Typhoon monitoring method and system

Abstract

The invention discloses a typhoon monitoring method and system, and the method comprises the steps: carrying out the air three-dimensional observation of a typhoon eye center region through an observation unmanned plane cluster at a designated position in the air, and obtaining the three-dimensional observation data of an air unmanned plane; performing water surface observation on the center area of the typhoon eye through the unmanned surface vehicle cluster at a specified position on the water surface to obtain unmanned surface vehicle observation data; performing aerial vertical space observation on the central area of the typhoon eye within a preset height in the air through a meteorological sensor hung on the sounding balloon to obtain aerial balloon vertical observation data; the three-dimensional observation data of the aerial unmanned aerial vehicle, the observation data of the unmanned surface vehicle and the vertical observation data of the aerial balloon are analyzed and processed through the land control platform, and a typhoon monitoring result is obtained. According to the method, multi-dimensional and multi-level data of the typhoon can be obtained, the typhoon observation efficiency and accuracy are improved, more comprehensive information support is provided for subsequent typhoon analysis and prediction, and the method can be widely applied to the technical field of data monitoring.

Description

Technical Field

[0001] The present application relates to the field of data monitoring technology, and in particular to a typhoon monitoring method and system. Background Art

[0002] Among the related technologies, there are ways of typhoon monitoring, which is a key link in early warning and prevention of typhoon disasters. At present, the related typhoon monitoring technologies mainly include meteorological satellite monitoring, Doppler weather radar monitoring, ground automatic weather station observation, direct aircraft observation, digital signal processing technology, target observation technology and traditional meteorological methods. However, these technologies all have certain limitations. The related typhoon monitoring technologies have deficiencies in terms of observation range, data accuracy, security, cost and typhoon monitoring efficiency, and it is difficult to meet the needs of efficient, accurate and comprehensive monitoring of typhoons.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The embodiments of the present application aim to solve at least one of the technical problems in the related art to a certain extent. To this end, the main purpose of the embodiments of the present application is to propose a typhoon monitoring method and system, which can obtain multi-dimensional and multi-level data of typhoons, improve the efficiency and accuracy of typhoon observation, and provide more comprehensive information support for subsequent typhoon analysis and prediction.

[0005] To achieve the above object, an embodiment of the present application provides a typhoon monitoring method, which includes the following steps:

[0006] Obtain typhoon track data of the target typhoon through the land control platform;

[0007] Controlling the transport drones according to the typhoon track data by the land control platform to transport the observation drone cluster to a designated aerial position corresponding to the typhoon eye center area, and performing aerial three-dimensional observation of the typhoon eye center area by the observation drone cluster at the designated aerial position to obtain aerial drone three-dimensional observation data;

[0008] Control the unmanned surface boat cluster carried by the transport drone to move to a designated position on the water surface corresponding to the central area of ​​the typhoon eye by the land control platform, and perform water surface observation of the central area of ​​the typhoon eye by the unmanned surface boat cluster at the designated position on the water surface to obtain observation data of the unmanned surface boats;

[0009] The land control platform controls the release of the sounding balloon carried by the surface unmanned boat cluster into the air, and the meteorological sensor suspended by the sounding balloon performs aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air to obtain the vertical observation data of the balloon in the air;

[0010] The three-dimensional observation data of the aerial UAV, the observation data of the surface unmanned boat and the vertical observation data of the aerial balloon are analyzed and processed by the land control platform to obtain typhoon monitoring results.

[0011] In some embodiments, the step of obtaining the typhoon track data of the target typhoon through the land control platform includes:

[0012] Acquiring a typhoon path map of the target typhoon through the land control platform;

[0013] The typhoon path map is subjected to data extraction and processing by the land control platform to obtain the typhoon track data of the target typhoon; wherein the typhoon track data includes typhoon eye position data and a typhoon movement path map.

[0014] In some embodiments, the land control platform controls the transport drone according to the typhoon track data to transport the observation drone cluster to the designated aerial position corresponding to the typhoon eye center area, and the observation drone cluster performs aerial three-dimensional observation of the typhoon eye center area at the designated aerial position to obtain aerial drone three-dimensional observation data, including:

[0015] Acquiring weather cloud map information through the land control platform;

[0016] The land control platform estimates the maximum vertical height and radius of the typhoon eye according to the meteorological cloud map information;

[0017] When the transport drone flies to the center of the typhoon eye center area, the land control platform controls the transport drone to descend to a preset aerial observation point according to the maximum vertical height;

[0018] When the transport drone descends to the preset aerial observation point, the land control platform controls the first observation drone cluster carried by the transport drone to be distributed at a preset aerial horizontal plane position in a concentric circle manner according to the typhoon eye radius, and controls the second observation drone cluster carried by the transport drone to be distributed at a preset aerial vertical position in a vertical arrangement manner at the center of the circle in the central area of ​​the typhoon eye.

[0019] The first observation drone cluster performs aerial horizontal plane space observation of the typhoon eye center area at the preset aerial horizontal plane position to obtain aerial drone horizontal plane observation data;

[0020] The second observation drone cluster performs aerial vertical space observation of the typhoon eye center area at the preset aerial vertical position to obtain aerial drone vertical observation data;

[0021] The aerial drone horizontal plane observation data and the aerial drone vertical observation data are used as the aerial drone three-dimensional observation data.

[0022] In some embodiments, the unmanned surface boat cluster includes a plurality of unmanned surface boats, each of which is located in a protection sphere, and one of the protection spheres includes two unmanned surface boats. A sphere positioning system is provided in the protection sphere, and the sphere positioning system is used to obtain positioning information of the protection sphere. The unmanned surface boat cluster carried by the transport drone is controlled by the land control platform to move to a designated surface position corresponding to the central area of ​​the typhoon eye, and the unmanned surface boat cluster is used to perform surface observation of the central area of ​​the typhoon eye at the designated surface position to obtain surface unmanned boat observation data, including:

[0023] When the observation drone cluster reaches the designated position in the air, the transport drone is controlled by the land control platform to throw a number of protection spheres carried by the transport drone to the water surface;

[0024] The land control platform determines whether each of the protection spheres has fallen onto the water surface according to the sphere positioning information sent by the sphere positioning system corresponding to each of the protection spheres;

[0025] If each of the protection spheres reaches the water surface, the land control platform controls the unmanned surface boats in each of the protection spheres to detach from the protection spheres and fall onto the water surface, and the land control platform controls each of the unmanned surface boats on the water surface to move to a designated position on the water surface corresponding to the central area of ​​the typhoon eye;

[0026] When each of the unmanned surface boats moves to the designated position on the water surface, each of the unmanned surface boats conducts water surface observation of the central area of ​​the typhoon eye at the designated position on the water surface to obtain the observation data of the unmanned surface boats.

[0027] In some embodiments, if each of the protection spheres reaches the water surface, the land control platform controls the unmanned surface boats in each of the protection spheres to detach from the protection spheres and fall onto the water surface, and the land control platform controls each of the unmanned surface boats on the water surface to move to a designated position on the water surface corresponding to the central area of ​​the typhoon eye, including:

[0028] When each of the protection spheres reaches the water surface, the elastic devices built into each of the protection spheres are controlled by the land control platform to divide the corresponding protection spheres into two hemispheres; wherein one of the hemispheres is filled with the surface unmanned boat;

[0029] When each of the protection spheres is divided into two hemispheres, the opening and closing devices in each of the hemispheres are controlled by the land control platform to perform symmetrical opening operations, and the fixed chains in each of the hemispheres are controlled by the land control platform to release the fixation of the unmanned surface boat in the hemisphere, so that each of the unmanned surface boats falls on the water surface;

[0030] The land control platform is used to control each of the hemispheres to merge separately. After each of the hemispheres merge separately, the land control platform is used to control each of the unmanned surface boats on the water surface to move to the designated position on the water surface corresponding to the central area of ​​the typhoon eye.

[0031] In some embodiments, the land control platform controls the release of the sounding balloon carried by the surface unmanned boat cluster into the air, and the meteorological sensor suspended by the sounding balloon performs aerial vertical space observation of the typhoon eye center area within a preset altitude in the air to obtain the vertical observation data of the balloon in the air, including:

[0032] When the cluster of unmanned surface boats reaches the designated position on the water surface, the inflation device built into the cluster of unmanned surface boats is controlled by the land control platform to inflate the sounding balloons carried by the cluster of unmanned surface boats;

[0033] The inflated sounding balloon is controlled by the land control platform to be released above the designated position on the water surface at a preset time interval;

[0034] During the process of the inflated sounding balloon ascending into the air, the meteorological sensor suspended by the sounding balloon conducts aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air to obtain the vertical observation data of the balloon in the air.

[0035] In some embodiments, after performing water surface observation of the typhoon eye center area at the designated water surface location by the water surface unmanned boat cluster to obtain the water surface unmanned boat observation data, the method further includes:

[0036] After each of the unmanned surface boats completes data observation, the land control platform controls each of the unmanned surface boats to travel toward the corresponding hemisphere according to the hemisphere positioning information corresponding to each of the hemispheres;

[0037] When each of the unmanned surface boats reaches the lower hatch of the corresponding hemisphere, the land control platform determines whether each of the unmanned surface boats is located at a preset unmanned boat recovery position based on the positioning information of each of the hemispheres and the unmanned boat positioning information corresponding to each of the unmanned surface boats;

[0038] When each of the unmanned surface boats is located at a preset unmanned boat recovery position, an unmanned boat recovery instruction is sent to each of the hemispheres through the land control platform, so that each of the hemispheres recovers the corresponding unmanned surface boat according to the unmanned boat recovery instruction.

[0039] To achieve the above object, another aspect of the embodiment of the present application provides a typhoon monitoring system, the system comprising the following modules:

[0040] A typhoon track data acquisition module is used to acquire the typhoon track data of the target typhoon through a land control platform;

[0041] The UAV three-dimensional observation data acquisition module is used to control the transport UAV through the land control platform according to the typhoon track data to transport the observation UAV cluster to the designated aerial position corresponding to the typhoon eye center area, and to perform aerial three-dimensional observation of the typhoon eye center area through the observation UAV cluster at the designated aerial position to obtain aerial UAV three-dimensional observation data;

[0042] An unmanned boat observation data acquisition module is used to control the surface unmanned boat cluster carried by the transport drone to move to a designated surface position corresponding to the central area of ​​the typhoon eye through the land control platform, and to perform surface observation of the central area of ​​the typhoon eye through the surface unmanned boat cluster at the designated surface position to obtain surface unmanned boat observation data;

[0043] A balloon vertical observation data acquisition module is used to control the sounding balloons carried by the surface unmanned boat cluster to be released into the air through the land control platform, and to perform aerial vertical space observation of the typhoon eye center area within a preset altitude in the air through the meteorological sensor suspended by the sounding balloon to obtain the aerial balloon vertical observation data;

[0044] The typhoon observation data analysis module is used to analyze and process the three-dimensional observation data of the aerial drone, the surface unmanned boat observation data and the vertical observation data of the aerial balloon through the land control platform to obtain typhoon monitoring results.

[0045] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above-mentioned method when executing the computer program.

[0046] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0047] The embodiments of the present application include at least the following beneficial effects: the present application provides a typhoon monitoring method and system, which obtains typhoon trajectory data of a target typhoon through a land control platform; controls a transport drone through the land control platform according to the typhoon trajectory data to transport an observation drone cluster to a designated aerial position corresponding to the central area of ​​the typhoon eye, and performs aerial three-dimensional observation of the central area of ​​the typhoon eye through the observation drone cluster at the designated aerial position, thereby obtaining aerial drone three-dimensional observation data; controls a surface unmanned boat cluster carried by the transport drone through the land control platform to move to a designated surface position corresponding to the central area of ​​the typhoon eye, and performs surface observation of the central area of ​​the typhoon eye through the surface unmanned boat cluster at the designated surface position, thereby obtaining surface unmanned boat observation data; controls a sounding balloon carried by the surface unmanned boat cluster to be released into the air through the land control platform, and performs aerial vertical spatial observation of the central area of ​​the typhoon eye within a preset altitude in the air through a meteorological sensor suspended by the sounding balloon, thereby obtaining aerial balloon vertical observation data; analyzes and processes the aerial drone three-dimensional observation data, the surface unmanned boat observation data, and the aerial balloon vertical observation data through the land control platform, thereby obtaining a typhoon monitoring result. The embodiments of the present application can obtain multi-dimensional and multi-level data of typhoons through the coordinated observation of aerial drone clusters, surface unmanned boat clusters and sounding balloons, thereby improving the quality and credibility of the data, thereby greatly improving the efficiency and accuracy of typhoon observations, and providing more comprehensive information support for subsequent typhoon analysis and predictions. At the same time, accurate and comprehensive typhoon monitoring results can provide timely decision-making support for meteorological departments and related agencies, which is conducive to reducing the losses caused by typhoon disasters. In addition, the use of unmanned equipment reduces personnel risks and improves the safety of typhoon observation activities. In addition, the method of coordinated observation of typhoons by aerial drone clusters, surface unmanned boat clusters and sounding balloons in the embodiments of the present application is low in cost and easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of the steps of a typhoon monitoring method provided in an embodiment of the present application;

[0049] Figure 2 This is a schematic diagram of the spatial arrangement of an observation drone cluster provided in an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of a typhoon eye center UAV vertical observation chain provided by an embodiment of the present application;

[0051] Figure 4 It is a schematic diagram of a spherical protective cover provided in an embodiment of the present application;

[0052] Figure 5 This is a schematic diagram of the opening of a spherical protective cover provided in an embodiment of the present application;

[0053] Figure 6 This is a schematic diagram of a planar structure of a hemispherical device before releasing an unmanned device provided by an embodiment of the present application;

[0054] Figure 7 This is a schematic diagram of the bottom opening of a hemispherical body when releasing unmanned equipment provided by an embodiment of the present application;

[0055] Figure 8 This is a schematic diagram of a sounding balloon provided in an embodiment of the present application;

[0056] Fig. 9 is a structural schematic diagram of a typhoon monitoring system provided in an embodiment of the present application;

[0057] Fig.10 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of systems and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0059] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0060] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0062] Among the related technologies, there are ways of typhoon monitoring. Typhoon monitoring is a key link in early warning and prevention of typhoon disasters, and is of great significance for early warning and prevention of disasters caused by typhoons. At present, the relevant typhoon monitoring technologies mainly include meteorological satellite monitoring, Doppler weather radar monitoring, ground automatic weather station observation, direct aircraft observation, digital signal processing technology, target observation technology and traditional meteorological methods. However, these technologies all have certain limitations. The relevant typhoon monitoring technologies have deficiencies in observation range, data accuracy, security, cost and typhoon monitoring efficiency, and it is difficult to meet the needs of efficient, accurate and comprehensive monitoring of typhoons.

[0063] By way of example, the following is a description of the advantages and disadvantages of relevant typhoon monitoring methods:

[0064] (1) Meteorological satellite monitoring method. Advantages: It can provide large-scale, continuous monitoring capabilities; it can observe the overall structure of the typhoon, including cloud maps and wind fields; it has strong real-time performance and can quickly obtain the latest dynamics of the typhoon. Disadvantages: The resolution is limited and may not be able to capture small-scale detailed features; in dense cloud and rain areas, satellite remote sensing signals may be attenuated.

[0065] (2) Doppler weather radar monitoring method. Advantages: high temporal and spatial resolution, able to provide detailed information on typhoon wind fields; can monitor typhoon intensity changes and rainfall distribution in real time. Disadvantages: limited detection range, restricted by the radar coverage area; radar detection range in coastal areas may be limited, and the monitoring capability of offshore typhoons is limited.

[0066] (3) Ground-based automatic weather station observation method. Advantages: It can provide accurate data on ground wind speed, air pressure, temperature, etc.; it plays a key role in monitoring typhoon paths and landing times. Disadvantages: The distribution of observation stations may be uneven, especially in ocean areas; the data may be biased due to the influence of terrain and buildings.

[0067] (4) Direct observation by aircraft. Advantages: Ability to obtain detailed meteorological data inside the typhoon; ability to directly observe the structure and intensity of the typhoon, with high data quality. Disadvantages: high cost, high operational risk; limited observation range, usually only data can be obtained for local areas of the typhoon.

[0068] (5) Digital signal processing technology. Advantages: It can process meteorological satellite and radar signals and extract useful information; it uses computer technology and has a high degree of automation. Disadvantages: For non-professionals, the technical threshold is high; the accuracy of signal processing is limited by algorithms and computing power.

[0069] (6) Targeted observation technology. Advantages: Highly targeted, able to conduct intensified observations in key areas of typhoon path forecast; combined with assimilation methods to reduce initial analysis errors and improve forecast accuracy. Disadvantages: Large demand for computing resources, especially in nonlinear methods; requires advanced observation platforms and technical support.

[0070] (7) Traditional meteorological methods. Advantages: mature technology, widely used; can provide basic information about typhoons, such as location and intensity. Disadvantages: monitoring capabilities are limited by the distribution and performance of meteorological stations and satellites; may not respond in a timely manner to rapidly changing typhoon characteristics.

[0071] In view of this, a typhoon monitoring method and system are provided in an embodiment of the present application. The scheme obtains typhoon trajectory data of a target typhoon through a land control platform; controls a transport drone through the land control platform according to the typhoon trajectory data to transport an observation drone cluster to a designated aerial position corresponding to the central area of ​​the typhoon eye, and performs aerial three-dimensional observation of the central area of ​​the typhoon eye at the designated aerial position by the observation drone cluster to obtain aerial drone three-dimensional observation data; controls a surface unmanned boat cluster carried by the transport drone through the land control platform to move to a designated surface position corresponding to the central area of ​​the typhoon eye, and performs surface observation of the central area of ​​the typhoon eye at the designated surface position by the surface unmanned boat cluster to obtain surface unmanned boat observation data; controls a sounding balloon carried by the surface unmanned boat cluster to be released into the air through the land control platform, and performs aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air by a meteorological sensor suspended by the sounding balloon to obtain aerial balloon vertical observation data; analyzes and processes the aerial drone three-dimensional observation data, the surface unmanned boat observation data, and the aerial balloon vertical observation data through the land control platform to obtain a typhoon monitoring result. The embodiments of the present application can obtain multi-dimensional and multi-level data of typhoons through the coordinated observation of aerial drone clusters, surface unmanned boat clusters and sounding balloons, thereby improving the quality and credibility of the data, thereby greatly improving the efficiency and accuracy of typhoon observations, and providing more comprehensive information support for subsequent typhoon analysis and predictions. At the same time, accurate and comprehensive typhoon monitoring results can provide timely decision-making support for meteorological departments and related agencies, which is conducive to reducing the losses caused by typhoon disasters. In addition, the use of unmanned equipment reduces personnel risks and improves the safety of typhoon observation activities. In addition, the method of coordinated observation of typhoons by aerial drone clusters, surface unmanned boat clusters and sounding balloons in the embodiments of the present application is low in cost and easy to operate.

[0072] The typhoon monitoring method provided in the embodiment of the present application relates to the field of data monitoring technology. The typhoon monitoring method provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a car terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or it can be configured as a server cluster or a distributed system composed of multiple physical servers, and can also be configured to provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network, content distribution network) and big data and artificial intelligence platforms and other basic cloud computing services. The cloud server, the server can also be a node server in the blockchain network; the software can be an application that implements the typhoon monitoring method, etc., but is not limited to the above forms.

[0073] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs (Personal Computers, personal computers), minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0074] See also Figure 1 , Figure 1 is an optional step flow chart of the typhoon monitoring method provided in the embodiment of the present application, Figure 1 The method may include but is not limited to steps S101 to S105.

[0075] Step S101, obtaining typhoon track data of a target typhoon through a land control platform;

[0076] Among them, typhoons are a kind of natural disasters with high wind speed, large impact range and strong destructiveness. Conventional meteorological equipment is difficult to observe typhoons in real time. Although the current typhoon monitoring method can obtain the plane information of the typhoon, it lacks the refined observation of the three-dimensional structure of the typhoon. The embodiment of the present application deploys a cluster of unmanned observation equipment for dynamic tracking in the typhoon eye area to conduct real-time observation and collection of the three-dimensional structure and meteorological and hydrological elements of the typhoon from the air, on the water surface and underwater, making typhoon monitoring more refined and intelligent, and being able to obtain more accurate and comprehensive typhoon monitoring information, providing more comprehensive and accurate information support for subsequent typhoon analysis and prediction.

[0077] Optionally, the land control platform is an advanced technology system located on the ground, responsible for managing and controlling a cluster of unmanned observation equipment to monitor extreme weather events such as typhoons. The land control platform mainly communicates with other equipment through satellite communications.

[0078] The target typhoon is a specific typhoon selected as the object of observation and analysis.

[0079] In some embodiments, step S101 may include: obtaining a typhoon path map of the target typhoon through a land control platform; performing data extraction and processing on the typhoon path map through the land control platform to obtain typhoon trajectory data of the target typhoon; wherein the typhoon trajectory data includes typhoon eye position data and a typhoon movement path map.

[0080] In step S101, the typhoon path map refers to the typhoon path map of the target typhoon, and the typhoon path map of the target typhoon is obtained based on the typhoon path map released by the current typhoon path prediction platform ECMWF. The typhoon path map shows the movement path of the typhoon in the past period of time and the future forecast path. The typhoon path map may include but is not limited to: the center position of the typhoon (usually the position of the eye of the typhoon), the moving direction, the moving speed, and the areas that may be affected.

[0081] Optionally, typhoon track data refers to information extracted from a typhoon path map, and the typhoon track data includes typhoon eye location data (latitude and longitude data of the location of the typhoon eye) and a typhoon movement path map.

[0082] In a specific implementation, the latitude and longitude data of the typhoon eye location and the typhoon movement path map corresponding to the target typhoon can be extracted based on the typhoon path map released by the typhoon path prediction platform ECMWF.

[0083] Step S102, controlling the transport drones according to the typhoon track data by the land control platform to transport the observation drone cluster to a designated aerial position corresponding to the typhoon eye center area, and performing aerial three-dimensional observation of the typhoon eye center area at the designated aerial position by the observation drone cluster to obtain aerial drone three-dimensional observation data;

[0084] In some embodiments, step S102 may include: obtaining meteorological cloud map information through a land control platform; estimating the maximum vertical height and radius of the typhoon eye affected by the typhoon eye based on the meteorological cloud map information through the land control platform; when the transport drone flies to the center of the typhoon eye center area, controlling the transport drone to descend to a preset aerial observation point position through the land control platform according to the vertical maximum height; when the transport drone descends to the preset aerial observation point position, controlling the first observation drone cluster carried by the transport drone to be distributed in a preset aerial horizontal plane position in a concentric circle manner according to the typhoon eye radius through the land control platform, and controlling the second observation drone cluster carried by the transport drone to be distributed in a preset aerial vertical position in a vertical arrangement manner at the center of the typhoon eye center area through the land control platform; performing aerial horizontal plane space observation of the typhoon eye center area at a preset aerial horizontal plane position by the first observation drone cluster to obtain aerial drone horizontal plane observation data; performing aerial vertical space observation of the typhoon eye center area at a preset aerial vertical position by the second observation drone cluster to obtain aerial drone vertical observation data; using the aerial drone horizontal plane observation data and the aerial drone vertical observation data as aerial drone three-dimensional observation data.

[0085] Among them, the transport drone is a drone used to transport other equipment or materials to a specific location. In an embodiment of the present application, the transport drone can be used to transport observation drone clusters and surface unmanned boat clusters.

[0086] In the specific implementation, the time t = S / v required for the transport drone to reach the center of the typhoon eye can be calculated based on the maximum speed v of the transport drone and the distance S between the transport drone and the eye of the typhoon. Among them, the transport drone is used as a carrier for aerial observation and is responsible for carrying n (n>9) small observation drones.

[0087] The observation drone cluster is used to conduct aerial three-dimensional observation of the central area of ​​the typhoon eye at a designated position in the air to obtain aerial three-dimensional structural data of the central area of ​​the typhoon eye, where three-dimensional observation refers to horizontal space observation and vertical space observation, and aerial three-dimensional structural data includes data of the aerial horizontal space and data of the aerial vertical space. The observation drone cluster includes multiple small observation drones, each of which is equipped with an altimeter, meteorological observation sensor, x-band radar, video camera and other equipment. The altimeter is used to observe the height of the drone from the sea surface, the meteorological sensor is used to observe wind speed, temperature, air pressure and dryness and humidity, the x-band radar is used to measure rainfall, and the camera is used to capture cloud and sea surface information from above.

[0088] In the embodiment of the present application, the observation drone cluster can be divided into a first observation drone cluster and a second observation drone cluster. Among them, the first observation drone cluster is used to observe and collect typhoon data in the air horizontal plane space of the central area of ​​the typhoon eye, and the first observation drone cluster is distributed in a preset air horizontal plane position in a concentric circle manner, and the preset air horizontal plane position can be determined according to the maximum vertical height h affected by the typhoon eye; the second observation drone cluster is used to observe and collect typhoon data in the air vertical space of the central area of ​​the typhoon eye, and the second observation drone cluster is distributed in a preset air vertical position in a vertical arrangement manner at the center of the typhoon eye central area, and the preset air vertical position is determined based on the typhoon eye radius (the regional range of the typhoon eye).

[0089] The typhoon eye center area refers to a relatively calm area inside the typhoon, usually located in the center of the typhoon. This area can be called the "typhoon eye". Specifically, the typhoon eye center area can be determined based on the typhoon eye position data in the typhoon trajectory data obtained in step S101. In a specific implementation, the typhoon eye center area needs to limit the monitoring range according to the actual situation.

[0090] Among them, the designated aerial position includes a preset aerial horizontal plane position determined according to the maximum vertical height h affected by the typhoon eye and a preset aerial vertical position determined based on the typhoon eye radius (the regional range of the typhoon eye).

[0091] Among them, the three-dimensional observation data of aerial drones include the horizontal plane observation data of aerial drones obtained by the first observation drone cluster conducting aerial horizontal plane space observation of the central area of ​​the typhoon eye at a preset aerial horizontal plane position, and also include the vertical observation data of aerial drones obtained by the second observation drone cluster conducting aerial vertical space observation of the central area of ​​the typhoon eye at a preset aerial vertical position.

[0092] Meteorological cloud map information is data observed by satellite remote sensing. Meteorological cloud map information may include but is not limited to: infrared cloud maps, visible light cloud maps and water vapor maps, etc., containing information such as temperature and humidity, height distribution, component composition, lightning and thunderstorms, etc.

[0093] Among them, the maximum vertical height of the typhoon eye refers to the maximum height from the sea level at the center of the typhoon eye to the typhoon eye's influence range (such as strong storm clouds and rotating air currents). This height determines the flight altitude that the observation drone needs to reach when conducting aerial horizontal space observations. The typhoon eye radius refers to the distance from the typhoon eye center to the typhoon eye edge (that is, the area where the storm clouds begin to significantly strengthen and rotate). This radius is an important basis for determining the size of the range around the typhoon eye center when the observation drone conducts horizontal space observations.

[0094] As for the preset aerial observation point position, it is the aerial position to which the transport drone descends, which is set by the land control platform according to the typhoon trajectory data and meteorological cloud map information. When the transport drone descends to the preset aerial observation point position, the land control platform controls the first observation drone cluster carried by the transport drone to be distributed in the preset aerial horizontal plane position in a concentric circle manner according to the typhoon eye radius, and controls the second observation drone cluster carried by the transport drone to be distributed in the preset aerial vertical position in a vertical arrangement manner at the center of the circle in the central area of ​​the typhoon eye through the land control platform.

[0095] During the movement of the transport drone, the transport route of the transport drone is corrected and updated in real time through the typhoon eye location information provided in real time by the typhoon path prediction platform ECMWF. Specifically, the information is sent to the transport drone through satellite communication through the control room on land (land control platform), and the transport drone adjusts and updates the transport route after receiving the updated information.

[0096] In the specific implementation, firstly, based on the maximum speed v of the transport drone and the distance S between the transport drone and the eye of the typhoon, the time t=S / v required for the transport drone to reach the center of the typhoon eye is calculated; then, the transport drone takes off from the land airport and transports the small observation drone to the location of the typhoon eye. Specifically, during the transportation of the transport drone, the land control platform receives real-time meteorological cloud map information observed by satellite remote sensing; then, the control system of the land control platform estimates the maximum vertical height h affected by the typhoon eye based on the real-time meteorological cloud map information, and sends the vertical maximum height information to the transport drone via satellite communication. When the transport drone arrives at the typhoon eye area, it descends to 1.2 times the maximum vertical height of the typhoon eye (that is, 1.2h), that is, when the transport drone descends to the preset aerial observation point, please refer to Figure 2 , Figure 2is a schematic diagram of the spatial arrangement of an observation drone cluster provided in an embodiment of the present application, such as Figure 2 As shown, Figure 2 The green circle in the figure represents a small observation drone. With the center of the typhoon eye as the center, a group of observation drones are dispatched in a concentric circle manner. The drones on each arc are arranged in a cross-shaped pattern (8 endpoints). Then, based on the infrared cloud image, visible light cloud image and water vapor image obtained from the satellite cloud image (meteorological cloud image information), the SegNet deep learning method is used to identify the area of ​​the typhoon eye and estimate the radius r of the typhoon eye. Within the radius r of the typhoon eye, the distance between each concentric ring is 50 kilometers. In actual applications, the distance between each concentric ring can be set according to actual conditions.

[0097] In the specific implementation, since the wind speed in the center of the typhoon eye is relatively low, a vertical UAV observation chain is deployed in the center of the typhoon eye to carry out vertical observation of meteorological parameters inside the typhoon eye. The vertical interval of each UAV is 50 kilometers. In actual application, the vertical interval of each UAV can be set according to the actual situation. Figure 3 , Figure 3 Schematic diagram of a vertical observation chain of a drone at the center of a typhoon eye provided by an embodiment of the present application; Figure 3 As shown, Figure 3 The green circle in the figure represents the circular drone observation cluster deployed above the typhoon eye, and the red circle represents the vertical observation drone cluster deployed in the center of the typhoon eye. It should be noted that Figure 3 The black dots on the vertical observation chain of the medium UAV represent the omitted n small observation UAVs.

[0098] In practical applications, since the eye of a typhoon is constantly moving, it is possible to obtain weather forecast information released by relevant meteorological models (such as the Pangu Meteorological Model), and then obtain the typhoon eye movement speed from the weather forecast information through a land control platform. The land control platform then remotely controls the movement speed of the drone cluster through satellite communications, so that the movement speed of the aerial drone cluster is synchronized with the movement speed of the typhoon eye, thereby keeping the position of the drone cluster relatively stationary with the typhoon eye area. During the entire typhoon movement process, planar drone concentric rings and vertical observation chains are used to conduct three-dimensional observation and data collection of the typhoon eye core area.

[0099] In an embodiment of the present application, when a typhoon makes landfall or dissipates and the drone cluster completes the observation, the land control platform dispatches a transport drone to the center of the drone formation array; the land control platform then controls the transport drone to open the storage hatch at the bottom, and controls the small observation drones to fly to 10 meters below the storage hatch one by one according to the position of the transport drone in a recovery sequence from the inside to the outside of the drone circular formation array; then the small observation drones rise back into the transport drone cabin and park, completing the recovery of the observation drone cluster one by one, and after all observation drones have been recovered, the transport drone closes the hatch and returns to the airport on shore. It should be noted that the unmanned equipment cluster recovery stage of the embodiment of the present application refers to the recovery of the drone cluster and the unmanned boat cluster respectively after the drone cluster, the unmanned boat cluster and the sounding balloon have all completed the typhoon observation. It can be understood that there is no conflict with the content of recovering the drone cluster after the typhoon lands or dissipates and the drone cluster completes the observation. In addition, the observation time of the drone cluster, the unmanned boat cluster and the sounding balloon is determined according to the actual application situation, that is, the order of completion of the observation also needs to be determined according to the actual application situation. After the drone cluster, the unmanned boat cluster and the sounding balloon have all completed the typhoon observation, the drone cluster and the unmanned boat cluster can be recovered respectively.

[0100] Step S103, controlling the unmanned surface boat cluster carried by the transport drone to move to a designated surface position corresponding to the central area of ​​the typhoon eye through the land control platform, and performing surface observation of the central area of ​​the typhoon eye through the unmanned surface boat cluster at the designated surface position to obtain observation data of the unmanned surface boats;

[0101] In some embodiments, step S103 may include: when the observation drone cluster reaches the designated position in the air, controlling the transport drone through the land control platform to throw several protection spheres carried by the transport drone to the water surface; judging whether each protection sphere has fallen on the water surface based on the sphere positioning information sent by the sphere positioning system corresponding to each protection sphere through the land control platform; if each protection sphere reaches the water surface, controlling the surface unmanned boats in each protection sphere to separate from the protection sphere and fall on the water surface through the land control platform, and controlling each surface unmanned boat on the water surface to move to the designated position on the water surface corresponding to the central area of ​​the typhoon eye through the land control platform; when each surface unmanned boat moves to the designated position on the water surface, each surface unmanned boat conducts surface observation of the central area of ​​the typhoon eye at the designated position on the water surface to obtain surface unmanned boat observation data.

[0102] In some specific embodiments, if each protection sphere reaches the water surface, the land control platform is used to control the surface unmanned boats in each protection sphere to detach from the protection sphere and fall on the water surface, and the land control platform is used to control each surface unmanned boat on the water surface to move to the designated position on the water surface corresponding to the central area of ​​the typhoon eye. The step may include: when each protection sphere reaches the water surface, the land control platform is used to control the built-in elastic device of each protection sphere to divide the corresponding protection sphere into two hemispheres; wherein one surface unmanned boat is placed in one hemisphere; when each protection sphere is divided into two hemispheres, the land control platform is used to control the opening and closing devices in each hemisphere to perform symmetrical opening operations, and the land control platform is used to control the fixed chains in each hemisphere to release the fixation of the surface unmanned boat in the hemisphere, so that each surface unmanned boat falls on the water surface; the land control platform is used to control each hemisphere to merge respectively, and after each hemisphere is merged respectively, the land control platform is used to control each surface unmanned boat on the water surface to move to the designated position on the water surface corresponding to the central area of ​​the typhoon eye.

[0103] Among them, the surface unmanned boat cluster (also known as the surface unmanned equipment cluster) is a collection of multiple surface unmanned boats (also known as surface unmanned equipment). The surface unmanned boat can autonomously navigate on the water surface and perform various tasks, such as observation, monitoring, data collection, etc. Under extreme weather conditions such as typhoon observation, the surface unmanned boat cluster can work together to improve observation efficiency and data accuracy. Among them, the surface unmanned boat cluster includes several surface unmanned boats, and the surface unmanned boats are located in the protection sphere. A protection sphere contains two surface unmanned boats. A sphere positioning system is set in the protection sphere, and the sphere positioning system is used to obtain the positioning information of the protection sphere. For the protection sphere, it is a device for protecting and transporting surface unmanned boats. During transportation, the surface unmanned boat is placed in the protection sphere to ensure that it arrives at the destination safely. For the sphere positioning system, it is a GNSS (Global Navigation Satellite System, which is a global navigation satellite system), which is set in the protection sphere.

[0104] In the specific implementation, after the transport drone has sent the small observation drone to the designated location in the air, the land control platform controls the transport drone to open the storage compartment of the surface unmanned boat cluster and start throwing the surface unmanned boat cluster to the water surface. Figure 4 , Figure 4 Schematic diagram of a spherical protective cover provided in an embodiment of the present application. In the embodiment of the present application, in order to protect the unmanned surface boat, a spherical cover is used as a protective measure on the outer edge of the unmanned surface boat, and unmanned surface equipment (unmanned surface boat) and GNSS positioning sensors are placed inside, such as Figure 4 As shown, Figure 4The green circle part of No. 401 in the figure refers to the outer inflatable protective cover layer that wraps the surface unmanned boat; the black circle part of No. 402 refers to the outer rigid protective cover (external inflatable cover) that stores the surface unmanned boat, which is made of stainless steel; the blue dotted line part of No. 403 refers to the inner partition line, which is used as the basis for dividing the two hemispheres. Through the GNSS navigation and positioning system placed in the sphere, when the sphere falls to a height of 2 kilometers from the water surface, the inflation system built into the external inflatable cover is turned on through the set height threshold (2000 meters), and the external inflatable cover is inflated through the inflation device built into the external inflatable cover. When the sphere falls to the ocean surface, the external inflatable cover can play a buffering role on the sphere, thereby protecting the surface unmanned boat placed in the sphere from damage.

[0105] The elastic device built into the protective sphere is used to bounce the entire protective sphere into two symmetrical hemispheres according to the partition line inside the sphere. Among them, a surface unmanned boat (unmanned equipment) is placed in one of the hemispheres.

[0106] In a specific implementation, after the protection sphere falls on the water surface, the GNSS positioning system in the protection sphere sends the GNSS positioning information corresponding to the protection sphere to the land control platform via satellite communication, and then the land control platform analyzes the position information in the GNSS positioning information. If the vertical change range of the protection sphere within 10 minutes is less than 10 meters (the value can be set according to actual conditions), it is determined that the protection sphere has fallen on the water surface. Otherwise, it is determined that the protection sphere has not fallen on the water surface. If the protection sphere has not fallen on the water surface, wait for it to reach the water surface or monitor whether it is affected by other reasons. When it is determined that the protection sphere has fallen on the water surface, the land control platform sends a sphere splitting instruction to the protection sphere that has fallen on the water surface via satellite communication, so that the elastic device arranged inside the protection sphere will bounce the protection sphere from the middle and divide it into two hemispheres according to the sphere splitting instruction. The two hemispheres are connected by a built-in hinge ring. Please refer to Figure 5 , Figure 5 Schematic diagram of the opening of a spherical protective cover provided in an embodiment of the present application. Figure 5 As shown, Figure 5 An unmanned device (surface unmanned boat) is fixed in each of the two hemispheres, and the two hemispheres are connected by a built-in hinge ring. Figure 5 The serial number 501 in the figure indicates a hinge ring.

[0107] For the opening and closing device in the hemisphere, it can perform a symmetrical opening operation by receiving the device opening command sent by the land control platform, that is, the hemisphere is symmetrically opened into two left and right fan-shaped parts. For the fixed chain in the hemisphere, it is a chain used to fix the surface unmanned boat at a specific position in the hemisphere.

[0108] See also Figure 6 , Figure 6 is a schematic diagram of a planar structure of a hemispherical device before releasing an unmanned device provided in an embodiment of the present application, such as Figure 6 As shown, Figure 6 The hemisphere can be symmetrically divided into two fan-shaped parts. When the hatch at the bottom of the hemisphere is opened, the two fan-shaped parts open symmetrically upwards. Please refer to Figure 7 , Figure 7 Schematic diagram of the bottom opening of a hemispherical body when releasing unmanned equipment provided by an embodiment of the present application, such as Figure 7 As shown, after the two hemispheres are separated, a device opening command is sent to each hemisphere through the land control platform, so that the opening and closing device built into each hemisphere opens the hemisphere symmetrically upwards to be divided into two left and right fan-shaped parts according to the device opening command. When the opening width of the hatch opening below the hemisphere is 1.2 times the length of the surface unmanned boat, the land control platform uses satellite communication to send a command to the hemisphere to unlock the surface unmanned equipment. After receiving the command, the fixing device in the hemisphere will loosen the fixing chain inside the hemisphere, causing the unmanned equipment to fall into the water; then, the land control platform uses satellite communication to send a command to the surface unmanned equipment ( The unmanned surface boat sends a start command, the unmanned equipment starts the power system, and the unmanned equipment sinks to a water depth of 5 meters; then, the land control platform sends a combination command, so that the hatch at the bottom of the hemisphere is closed, and the two hemispheres are combined into one through the tension between the hinges; when the two hemispheres complete the closing of the lower door and the combination of the two hemispheres, the land control platform sends a move command to the unmanned equipment, and after receiving the move command, the unmanned equipment moves away from the surface sphere, so that the deployed unmanned equipment is arranged in a circular array with the position of the surface sphere as the center, and floats to the surface after moving outward for 50 meters.

[0109] Among them, the number of surface unmanned equipment (surface unmanned boats) deployed corresponds to the number of aerial observation drones. The number of surface unmanned equipment is not less than m (m>9), and they are arranged in a circular array with the center of the typhoon eye as the center of the circle. The spacing between each circle is 50 kilometers. The arrangement of the array is the same as the arrangement of the aerial drone cluster in the horizontal plane space. The surface unmanned equipment cluster (surface unmanned boat cluster) is equipped with ultrasonic anemometers, current meters, temperature, salinity and water depth observation sensors, x-band radars, etc.

[0110] In the specific implementation, after the surface unmanned boat reaches the predetermined position of the array, the surface unmanned boat starts to observe and collect data (ocean current data and sea surface wind speed), where the ocean current data includes ocean current velocity and direction; then based on the ocean current data and wind speed data observed by the surface unmanned boat, the ocean current data and wind speed data are sent to the land control platform by satellite communication; then the control system of the land control platform calculates the resultant force of the ocean current and wind on the surface unmanned boat; finally, a power setting instruction is sent to the surface unmanned boat through the land control platform to set the power drive output value of the surface unmanned boat engine, so that the moving speed output by the surface unmanned boat engine is equal to the resultant force of the ocean current and wind, but opposite in direction, thereby allowing the surface unmanned boat to maintain a relatively static position on the water surface, which is convenient for positioning observation and data collection in the typhoon eye area.

[0111] In some embodiments, after step S103, it may also include: after each unmanned surface boat completes data observation, controlling each unmanned surface boat to move toward the corresponding hemisphere according to the hemisphere positioning information corresponding to each hemisphere through the land control platform; when each unmanned surface boat reaches the lower hatch of the corresponding hemisphere, judging whether each unmanned surface boat is located at a preset unmanned boat recovery position according to the positioning information of each hemisphere and the unmanned boat positioning information corresponding to each unmanned surface boat through the land control platform; when each unmanned surface boat is respectively located at the preset unmanned boat recovery position, sending an unmanned boat recovery instruction to each hemisphere through the land control platform, so that each hemisphere can recover the corresponding unmanned surface boat according to the unmanned boat recovery instruction.

[0112] In the specific implementation, when the typhoon lands or dissipates and the surface unmanned boat cluster completes the observation, the land control platform uses satellite communication to send movement instructions and hemisphere positioning information to the surface unmanned boat cluster based on the stored position and positioning of the surface unmanned boat sphere (hemispherical positioning information corresponding to each hemisphere), so that the unmanned boat cluster moves closer to the corresponding hemisphere according to the received hemisphere positioning information and movement instructions; when the surface unmanned boat reaches the 50-meter range of the corresponding hemisphere, the surface unmanned boat begins to dive to 5 meters underwater, and then continues to drive to the bottom of the corresponding hemisphere; when the surface unmanned boat arrives directly below the corresponding hemisphere, the land control platform determines whether their horizontal positions overlap through the GNSS positioning information corresponding to the hemisphere and the surface unmanned boat. When the vertical position difference is 4-6 meters, the land control platform sends a signal to the hemisphere. Send a position overlap information command, and after the corresponding hemisphere receives the position overlap information command, it opens the storage hatch and lowers the strong magnetic adsorption device in the hemisphere, and adsorbs and merges with the adsorption block on the panel of the surface unmanned boat through the strong magnetic adsorption device, and then the sphere sends the information of the completion of the merger to the land control system through satellite communication; finally, the land control platform sends the command to recover the unmanned boat (unmanned boat recovery command) to the sphere, and the strong magnetic adsorption device lifts the surface unmanned boat into the hemisphere through the automatic winch in the sphere. After the surface unmanned boat is stored in the hemisphere, the automatic winch stops rotating and sends the information of the completion of storage to the land control platform, and then the land control platform sends the command to close the sphere hatch to the sphere. After receiving the command to close the sphere hatch, the sphere closes the hatch, and each surface unmanned boat is recovered in the same way. After all the unmanned surface boats have recovered the hemispheres and completed the merger of the hemispheres, all the spheres carrying the unmanned surface boats send information about the completion of the recovery of the unmanned surface boat cluster and the location information of the sphere cluster to the land control platform on the shore through the positioning system; then, the land control platform calculates the distribution radius of the sphere cluster on the water surface according to the distribution of the spheres on the water surface, and takes the center of the circle of the sphere distribution as the target point. The land control platform dispatches the recovery mother ship, and after the recovery mother ship arrives at the center of the circle of the sphere distribution, it sends information that it has arrived at the designated location to the land control platform; then, the land control platform According to the distance between the mother ship and each sphere, and according to the distance between the recovery mother ship and the spheres from near to far, the land control platform sends an instruction to the recovery mother ship to start recovering the spheres, so that the mother ship sails to the nearest sphere, starts to salvage and recover the spheres, and then sails to the second closest sphere and recovers it, and recovers the spheres one by one in this way; when all the spheres are recovered, the mother ship sends a message to the land control platform that all the spheres have been recovered. After receiving the message, the land control platform sends an instruction to the mother ship to start returning, and the mother ship starts to return to the return destination set by the land control platform.It should be noted that the unmanned equipment cluster recovery stage of the embodiment of the present application refers to the recovery of the unmanned equipment cluster and the unmanned boat cluster respectively after the unmanned boat cluster, the unmanned boat cluster and the sounding balloon have all completed the typhoon observation. It can be understood that there is no conflict with the content of recovering the unmanned boat cluster after the typhoon lands or dissipates and the surface unmanned boat cluster completes the observation. In addition, the observation time of the unmanned boat cluster, the unmanned boat cluster and the sounding balloon is determined according to the actual application situation, that is, the order of observation completion also needs to be determined according to the actual application situation. After the unmanned boat cluster, the unmanned boat cluster and the sounding balloon have all completed the typhoon observation, the unmanned boat cluster and the unmanned boat cluster can be recovered respectively. In addition, the surface unmanned boat cluster here completes the observation not only including the surface unmanned boat cluster completing the observation but also including the sounding balloon carried by the surface unmanned boat cluster completing the observation. It can be understood that, assuming that after the aerial unmanned boat cluster completes the observation, the surface unmanned boat cluster also completes the observation, but the sounding balloon released in the air by the surface unmanned boat cluster is still performing the typhoon observation task, it is necessary to wait for the sounding balloon to complete the observation before uniformly recovering the aerial unmanned boat cluster and the surface unmanned boat cluster.

[0113] Step S104, controlling the sounding balloons carried by the surface unmanned boat cluster to be released into the air through the land control platform, and performing aerial vertical space observation of the typhoon eye center area within a preset altitude in the air through the meteorological sensor suspended by the sounding balloons to obtain aerial balloon vertical observation data;

[0114] Among them, the setting within the preset altitude in the air is to ensure that the sounding balloon does not interfere with the observation drone in the air. The embodiment of the present application sets the self-destruction altitude of the sounding balloon to 5,000 meters. When the sounding balloon reaches 5,000 meters, it will break and land by itself. It should be noted that most sounding balloons are made of degradable or environmentally friendly materials. These materials will gradually decompose after the balloon breaks and usually will not cause long-term pollution to the atmospheric environment. It is understandable that in actual applications, a suitable sounding balloon can be selected for observation according to actual conditions, or a recovery mechanism for the sounding balloon can be formulated. The embodiment of the present application does not limit this.

[0115] In some embodiments, step S104 may include: when the surface unmanned boat cluster reaches the designated position on the water surface, controlling the built-in inflation equipment of the surface unmanned boat cluster through the land control platform to inflate the sounding balloon carried by the surface unmanned boat cluster; controlling the inflated sounding balloon through the land control platform to release it to the air above the designated position on the water surface at preset time intervals; in the process of the inflated sounding balloon rising into the air, using the meteorological sensor suspended by the sounding balloon to conduct aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air, and obtaining aerial balloon vertical observation data.

[0116] See also Figure 8 , Figure 8 is a schematic diagram of a sounding balloon provided in an embodiment of the present application, such as Figure 8 As shown, Figure 8 The black circle portion of serial number 801 in the figure refers to a sounding balloon, serial number 803 refers to a meteorological sensor hanging plate, and serial number 802 refers to a chain or rope used to connect the sounding balloon 801 and the meteorological sensor hanging plate 803.

[0117] In the specific implementation, the sounding balloon is filled with helium through the inflation equipment in the internal cabin of each unmanned boat. All surface unmanned boats in the typhoon eye area release sounding balloons into the air synchronously at intervals (such as 1 hour). A meteorological sensor is hung at the bottom of each sounding balloon. The meteorological sensor is used to observe wind speed, air pressure and other information. These information are important characteristic beams of typhoon changes and can provide information support for observing typhoon changes and predictions. The meteorological sensor suspension plate is a flexible composite plastic material that can reduce the load of the sounding balloon and facilitate storage. The data collected by the meteorological sensor (including wind speed, air pressure, dryness and humidity, etc.) is transmitted to the land control platform in real time via satellite communication. In order to ensure that the sounding balloon does not interfere with the observation drone in the air, the self-destruction height of the sounding balloon is set to 5,000 meters. When the sounding balloon reaches 5,000 meters, it will break and land by itself.

[0118] In the unmanned equipment cluster recovery stage of the embodiment of the present application, after the sounding balloon completes the observation, if the aerial drone cluster and the surface unmanned boat cluster have completed the observation, the drone cluster and the unmanned boat cluster can be recovered separately. It should be noted that the detailed description of each step in recovering the drone cluster and the unmanned boat cluster can refer to the relevant content in the aforementioned embodiment, which will not be repeated here.

[0119] Step S105, analyzing and processing the three-dimensional observation data of the aerial UAV, the observation data of the surface unmanned boat and the vertical observation data of the aerial balloon through the land control platform to obtain typhoon monitoring results.

[0120] Among them, typhoon monitoring results refer to the comprehensive conclusions about the typhoon status, characteristics and trends obtained after comprehensive analysis and processing of three-dimensional observation data from aerial drones, surface unmanned boats and vertical observation data from aerial balloons. These data come from different types of observation equipment, each with a unique observation perspective and advantages, and can capture information about typhoons at different heights and positions. Therefore, more accurate and comprehensive typhoon monitoring results can be obtained, providing strong support for weather forecasting, disaster prevention and mitigation, and scientific research. Typhoon monitoring results can also be used to formulate emergency response plans, issue early warning information, guide rescue operations, etc., so as to minimize the negative impact of typhoons.

[0121] In steps S101 to S105 shown in the embodiment of the present application, the typhoon track data of the target typhoon is obtained through a land control platform; the land control platform controls the transport drone to transport the observation drone cluster to the designated aerial position corresponding to the central area of ​​the typhoon eye according to the typhoon track data, and the observation drone cluster performs aerial three-dimensional observation of the central area of ​​the typhoon eye at the designated aerial position to obtain aerial drone three-dimensional observation data; the land control platform controls the surface unmanned boat cluster carried by the transport drone to move to the designated surface position corresponding to the central area of ​​the typhoon eye, and the surface unmanned boat cluster performs surface observation of the central area of ​​the typhoon eye at the designated surface position to obtain surface unmanned boat observation data; the land control platform controls the sounding balloon carried by the surface unmanned boat cluster to be released into the air, and the meteorological sensor suspended by the sounding balloon performs aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air to obtain aerial balloon vertical observation data; the land control platform analyzes and processes the aerial drone three-dimensional observation data, the surface unmanned boat observation data and the aerial balloon vertical observation data to obtain typhoon monitoring results. The embodiments of the present application can obtain multi-dimensional and multi-level data of typhoons through the coordinated observation of aerial drone clusters, surface unmanned boat clusters and sounding balloons, thereby improving the quality and credibility of the data, thereby greatly improving the efficiency and accuracy of typhoon observations, and providing more comprehensive information support for subsequent typhoon analysis and predictions. At the same time, accurate and comprehensive typhoon monitoring results can provide timely decision-making support for meteorological departments and related agencies, which is conducive to reducing the losses caused by typhoon disasters. In addition, the use of unmanned equipment reduces personnel risks and improves the safety of typhoon observation activities. In addition, the method of coordinated observation of typhoons by aerial drone clusters, surface unmanned boat clusters and sounding balloons in the embodiments of the present application is low in cost and easy to operate.

[0122] In summary, the typhoon monitoring method provided in the embodiment of the present application mainly includes four steps: the first step is to obtain typhoon trajectory data to determine the location of the central area of ​​the typhoon eye; the second step is the dispatch of an aerial observation drone cluster; the third step is the dispatch of a surface unmanned boat cluster, which involves the release of sounding balloons carried by surface unmanned boats; the fourth step is the recovery of surface unmanned boat clusters and aerial observation drone clusters. It should be noted that the detailed description of each step can refer to the relevant content in the aforementioned embodiment, and will not be repeated here. It can be understood that the present invention is not limited to this. The typhoon monitoring method provided in the embodiment of the present application has the following advantages:

[0123] (1) An observation drone cluster with equal spacing in the horizontal plane is deployed above the typhoon eye, and a vertical drone observation chain is deployed in the center of the typhoon eye. Each observation drone is equipped with meteorological observation equipment to perform three-dimensional observation and data collection on the structure of the typhoon eye during the entire typhoon movement. In addition, by setting and adjusting the movement speed of the aerial observation drone cluster, the observation drone cluster can move synchronously with the typhoon eye, thereby keeping the position of the observation drone cluster stationary relative to the typhoon center, which can improve the quality and accuracy of the typhoon's three-dimensional observation data.

[0124] (2) The surface unmanned boat is placed in the form of a spherical protective cover and is dropped from a high altitude at a preset distance from the outer edge of the typhoon eye. Based on the GNSS information built into the sphere, when the sphere reaches the preset height threshold during the descent, the inflatable cover outside the sphere automatically restarts, which can prevent the sphere carrying the surface unmanned boat from being damaged by the impact of contact with the water surface when it lands on the water surface, thereby protecting the equipment. Moreover, after the sphere lands on the water surface, the sphere can be divided into two hemispheres through the elastic device built into the sphere, and each hemisphere can put the surface unmanned boat into the water through the built-in lower opening and closing door. In addition, the recovery of the surface unmanned boat is carried out through the spherical device that lands on the water surface, which can avoid collisions with the mother ship during the retrieval and ensure the safety and stability of the equipment.

[0125] (3) The surface unmanned boat cluster is arranged in a circular array with the center of the typhoon eye as the center to obtain more accurate typhoon data; and through the ocean current data and wind speed data collected by the surface unmanned boat, the surface unmanned boat's own power drive setting is used to fix the position of the surface unmanned boat relative to the typhoon eye and continuously collect data.

[0126] (4) After the cluster of unmanned surface boats reaches the designated position of the circular array, each unmanned surface boat inflates the sounding balloon through the inflation device at preset intervals. After all unmanned surface boats have completed the inflation of the sounding balloons, all unmanned surface boats release the sounding balloons into the air synchronously according to the operation of the land control platform. In addition, when the sounding balloon reaches a certain height from the sea surface, the sounding balloon will automatically rupture and land through the self-destruct device, thereby avoiding the impact of the sounding balloon on the drone in the air.

[0127] See also Fig. 9 The embodiment of the present application further provides a typhoon monitoring system 900, which can implement the above-mentioned typhoon monitoring method. The system includes the following modules:

[0128] A typhoon track data acquisition module 901 is used to acquire typhoon track data of a target typhoon through a land control platform;

[0129] The UAV three-dimensional observation data acquisition module 902 is used to control the transport UAV to transport the observation UAV cluster to the designated aerial position corresponding to the typhoon eye center area through the land control platform according to the typhoon track data, and to perform aerial three-dimensional observation of the typhoon eye center area through the observation UAV cluster at the designated aerial position to obtain aerial UAV three-dimensional observation data;

[0130] The unmanned boat observation data acquisition module 903 is used to control the surface unmanned boat cluster carried by the transport drone to move to the designated water surface position corresponding to the typhoon eye center area through the land control platform, and to perform water surface observation of the typhoon eye center area at the designated water surface position by the surface unmanned boat cluster to obtain surface unmanned boat observation data;

[0131] The balloon vertical observation data acquisition module 904 is used to control the sounding balloon carried by the surface unmanned boat cluster to be released into the air through the land control platform, and to perform aerial vertical space observation of the typhoon eye center area within a preset altitude in the air through the meteorological sensor suspended by the sounding balloon to obtain the aerial balloon vertical observation data;

[0132] The typhoon observation data analysis module 905 is used to analyze and process the three-dimensional observation data of the aerial UAV, the surface unmanned boat observation data and the vertical observation data of the aerial balloon through the land control platform to obtain typhoon monitoring results.

[0133] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0134] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above typhoon monitoring method when executing the computer program. The electronic device can be any smart terminal including a tablet computer, a car computer, etc.

[0135] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0136] See also Fig.10 , Fig.10 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0137] The processor 1001 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0138] The memory 1002 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1002 may store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1002, and the processor 1001 is used to call and execute the typhoon monitoring method of the embodiment of this application;

[0139] Input / output interface 1003, used to implement information input and output;

[0140] The communication interface 1004 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0141] A bus 1005 , which transmits information between various components of the device (e.g., the processor 1001 , the memory 1002 , the input / output interface 1003 , and the communication interface 1004 );

[0142] The processor 1001 , the memory 1002 , the input / output interface 1003 and the communication interface 1004 are connected to each other in communication within the device via the bus 1005 .

[0143] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned typhoon monitoring method is implemented.

[0144] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0145] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0146] The typhoon monitoring method and the typhoon monitoring system provided by the embodiments of the present application obtain typhoon track data of the target typhoon through a land control platform; control the transport drone through the land control platform according to the typhoon track data to transport the observation drone cluster to the designated aerial position corresponding to the central area of ​​the typhoon eye, and perform aerial three-dimensional observation of the central area of ​​the typhoon eye at the designated aerial position by the observation drone cluster to obtain aerial drone three-dimensional observation data; control the surface unmanned boat cluster carried by the transport drone to move to the designated surface position corresponding to the central area of ​​the typhoon eye through the land control platform, and perform surface observation of the central area of ​​the typhoon eye at the designated surface position by the surface unmanned boat cluster to obtain surface unmanned boat observation data; control the sounding balloon carried by the surface unmanned boat cluster to be released into the air through the land control platform, and perform aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air by the meteorological sensor suspended by the sounding balloon to obtain aerial balloon vertical observation data; analyze and process the aerial drone three-dimensional observation data, the surface unmanned boat observation data and the aerial balloon vertical observation data through the land control platform to obtain the typhoon monitoring result. The embodiments of the present application can obtain multi-dimensional and multi-level data of typhoons through the coordinated observation of aerial drone clusters, surface unmanned boat clusters and sounding balloons, thereby improving the quality and credibility of the data, thereby greatly improving the efficiency and accuracy of typhoon observations, and providing more comprehensive information support for subsequent typhoon analysis and predictions. At the same time, accurate and comprehensive typhoon monitoring results can provide timely decision-making support for meteorological departments and related agencies, which is conducive to reducing the losses caused by typhoon disasters. In addition, the use of unmanned equipment reduces personnel risks and improves the safety of typhoon observation activities. In addition, the method of coordinated observation of typhoons by aerial drone clusters, surface unmanned boat clusters and sounding balloons in the embodiments of the present application is low in cost and easy to operate.

[0147] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0148] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0149] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0150] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0151] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0152] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0153] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0154] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0156] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0157] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A typhoon monitoring method, characterized in that: The method comprises the following steps: Obtain typhoon track data of the target typhoon through the land control platform; The land control platform controls the transport drone according to the typhoon track data to transport the observation drone cluster to the designated aerial position corresponding to the typhoon eye center area, and the observation drone cluster performs aerial three-dimensional observation of the typhoon eye center area at the designated aerial position to obtain aerial drone three-dimensional observation data; Control the unmanned surface boat cluster carried by the transport drone to move to a designated surface position corresponding to the typhoon eye center area through the land control platform, and perform surface observation of the typhoon eye center area through the unmanned surface boat cluster at the designated surface position to obtain the unmanned surface boat observation data; The land control platform controls the release of the sounding balloon carried by the surface unmanned boat cluster into the air, and the meteorological sensor suspended by the sounding balloon performs aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air to obtain the vertical observation data of the balloon in the air; The three-dimensional observation data of the aerial UAV, the observation data of the surface unmanned boat and the vertical observation data of the aerial balloon are analyzed and processed by the land control platform to obtain typhoon monitoring results.

2. The method according to claim 1, characterized in that The step of obtaining the typhoon track data of the target typhoon through the land control platform includes: Acquiring a typhoon path map of the target typhoon through the land control platform; The typhoon path map is subjected to data extraction and processing by the land control platform to obtain the typhoon track data of the target typhoon; wherein the typhoon track data includes typhoon eye position data and a typhoon movement path map.

3. The method according to claim 1, characterized in that The method of controlling the transport drones according to the typhoon trajectory data by the land control platform to transport the observation drone cluster to the designated aerial position corresponding to the central area of ​​the typhoon eye, and performing aerial three-dimensional observation of the central area of ​​the typhoon eye by the observation drone cluster at the designated aerial position to obtain aerial drone three-dimensional observation data includes: Acquiring weather cloud map information through the land control platform; The land control platform estimates the maximum vertical height and radius of the typhoon eye according to the meteorological cloud map information; When the transport drone flies to the center of the typhoon eye center area, the land control platform controls the transport drone to descend to a preset aerial observation point according to the maximum vertical height; When the transport drone descends to the preset aerial observation point, the land control platform controls the first observation drone cluster carried by the transport drone to be distributed at the preset aerial horizontal plane position in a concentric circle manner according to the typhoon eye radius, and controls the second observation drone cluster carried by the transport drone to be distributed at the preset aerial vertical position in a vertical arrangement manner at the center of the circle in the central area of ​​the typhoon eye by the land control platform; The first observation drone cluster performs aerial horizontal plane space observation of the typhoon eye center area at the preset aerial horizontal plane position to obtain aerial drone horizontal plane observation data; The second observation drone cluster performs aerial vertical space observation of the typhoon eye center area at the preset aerial vertical position to obtain aerial drone vertical observation data; The aerial drone horizontal plane observation data and the aerial drone vertical observation data are used as the aerial drone three-dimensional observation data.

4. The method according to claim 1, characterized in that: The unmanned surface boat cluster includes a plurality of unmanned surface boats, each of which is located in a protection sphere. One of the protection spheres includes two unmanned surface boats. A sphere positioning system is provided in the protection sphere. The sphere positioning system is used to obtain positioning information of the protection sphere. The unmanned surface boat cluster carried by the transport drone is controlled by the land control platform to move to a designated surface position corresponding to the central area of ​​the typhoon eye, and the unmanned surface boat cluster is used to perform water surface observation of the central area of ​​the typhoon eye at the designated surface position to obtain observation data of the unmanned surface boats, including: When the observation drone cluster reaches the designated position in the air, the transport drone is controlled by the land control platform to throw a number of protection spheres carried by the transport drone to the water surface; The land control platform determines whether each of the protection spheres has fallen onto the water surface according to the sphere positioning information sent by the sphere positioning system corresponding to each of the protection spheres; If each of the protection spheres reaches the water surface, the land control platform controls the unmanned surface boats in each of the protection spheres to detach from the protection spheres and fall onto the water surface, and the land control platform controls each of the unmanned surface boats on the water surface to move to a designated position on the water surface corresponding to the central area of ​​the typhoon eye; When each of the unmanned surface boats moves to the designated position on the water surface, each of the unmanned surface boats conducts water surface observation of the central area of ​​the typhoon eye at the designated position on the water surface to obtain the observation data of the unmanned surface boats.

5. The method according to claim 4, characterized in that If each of the protection spheres reaches the water surface, the land control platform controls the unmanned surface boats in each of the protection spheres to detach from the protection spheres and fall onto the water surface, and the land control platform controls each of the unmanned surface boats on the water surface to move to a designated position on the water surface corresponding to the central area of ​​the typhoon eye, including: When each of the protection spheres reaches the water surface, the elastic devices built into each of the protection spheres are controlled by the land control platform to divide the corresponding protection spheres into two hemispheres; wherein one of the hemispheres is filled with the surface unmanned boat; When each of the protection spheres is divided into two hemispheres, the opening and closing devices in each of the hemispheres are controlled by the land control platform to perform symmetrical opening operations, and the fixed chains in each of the hemispheres are controlled by the land control platform to release the fixation of the unmanned surface boat in the hemisphere, so that each of the unmanned surface boats falls on the water surface; The land control platform is used to control each of the hemispheres to merge separately. After each of the hemispheres merge separately, the land control platform is used to control each of the unmanned surface boats on the water surface to move to the designated position on the water surface corresponding to the central area of ​​the typhoon eye.

6. The method according to claim 1, characterized in that The land control platform controls the sounding balloons carried by the surface unmanned boat cluster to be released into the air, and the meteorological sensors suspended by the sounding balloons perform aerial vertical space observation of the typhoon eye center area within a preset altitude in the air to obtain the vertical observation data of the balloons in the air, including: When the cluster of unmanned surface boats reaches the designated position on the water surface, the inflation device built into the cluster of unmanned surface boats is controlled by the land control platform to inflate the sounding balloons carried by the cluster of unmanned surface boats; The inflated sounding balloon is controlled by the land control platform to be released above the designated position on the water surface at a preset time interval; During the process of the inflated sounding balloon ascending into the air, the meteorological sensor suspended by the sounding balloon conducts aerial vertical space observation of the central area of ​​the typhoon eye within a preset altitude in the air to obtain the vertical observation data of the balloon in the air.

7. The method according to claim 5, characterized in that After the surface unmanned boat cluster performs water surface observation on the typhoon eye center area at the designated water surface location to obtain the surface unmanned boat observation data, the method further includes: After each of the unmanned surface boats completes data observation, the land control platform controls each of the unmanned surface boats to travel toward the corresponding hemisphere according to the hemisphere positioning information corresponding to each of the hemispheres; When each of the unmanned surface boats reaches the lower hatch of the corresponding hemisphere, the land control platform determines whether each of the unmanned surface boats is located at a preset unmanned boat recovery position based on the positioning information of each of the hemispheres and the unmanned boat positioning information corresponding to each of the unmanned surface boats; When each of the unmanned surface boats is located at a preset unmanned boat recovery position, an unmanned boat recovery instruction is sent to each of the hemispheres through the land control platform, so that each of the hemispheres recovers the corresponding unmanned surface boat according to the unmanned boat recovery instruction.

8. A typhoon monitoring system, characterized in that: The system includes the following modules: A typhoon track data acquisition module is used to acquire the typhoon track data of the target typhoon through a land control platform; The UAV three-dimensional observation data acquisition module is used to control the transport UAV through the land control platform according to the typhoon track data to transport the observation UAV cluster to the designated aerial position corresponding to the typhoon eye center area, and to perform aerial three-dimensional observation of the typhoon eye center area through the observation UAV cluster at the designated aerial position to obtain aerial UAV three-dimensional observation data; An unmanned boat observation data acquisition module is used to control the surface unmanned boat cluster carried by the transport drone to move to a designated surface position corresponding to the central area of ​​the typhoon eye through the land control platform, and to perform surface observation of the central area of ​​the typhoon eye through the surface unmanned boat cluster at the designated surface position to obtain surface unmanned boat observation data; A balloon vertical observation data acquisition module is used to control the sounding balloons carried by the surface unmanned boat cluster to be released into the air through the land control platform, and to perform aerial vertical space observation of the typhoon eye center area within a preset altitude in the air through the meteorological sensor suspended by the sounding balloon to obtain the aerial balloon vertical observation data; The typhoon observation data analysis module is used to analyze and process the three-dimensional observation data of the aerial drone, the surface unmanned boat observation data and the vertical observation data of the aerial balloon through the land control platform to obtain typhoon monitoring results.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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