air detection module which is used for obtaining life body information through a composite life detector; the life body information is transmitted to the ground search and rescue module through the communication device; receiving path planning information by using a communication device, and controlling the unmanned aerial vehicle to detect according to a planned path; the ground search and rescue module is used for performing optimal path planning on the unmanned aerial vehicle and the search and rescue trolley based on a depth-first search algorithm by utilizing the processing sub-module to obtain path planning information; based on the path planning information, controlling the search and rescue trolley to perform a search and rescue task; and the base station sub-module is used for converting the life body information into life body information digital signals, sending the life body information digital signals to search and rescue personnel, and sending path planning information to a communication device of the air detection module to complete earthquake search and rescue. The problem that trapped persons are difficult to effectively rescue in a complex post-disaster environment is solved.

Description

Technical Field

[0001] The present specification relates to the technical field of search and rescue robots, and in particular to a detection method and system for earthquake search and rescue. Background Art

[0002] Earthquake disasters continue to occur frequently around the world, bringing huge challenges to current on-site rescue technology. Especially after a destructive earthquake, as professional earthquake rescue workers, how to use scientific rescue methods and advanced technical equipment to rescue survivors and minimize losses is our primary task. However, extremely harsh on-site rescue environments, such as frequent aftershocks, narrow gaps, dangerous building ruins, and even toxic and radioactive environments, will greatly affect the efficiency and effectiveness of rescue, and often even threaten the lives of rescue workers.

[0003] As one of the three major natural disasters, earthquakes can have a great impact on human social life, such as casualties and economic losses. After an earthquake, the search and rescue of injured and trapped people is a difficult and high-risk behavior, and the safety of the rescuers cannot be fully guaranteed. The traditional post-earthquake rescue plan is for rescuers and search and rescue dogs to carry out rescue based on previous experience combined with local terrain and population distribution. It is not very targeted and has low search and rescue efficiency. In recent years, the application of drones in post-earthquake disaster relief has improved rescue efficiency and reduced casualties, but the number of drones for search and rescue teams is also limited. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a detection method and system for earthquake search and rescue, which solves the problem that it is difficult to effectively rescue trapped persons in a complex post-disaster environment.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a detection method for earthquake search and rescue, comprising: S1: Based on the depth-first search algorithm, the optimal path planning is performed for the UAV and the search and rescue vehicle to obtain the path planning information; S2: Using the path planning information to control the UAV and the search and rescue vehicle to perform the search and rescue mission and obtain the information of the living organism; S3: Send the life form information to rescue personnel to complete earthquake rescue.

[0006] A detection method and system for earthquake search and rescue is adopted, which combines the collaborative work of drones and search and rescue vehicles and the depth-first search algorithm to perform optimal path planning. (1) Based on the path planning information, the drone and the search and rescue vehicle work together to improve the search and rescue efficiency and reduce resource waste; (2) By selecting the optimal path, the time consumption of the search and rescue mission can be reduced, ensuring that the information of the living organism can be quickly transmitted to the rescue personnel; (3) This method can quickly adjust the path in a complex environment, adapt to different earthquake disaster areas, and improve the response speed and success rate of the search and rescue mission.

[0007] Furthermore, the S1 includes: Analyze the search and rescue scenario and generate an adjacency matrix; Based on the adjacency matrix, weighted calculation is performed using the distribution of population heat values ​​to obtain all pathways that meet the constraint conditions; The paths satisfying the constraint conditions are combined, the search probability of the combined paths is calculated, and the path with the highest search probability is used as the path planning information.

[0008] By analyzing the search and rescue scenario and generating an adjacency matrix, combined with the population thermal value distribution, weighted calculation is performed to optimize path planning. (1) The adjacency matrix can comprehensively evaluate the traffic conditions in the search and rescue area and provide an accurate basis for path selection; (2) Combined with the population thermal value distribution, weighted calculation can make the optimal path selection based on the actual situation in the disaster area and improve rescue efficiency; (3) By calculating the search probability of the combined path, the utilization of search and rescue resources can be maximized to ensure that the rescue mission is completed in the shortest time.

[0009] Further, the S2 includes: Using the path planning information, the UAV and the search and rescue vehicle are controlled to perform the search and rescue mission and obtain the search and rescue target area; Use passive acoustic wave detection technology to detect the search and rescue target area and obtain the acoustic wave signal of living organisms; Use infrared visual detection technology to scan the search and rescue target area and obtain images of the living environment; Active ultrasonic waves are used to locate life forms in the search and rescue target area, and two-dimensional positioning signals of life forms are obtained; The life body sound wave signal, the life body environment image and the life body two-dimensional positioning signal are fused to obtain the life body information.

[0010] A combination of multiple detection technologies is used to obtain information about life forms and perform information fusion. (1) The combination of passive acoustic wave detection, infrared visual detection, and active ultrasonic positioning technology can cover the needs of life form detection in different environments and improve detection accuracy; (2) The combination of infrared and acoustic wave detection can effectively remove interference, improve the accuracy of life form positioning, and reduce misjudgment and missed search and rescue opportunities.

[0011] A detection system for earthquake search and rescue, comprising: The aerial detection module includes a drone, which is used to obtain life information using a composite life detector; transmit the life information to a ground search and rescue module using a communication device; receive path planning information using the communication device, and control the drone to perform detection according to the planned path; wherein the composite life detector and the communication device are mounted in the drone; The ground search and rescue module includes a search and rescue vehicle, which is used to use a processing submodule to perform optimal path planning for the UAV and the search and rescue vehicle based on a depth-first search algorithm to obtain path planning information; based on the path planning information, control the search and rescue vehicle to perform search and rescue tasks; use a base station submodule to convert life information into a life information digital signal, send the life information digital signal to the search and rescue personnel, and send the path planning information to the communication device of the aerial detection module to complete earthquake search and rescue.

[0012] The beneficial effects of the present invention are as follows: a detection method and system for earthquake search and rescue is adopted, an infrared and acoustic wave composite life detector is adopted, and a drone and a small car are used for collaborative search and rescue, and the small car is equipped with a 5G small base station, and the drone is equipped with tracks and a search pole. (1) The drone is loaded inside the small car, and when the drone is started, it is released from the inside of the small car, and the small car and the drone collaborate in search and rescue to speed up the search and rescue efficiency; (2) Both infrared and acoustic wave sensors can work in harsh environmental conditions such as dark light and rainy days, and have the advantages of simple structure, low cost, strong adaptability, and not easy to damage. Infrared sensors can be used to obtain images of the environment in which living organisms are located. Active and passive acoustic wave sensors can be used to detect weak distress signals emitted by living organisms and locate them more accurately. The coordinated work of the two can provide a more accurate basis for decision-making in the formulation of rescue plans, reduce rescue time, and minimize disaster losses. (3) The use of 5G small base stations strengthens the communication between drones and small cars, ensuring rapid signal transmission and improving rescue efficiency. (4) Brushless motors have fast response speeds, smooth operation, and high control accuracy, thereby providing stable and high power to the fan blades to ensure the operation of drones at high altitudes.

[0013] Furthermore, the base station submodule includes a baseband processing unit, a switch and a radio frequency processing unit: A baseband processing unit, used for performing baseband processing on the life information to obtain a corresponding digital signal of the life information; A switch, used for transmitting the digital signal of life information to a radio frequency processing unit; The radio frequency processing unit is used to send the life form information digital signal to the search and rescue personnel, and send the path planning information to the communication device of the air detection module.

[0014] A base station submodule is used, including a baseband processing unit, a switch and a radio frequency processing unit, to achieve efficient data transmission and processing. (1) The baseband processing unit performs baseband processing on life information to enhance the stability and accuracy of information transmission; (2) The switch is responsible for efficiently forwarding information, enabling the system to quickly respond to rescue needs; (3) The radio frequency processing unit can communicate stably in complex environments, ensuring the real-time transmission of life information and path planning information, and improving search and rescue efficiency.

[0015] Furthermore, the processing submodule is also used to analyze the detected vertical road condition height, and when the vertical road condition height is lower than a threshold, it is determined that the search and rescue vehicle can successfully cross the vertical road condition: ; in, Indicates the vertical road height. represents the horizontal coordinate of the center of mass of the search and rescue vehicle. It represents the vertical coordinate of the center of mass of the search and rescue vehicle. Indicates the pitch angle of the rescue vehicle. Indicates the radius of the support wheel in the track, Indicates the thickness of the track.

[0016] By calculating the center of mass position and stability of the search and rescue vehicle under vertical conditions, the obstacle crossing capability and search and rescue efficiency of the vehicle can be improved. (1) Based on the center of mass calculation method, the stability of the tracked vehicle under vertical conditions is determined, so that the vehicle can smoothly cross obstacles without overturning; (2) By adopting reasonable tracked vehicle structural parameters, the adaptability of the tracked vehicle under different terrains is improved, so that it can stably perform search and rescue tasks and improve the search and rescue operation capability in earthquake ruins environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein: Figure 1 is a schematic diagram of a module of a detection system for earthquake search and rescue according to some embodiments of this specification; Figure 2It is an exemplary flow chart of a detection method for earthquake search and rescue according to some embodiments of this specification. DETAILED DESCRIPTION

[0018] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0019] Embodiment 1 Figure 1 It is a module schematic diagram of a detection system for earthquake search and rescue according to some embodiments of this specification.

[0020] In some embodiments, the detection system for earthquake search and rescue may include an aerial detection module and a ground search and rescue module.

[0021] The aerial detection module includes a drone, which is used to obtain life information using a composite life detector; transmit the life information to a ground search and rescue module using a communication device; receive path planning information using the communication device, and control the drone to perform detection according to the planned path.

[0022] The composite life detector may include an infrared acoustic wave sensor and an acoustic wave sensor.

[0023] The communication device is a device used for data communication with the base station of the search and rescue vehicle.

[0024] In some embodiments, the drone may include a motor, two tracks, retractable wings and a 4k high-definition camera for acquiring information about life forms; wherein the 4k high-definition camera may be connected to the drone via a search rod, and a composite life detector and a communication device may be mounted in the drone, and its working performance table is shown in Table 1.

[0025] Table 1 UAV working performance table

[0026] In some embodiments, the motor of the drone may adopt a permanent magnet brushless DC motor, and its stator performance is shown in Table 2.

[0027] Table 2 Permanent magnet brushless DC motor stator performance

[0028] In some embodiments, the rotor structure of the UAV motor adopts an external rotor motor surface mount structure, that is, a structure with the stator inside and the rotor outside. Stator slot shape: The pear-shaped slot commonly used in permanent magnet synchronous motors is adopted, because it can make full use of the slot area, the slot utilization rate is high, and the slot bottom has a smooth transition, and the insulating material is not easily damaged when the offline process is carried out.

[0029] The ground search and rescue module includes a search and rescue vehicle, which is used to use a processing submodule to perform optimal path planning for the UAV and the search and rescue vehicle based on a depth-first search algorithm to obtain path planning information; based on the path planning information, control the search and rescue vehicle to perform search and rescue tasks; use a base station submodule to convert life information into a life information digital signal, send the life information digital signal to the search and rescue personnel, and send the path planning information to the communication device of the aerial detection module to complete earthquake search and rescue.

[0030] In some embodiments, the search and rescue vehicle may include a track chassis and a vehicle body located on the track chassis; wherein the processing submodule and the base station submodule are mounted inside the vehicle body.

[0031] In some embodiments, the crawler chassis may be made of metal and may be of inverted trapezoidal crawler type. The parameters of the crawler chassis may include: Rated speed: ; The rolling resistance is: ; The rolling torque is: ; The speed is: ; The output power is: .

[0032] In some embodiments, the movement of the rescue vehicle during the rescue process includes the following scenarios: (1) the rescue vehicle is traveling on a flat road and has not yet touched the vertical road condition; (2) the rescue vehicle touches the side of the vertical road condition, and then as the vehicle moves, the rescue vehicle is supported by the vertical road condition, and the pitch angle of the rescue vehicle gradually increases; (3) the bottom of the search and rescue vehicle track touches the side of the vertical road condition, and the rescue vehicle gradually moves to the critical position of overturning; (4) the center of mass of the rescue vehicle crosses the side ridge of the vertical road condition, and the center of mass position of the rescue vehicle is on the right side of the ridge; (5) the rescue vehicle climbs to the top of the vertical road condition, but the body of the vehicle is suspended in the air; (6) the rescue vehicle crosses the side ridge of the vertical road condition, and the rescue vehicle successfully completes the obstacle crossing. To determine whether the rescue vehicle can stably cross the vertical road condition, that is, to determine whether the center of mass position of the rescue vehicle can successfully cross the side ridge of the vertical road condition.

[0033] In some embodiments, the processing submodule may analyze the detected vertical road condition height, and when the vertical road condition height is lower than a threshold, determine that the search and rescue vehicle can successfully cross the vertical road condition: ; in, Indicates the vertical road height. represents the horizontal coordinate of the center of mass of the search and rescue vehicle. It represents the vertical coordinate of the center of mass of the search and rescue vehicle. Indicates the pitch angle of the rescue vehicle. Indicates the radius of the support wheel in the track, Indicates the thickness of the track.

[0034] In some embodiments, the range of the coordinates of the center of mass of the search and rescue vehicle is: ; in, Indicates the x-axis coordinate of the driving wheel, represents the driving wheel radius, Indicates the track thickness, represents the angle between the tracked vehicle and the right inner side of the gully, Indicates the width of the gully.

[0035] In some embodiments, the obstacle crossing process of the search and rescue vehicle includes: (1) the search and rescue vehicle moves along the direction of the ditch, but because the center of mass position has not passed the left inner wall of the ditch, the front end of the search and rescue vehicle is suspended above the ditch; (2) the center of mass position of the search and rescue vehicle passes the left inner wall of the ditch, the search and rescue vehicle tilts forward as a whole and the forward tilt angle contacts the right inner wall of the ditch; (3) the search and rescue vehicle is placed above the ditch as a whole; (4) the search and rescue vehicle continues to move, but because the center of mass position has not passed the right inner wall of the ditch, the search and rescue vehicle tilts backward and the backward tilt angle contacts the left inner wall of the ditch: (5) the center of mass position of the search and rescue vehicle passes the right inner wall of the ditch, the chassis is parallel to the horizontal direction, but the rear end is suspended above the ditch. When the center of mass position passes the right inner wall of the ditch, the track on the driving wheel side of the tracked vehicle can contact the left inner wall of the ditch; (6) the search and rescue vehicle successfully crosses the ditch road condition and completes the obstacle crossing.

[0036] In some embodiments, the vehicle body can be used to store drones and receive and process signals sent back by the drones; wherein the vehicle body has two layers of space, which can store some food and water in addition to drones and other devices.

[0037] In some embodiments, the vehicle body may further include a telescopic rod for controlling the opening of the rear door of the vehicle body and releasing the drone.

[0038] In some embodiments, the base station submodule includes a baseband processing unit, a switch, and a radio frequency processing unit.

[0039] The baseband processing unit includes multiple 5G small base stations, which are used to perform baseband processing on the life information to obtain the corresponding digital signal of the life information.

[0040] In some embodiments, the baseband processing unit may include multi-layer protocol stack functions, synchronization, forward transmission, backhaul, operation and maintenance, integrated management and other functions, and is used to perform baseband processing on life information to obtain corresponding life information digital signals. The baseband processing unit has a coverage radius of 50m-200m in the ruins environment after the earthquake, with a power of 0.5W-10W, and enhances the communication between the drone and the car.

[0041] The switch is used to transmit the digital signal of life information to the radio frequency processing unit.

[0042] The radio frequency processing unit is used to send the life form information digital signal to the search and rescue personnel, and send the path planning information to the communication device of the air detection module.

[0043] In some embodiments, the base station submodule of the search and rescue vehicle can be connected to the communication devices of multiple drones. , the drone communication device set is , the base station location is , the location of the drone communication device is , the drone can analyze the distance from the base station in real time, respond to changes in the network in a timely manner, and ensure the reliability and high energy utilization of wireless transmission through the optimal deployment and movement of drones. For example, the collaboration between aerial drones and ground vehicles can be achieved through air-to-ground communication, and communication between air and ground is an important part of achieving collaboration. On the one hand, the aerial robot needs to send path planning, and on the other hand, the ground robot also needs to feedback status information. Therefore, the communication method suitable for the system is particularly important. Generally, there are three ways of air-to-ground communication: ZigBee protocol, wireless broadband and data transmission radio.

[0044] In some embodiments, the communication module of the search and rescue vehicle can use an integrated development board with Qualcomm AR9331 chip, configured with OPENWRT firmware to implement WLAN function, support international standard IEE802.11b / g / n protocol, and can be set as a wireless AP for other devices to access. The drone is equipped with a WIH module dedicated to the development board, which also supports international standard protocols, can be well adapted to the system carried by the drone, and has the advantages of plug-and-play and driver-free. It can be seen that the hardware configuration of the aerial drone and the ground search and rescue vehicle can support mutual communication between the two.

[0045] In some embodiments, a detection system for earthquake search and rescue can be used to execute a detection method for earthquake search and rescue, including: S1: performing optimal path planning for a drone and a rescue vehicle based on a depth-first search algorithm to obtain path planning information; S2: using the path planning information to control the drone and the rescue vehicle to perform search and rescue tasks and obtain life information; S3: sending the life information to rescue personnel to complete earthquake search and rescue.

[0046] In some embodiments of the present specification, the processor uses a detection system for earthquake search and rescue to execute a detection method for earthquake search and rescue. In this way, it can be achieved that (1) the drone is loaded inside the car, and the drone is released from the car when it is started, and the car and the drone cooperate in search and rescue to speed up the search and rescue efficiency; (2) both infrared and acoustic wave sensors can work under harsh conditions such as dark light and rainy days, and have the advantages of simple structure, low cost, strong adaptability, and not easy to damage. The infrared sensor can obtain an image of the environment in which the living body is located, and the active and passive acoustic wave sensors can detect the weak distress signals emitted by the living body and locate the living body more accurately. The collaborative work of the two can provide a more accurate decision-making basis for formulating rescue plans, reduce rescue time, and reduce disaster losses; (3) The use of 5G small base stations strengthens the communication between the drone and the car, ensures the rapid transmission of signals, and can improve rescue efficiency; (4) The brushless motor has a fast response speed, stable operation, and high control accuracy, thereby providing stable and high power to the fan blades to ensure the operation of the drone at high altitude.

[0047] Embodiment 2 Figure 2 is an exemplary flow chart of a detection method for earthquake search and rescue according to some embodiments of this specification. Figure 2 As shown, the process includes the following steps. In some embodiments, the process can be executed by a processing submodule.

[0048] S1: Based on the depth-first search algorithm, optimal path planning is performed for the UAV and the search and rescue vehicle to obtain path planning information.

[0049] The path planning information is used to plan the search and rescue paths of the UAV and the search and rescue vehicle.

[0050] In some embodiments, the processing submodule can implement S1 based on the following steps: analyze the search and rescue scenario to generate an adjacency matrix; based on the adjacency matrix, perform weighted calculations using the distribution of population thermal values ​​to obtain all paths that meet the constraints; combine the paths that meet the constraints, calculate the search probability of the combined path, and use the path with the highest search probability as the path planning information.

[0051] The adjacency matrix is ​​the matrix form of the search and rescue scenario.

[0052] In some embodiments, the expression of the adjacency matrix may be: ; ; in, represents the adjacency matrix, represents the data in the adjacency matrix, Represents the length of the adjacency matrix.

[0053] The path that meets the constraint conditions is the path that the drone and the search and rescue vehicle can actually pass through.

[0054] In some embodiments, the processing submodule can analyze the length of the combined path to determine whether it reaches the specified path length, output all paths that meet the specified number of steps as paths with higher search probabilities, and select the path with the highest search probability as the path planning information.

[0055] In some embodiments, the expression of the search probability may be: ; in, represents the search probability, Indicates horizontal Step 1 Step path.

[0056] S2: Use the path planning information to control the UAV and the search and rescue vehicle to perform search and rescue missions and obtain life information.

[0057] Vital information is information that reflects the specific location and vital signs of the trapped persons.

[0058] In some embodiments, the processing submodule can implement S2 based on the following steps: using the path planning information to control the drone and the search and rescue vehicle to perform the search and rescue mission and obtain the search and rescue target area; using passive acoustic wave detection technology to detect the search and rescue target area and obtain the sound wave signal of the living organism; using infrared visual detection technology to scan the search and rescue target area and obtain the living organism environment image; using active ultrasonic waves to locate the living organism in the search and rescue target area and obtain the two-dimensional positioning signal of the living organism; fusing the sound wave signal of the living organism, the living organism environment image and the two-dimensional positioning signal of the living organism to obtain the living organism information.

[0059] The life body sound wave signal is a sound wave signal emitted by a life body. For example, the life body sound wave signal may include audio sound waves generated by the trapped person groaning, shouting, crawling, knocking, etc.

[0060] The living organism environment image is an image that reflects the environment surrounding the living organism.

[0061] In some embodiments, the processing submodule may use an infrared signal acquisition circuit to process the scanned image of the search and rescue target area to obtain a life environment image.

[0062] The two-dimensional positioning signal of a living body is a positioning signal that reflects the living body in two dimensions.

[0063] In some embodiments, the processing submodule can filter the signal acquired by the acoustic wave sensor using the wavelet transform method to obtain the acoustic wave signal of the living body and the two-dimensional positioning signal of the living body. Specifically, the collected signal is subjected to wavelet decomposition, and a threshold is determined for the wavelet coefficient. According to the nonlinear wavelet transform threshold method, when the coefficient of the signal after wavelet decomposition is less than the threshold, the coefficient is set to zero; otherwise, the original coefficient value is retained, and the required effective signal is obtained by inverse wavelet transform. For multiple source signals with obvious frequency separation characteristics, the signal separation can be completed by bandpass filtering to obtain the acoustic wave signal of the living body and the two-dimensional positioning signal of the living body.

[0064] In some embodiments, the processor can use passive sound wave detection technology to detect outside the ruins or inside the ruins, collect and extract sound wave signals emitted by life forms (audio sound waves generated by the trapped person's groaning, shouting, crawling, knocking, etc.), and determine the suspected area where the life forms exist. In this area, look for ruins holes and use infrared visual detection technology to collect images of the life form environment. At the same time, active ultrasonic waves can be emitted to the life form target to obtain a two-dimensional positioning signal of the life form. The useful information collected above is processed through information fusion to identify and locate the life form and obtain life form information.

[0065] S3: Send the life form information to rescue personnel to complete earthquake rescue.

[0066] In some embodiments, the processing submodule can initialize the search and rescue vehicle. When the search and rescue command is received, the drone takes off and conducts search and rescue according to the path planning information. The ground search and rescue vehicle waits for the aerial drone to transmit information while searching and rescuing. The drone uses its own lightness and wide range to collect image information, and then processes the collected image information and transmits it back to the vehicle. After receiving the information, the ground vehicle processes and summarizes it and uploads it to the search and rescue personnel, who arrive at the designated location. After the time limit is reached, the ground drone returns to the vehicle to complete the earthquake search and rescue mission.

[0067] In some embodiments of the present specification, a detection method and system for earthquake search and rescue is adopted, which adopts an infrared and acoustic wave composite life detector, uses a drone and a car to coordinate search and rescue, and the car is equipped with a 5G small base station, and the drone is equipped with tracks and a search pole. (1) The drone is loaded inside the car, and when it is started, the drone is released from the inside of the car. The car and the drone coordinate search and rescue to speed up the search and rescue efficiency; (2) Both infrared and acoustic wave sensors can work in harsh environmental conditions such as dark light and rainy days, and have the advantages of simple structure, low cost, strong adaptability, and not easy to damage. Infrared sensors can be used to obtain images of the environment in which living organisms are located. Active and passive acoustic wave sensors can be used to detect weak distress signals emitted by living organisms and locate them more accurately. The coordinated work of the two can provide a more accurate basis for decision-making in the formulation of rescue plans, reduce rescue time, and minimize disaster losses. (3) The use of 5G small base stations strengthens the communication between drones and small cars, ensuring rapid signal transmission and improving rescue efficiency. (4) Brushless motors have fast response speeds, smooth operation, and high control accuracy, thereby providing stable and high power to the fan blades to ensure the operation of drones at high altitudes.

Claims

1. A detection method for earthquake search and rescue, characterized in that: include: S1: Based on the depth-first search algorithm, the optimal path planning is performed for the UAV and the search and rescue vehicle to obtain the path planning information; S2: Using the path planning information to control the UAV and the search and rescue vehicle to perform the search and rescue mission and obtain the information of the living organism; S3: Send the life form information to rescue personnel to complete earthquake rescue.

2. The detection method for earthquake search and rescue according to claim 1, characterized in that: The S1 includes: Analyze the search and rescue scenario and generate an adjacency matrix; Based on the adjacency matrix, weighted calculation is performed using the distribution of population thermal values ​​to obtain all pathways that meet the constraint conditions; The paths satisfying the constraint conditions are combined, the search probability of the combined paths is calculated, and the path with the highest search probability is used as the path planning information.

3. The detection method for earthquake search and rescue according to claim 1, characterized in that: The S2 includes: Using the path planning information, the UAV and the search and rescue vehicle are controlled to perform the search and rescue mission and obtain the search and rescue target area; Use passive acoustic wave detection technology to detect the search and rescue target area and obtain the acoustic wave signal of living organisms; Use infrared visual detection technology to scan the search and rescue target area and obtain images of the living environment; Active ultrasonic waves are used to locate life forms in the search and rescue target area, and two-dimensional positioning signals of life forms are obtained; The life body sound wave signal, the life body environment image and the life body two-dimensional positioning signal are fused to obtain the life body information.

4. A detection system for earthquake search and rescue, characterized in that: include: An aerial detection module, including a drone, is used to obtain information about life forms using a composite life detector; Transmitting the life form information to a ground search and rescue module using a communication device; Utilizing a communication device to receive path planning information, and controlling the drone to perform detection along the planned path; wherein the composite life detector and the communication device are mounted in the drone; The ground search and rescue module includes a search and rescue vehicle, which is used to use a processing submodule to perform optimal path planning for the UAV and the search and rescue vehicle based on a depth-first search algorithm to obtain path planning information; based on the path planning information, control the search and rescue vehicle to perform search and rescue tasks; use a base station submodule to convert life information into a life information digital signal, send the life information digital signal to the search and rescue personnel, and send the path planning information to the communication device of the aerial detection module to complete earthquake search and rescue.

5. The detection system for earthquake search and rescue according to claim 4, characterized in that: The base station submodule includes a baseband processing unit, a switch and a radio frequency processing unit: A baseband processing unit, used for performing baseband processing on the life information to obtain a corresponding digital signal of the life information; A switch, used for transmitting the digital signal of life information to a radio frequency processing unit; The radio frequency processing unit is used to send the life form information digital signal to the search and rescue personnel, and send the path planning information to the communication device of the air detection module.

6. The detection system for earthquake search and rescue according to claim 4, characterized in that: The processing submodule is also used to analyze the detected vertical road condition height, and when the vertical road condition height is lower than a threshold, determine that the search and rescue vehicle can successfully cross the vertical road condition: ； in, Indicates the vertical road height. represents the horizontal coordinate of the center of mass of the search and rescue vehicle. It represents the vertical coordinate of the center of mass of the search and rescue vehicle. Indicates the pitch angle of the rescue vehicle. Indicates the radius of the support wheel in the track, Indicates the thickness of the track.

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