A typhoon monitoring method and system

Abstract

The application discloses a typhoon monitoring method and system, and the method comprises the following steps: observing the three-dimensional space of the typhoon eye center area in the air through a UAV cluster at a specified position in the air to obtain three-dimensional observation data of the UAV in the air; observing the typhoon eye center area on the water surface through a USV cluster at a specified position on the water surface to obtain observation data of the USV on the water surface; observing the vertical space of the typhoon eye center area in the air within a preset height through a meteorological sensor suspended by a sounding balloon to obtain vertical observation data of the balloon in the air; and analyzing and processing the three-dimensional observation data of the UAV in the air, the observation data of the USV on the water surface and the vertical observation data of the balloon in the air through a land control platform to obtain a typhoon monitoring result. The application can obtain multi-dimensional and multi-level data of the typhoon, improve the efficiency and accuracy of typhoon observation, provide more comprehensive information support for subsequent typhoon analysis and prediction, and can be widely applied to the technical field of data monitoring.

Description

TECHNICAL FIELD

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

[0002] In the related art, there are ways of typhoon monitoring, which is a key link for early warning and prevention of typhoon disasters. At present, the related typhoon monitoring technology mainly includes meteorological satellite monitoring, Doppler weather radar monitoring, ground automatic weather station observation, direct observation by aircraft, digital signal processing technology, target observation technology and traditional synoptic methods. However, these technologies have certain limitations, and the related typhoon monitoring technology has deficiencies in observation range, data accuracy, safety, cost and typhoon monitoring efficiency, etc., and it is difficult to meet the demand for efficient, accurate and comprehensive monitoring of typhoon.

[0003] In summary, the technical problems existing in the related art need to be improved. SUMMARY

[0004] The embodiments of the present application aim to at least solve one of the technical problems in the related art. 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 typhoon, improve the efficiency and accuracy of typhoon observation, and at the same time provide more comprehensive information support for subsequent typhoon analysis and prediction.

[0005] To achieve the above-mentioned purpose, one aspect of the embodiments of the present application proposes a typhoon monitoring method, which comprises the following steps:

[0006] acquiring typhoon track data of a target typhoon through a land control platform;

[0007] controlling a transport unmanned aerial vehicle to transport a cluster of observation unmanned aerial vehicles to a corresponding air designated position of a typhoon eye center area according to the typhoon track data through the land control platform, and performing three-dimensional air observation on the typhoon eye center area at the air designated position through the cluster of observation unmanned aerial vehicles, to obtain three-dimensional air observation data of unmanned aerial vehicles;

[0008] controlling a cluster of water surface unmanned boats carried by the transport unmanned aerial vehicle to move to a corresponding water surface designated position of the typhoon eye center area through the land control platform, and performing water surface observation on the typhoon eye center area at the water surface designated position through the cluster of water surface unmanned boats, to obtain water surface unmanned boat observation data;

[0009] The land control platform controls the release of the sounding balloon carried by the water unmanned ship cluster in the air, and the meteorological sensor suspended by the sounding balloon performs vertical space observation on the typhoon eye center area in a preset height in the air, to obtain balloon vertical observation data.

[0010] The land control platform analyzes and processes the unmanned aerial vehicle three-dimensional observation data, the water unmanned ship observation data and the balloon vertical observation data, to obtain typhoon monitoring results.

[0011] In some embodiments, the land control platform obtains typhoon trajectory data of the target typhoon, including:

[0012] The land control platform obtains a typhoon path map of the target typhoon;

[0013] The land control platform extracts and processes data from the typhoon path map to obtain the typhoon trajectory data of the target typhoon; wherein the typhoon trajectory data includes typhoon eye position data and a typhoon moving path map.

[0014] In some embodiments, the land control platform controls the transport unmanned aerial vehicle to transport the observation unmanned aerial vehicle cluster to a specified position in the air corresponding to the typhoon eye center area according to the typhoon trajectory data, and controls the observation unmanned aerial vehicle cluster to perform three-dimensional observation on the typhoon eye center area at the specified position in the air, to obtain unmanned aerial vehicle three-dimensional observation data, including:

[0015] The land control platform obtains meteorological cloud map information;

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

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

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

[0019] The first observation drone cluster performs aerial horizontal plane spatial 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 spatial 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 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 several unmanned surface boats, each of which is located in a protection sphere. One protection sphere 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 performs water 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 drop the plurality of protective spheres carried by the transport drone onto the water surface;

[0024] Determining whether each of the protection spheres has fallen onto the water surface by the land control platform based on 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 typhoon eye center area at the designated position on the water surface to obtain the observation data of the unmanned surface boat.

[0027] In some embodiments, when each of the protective spheres reaches the water surface, the water surface unmanned vehicles in each of the protective spheres are respectively detached from the protective spheres and fall on the water surface by the land control platform controlling the water surface unmanned vehicles, and each of the water surface unmanned vehicles on the water surface moves to a corresponding water surface designated position in the typhoon eye center region by the land control platform controlling the water surface unmanned vehicles, including:

[0028] When each of the protective spheres reaches the water surface, the corresponding protective sphere is divided into two hemispheres by the elastic device built in each of the protective spheres controlled by the land control platform; wherein one of the hemispheres has a water surface unmanned vehicle placed in it;

[0029] When each of the protective spheres is divided into two hemispheres, the opening and closing device in each of the hemispheres performs a symmetrical opening operation by the land control platform controlling the opening and closing device, and the fixing chain in each of the hemispheres is released from fixing the water surface unmanned vehicle in the hemisphere by the land control platform controlling the fixing chain, so that each of the water surface unmanned vehicles falls on the water surface;

[0030] Each of the hemispheres is respectively combined by the land control platform controlling the hemispheres, and after each of the hemispheres is combined, each of the water surface unmanned vehicles on the water surface moves to the corresponding water surface designated position in the typhoon eye center region by the land control platform controlling the water surface unmanned vehicles.

[0031] In some embodiments, the sounding balloon carried by the water surface unmanned vehicle cluster is released into the air by the land control platform controlling the water surface unmanned vehicle cluster, and the meteorological sensor suspended from the sounding balloon performs vertical space observation of the typhoon eye center region in a preset height in the air to obtain vertical observation data of the air balloon, including:

[0032] When the water surface unmanned vehicle cluster reaches the water surface designated position, the inflating device built in the water surface unmanned vehicle cluster inflates the sounding balloon carried by the water surface unmanned vehicle cluster by the land control platform controlling the inflating device;

[0033] The inflated sounding balloon is released into the air above the water surface designated position at a preset time interval by the land control platform controlling the inflated sounding balloon;

[0034] In the process of the inflated sounding balloon rising in the air, the meteorological sensor suspended from the sounding balloon performs vertical space observation of the typhoon eye center region in a preset height in the air to obtain vertical observation data of the air balloon.

[0035] In some embodiments, after the water surface observation of the typhoon eye center area by the water surface unmanned vehicle cluster at the water surface designated position is performed, water surface unmanned vehicle observation data is obtained, the method further comprises:

[0036] After the data observation of each water surface unmanned vehicle is completed, the land control platform controls each water surface unmanned vehicle to move to the corresponding hemisphere according to the hemisphere positioning information corresponding to each hemisphere;

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

[0038] When each water surface unmanned vehicle is located at the preset unmanned vehicle recovery position, the land control platform sends an unmanned vehicle recovery instruction to each hemisphere, so that each hemisphere recovers the corresponding water surface unmanned vehicle according to the unmanned vehicle recovery instruction.

[0039] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application proposes a typhoon monitoring system, which comprises the following modules:

[0040] A typhoon trajectory data acquisition module is configured to acquire typhoon trajectory data of a target typhoon by a land control platform;

[0041] An unmanned aerial vehicle three-dimensional observation data acquisition module is configured to control a transport unmanned aerial vehicle to transport an observation unmanned aerial vehicle cluster to an air designated position corresponding to a typhoon eye center area according to the typhoon trajectory data by the land control platform, and to perform three-dimensional observation of the typhoon eye center area at the air designated position by the observation unmanned aerial vehicle cluster, so as to obtain air unmanned aerial vehicle three-dimensional observation data;

[0042] An unmanned vehicle observation data acquisition module is configured to control a water surface unmanned vehicle cluster carried by the transport unmanned aerial vehicle to move to a water surface designated position corresponding to the typhoon eye center area by the land control platform, and to perform water surface observation of the typhoon eye center area at the water surface designated position by the water surface unmanned vehicle cluster, so as to obtain water surface unmanned vehicle observation data;

[0043] A balloon vertical observation data acquisition module is configured to control a sounding balloon carried by the water surface unmanned vehicle cluster to be released in the air by the land control platform, and to perform air vertical space observation of the typhoon eye center area within a preset height in the air by a meteorological sensor hung by the sounding balloon, so as to obtain air balloon vertical observation data;

[0044] The typhoon observation data analysis module is configured to analyze and process the three-dimensional observation data of the aerial unmanned vehicle, the observation data of the water unmanned ship and the vertical observation data of the aerial balloon by the land control platform to obtain a typhoon monitoring result.

[0045] To achieve the above object, another aspect of the embodiments of the present application provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the above method when executing the computer program.

[0046] To achieve the above object, another aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the above method.

[0047] The embodiments of the present application at least have the following beneficial effects: the present application provides a typhoon monitoring method and system, the scheme obtains typhoon track data of a target typhoon through a land control platform; controls a transport unmanned vehicle to transport a cluster of observation unmanned vehicles to a corresponding aerial designated position in a typhoon eye center area according to the typhoon track data through the land control platform, and obtains three-dimensional observation data of the aerial unmanned vehicle through the cluster of observation unmanned vehicles for aerial three-dimensional observation of the typhoon eye center area at the aerial designated position; controls a cluster of water unmanned ships carried by the transport unmanned vehicle to move to a corresponding water designated position in the typhoon eye center area through the land control platform, and obtains observation data of the water unmanned ship through the cluster of water unmanned ships for water surface observation of the typhoon eye center area at the water designated position; controls a sounding balloon carried by the cluster of water unmanned ships to be released in the air through the land control platform, and obtains vertical observation data of the aerial balloon through a meteorological sensor hung by the sounding balloon for aerial vertical space observation of the typhoon eye center area within a preset height in the air; and analyzes and processes the three-dimensional observation data of the aerial unmanned vehicle, the observation data of the water unmanned ship and the vertical observation data of the aerial balloon 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 a typhoon through the cooperative observation of the cluster of aerial unmanned vehicles, the cluster of water unmanned ships and the sounding balloon, improve the quality and reliability of the data, and greatly improve the efficiency and accuracy of typhoon observation, thereby providing more comprehensive information support for subsequent typhoon analysis and prediction. Meanwhile, the accurate and comprehensive typhoon monitoring result can provide timely decision support for meteorological departments and related institutions, which is conducive to reducing the loss caused by typhoon disasters, and the use of unmanned equipment reduces the risk of personnel and improves the safety of typhoon observation activities. In addition, the method for cooperative observation of the typhoon by the cluster of aerial unmanned vehicles, the cluster of water unmanned ships and the sounding balloon has low cost and is easy to operate. BRIEF DESCRIPTION OF DRAWINGS

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

[0049] Figure 2 is a spatial arrangement schematic diagram of an observation unmanned aerial vehicle cluster provided by an embodiment of the present application;

[0050] Figure 3 is a vertical observation schematic diagram of a typhoon eye center unmanned aerial vehicle provided by an embodiment of the present application;

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

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

[0053] Figure 6 is a plane structure schematic diagram of a semi-sphere before releasing unmanned equipment provided by an embodiment of the present application;

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

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

[0056] Figure 9 is a structure schematic diagram of a typhoon monitoring system provided by an embodiment of the present application;

[0057] Figure 10 is a hardware structure schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. When the following description refers to the accompanying drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementation described in the following exemplary embodiments does not represent all the implementations consistent with the embodiments of the present application, but is only an example of systems and methods consistent with some aspects of the embodiments of the present application as described in the appended claims.

[0059] It can be understood that the terms "first", "second", and the like used in the present application can be used herein to describe various concepts, but unless specifically stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon determining" or "in response to determining".

[0060] The terms "at least one", "multiple", "each", "any", and the like used in the present application include 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 understood by a person skilled in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0062] In the related art, there is a way of typhoon monitoring, which is a key link for early warning and prevention of typhoon disasters, and is of great significance for early warning and prevention of disasters caused by typhoon. At present, the related typhoon monitoring technology mainly includes meteorological satellite monitoring, Doppler weather radar monitoring, ground automatic weather station observation, direct observation by airplane, digital signal processing technology, target observation technology and traditional meteorological method. However, these technologies have certain limitations, and the related typhoon monitoring technology has deficiencies in observation range, data accuracy, safety, cost and typhoon monitoring efficiency, etc., and it is difficult to meet the demand for efficient, accurate and comprehensive monitoring of typhoon.

[0063] Illustratively, the following is an explanation of the advantages and disadvantages of the related typhoon monitoring method:

[0064] (1) Meteorological satellite monitoring method. Advantages: can provide wide range and continuous monitoring capability; can observe the overall structure of the typhoon, including cloud images and wind field; real-time, can quickly obtain the latest dynamics of the typhoon. Disadvantages: limited resolution, may not be able to capture small-scale details; in dense cloud and rain area, satellite remote sensing signal may be attenuated.

[0065] (2) Doppler weather radar monitoring method. Advantages: high temporal and spatial resolution, can provide detailed information of typhoon wind field; can monitor the intensity change and rainfall distribution of the typhoon in real time. Disadvantages: limited detection range, limited by the coverage area of the radar; the radar detection range in coastal areas may be limited, and the monitoring capability for typhoon in the open sea is limited.

[0066] (3) Ground-based automatic weather station observation method. Advantages: Can provide accurate ground wind speed, air pressure, temperature, etc. data; plays a key role in monitoring typhoon path and landing time. Disadvantages: Observation site distribution may be uneven, especially in ocean areas; data may be biased due to terrain and buildings, etc.

[0067] (4) Aircraft direct observation method. Advantages: Can obtain detailed meteorological data inside the typhoon; can directly observe the structure and intensity of the typhoon, with high data quality. Disadvantages: High cost, high operation risk; limited observation range, usually only local data of the typhoon can be obtained.

[0068] (5) Digital signal processing technology. Advantages: Can process meteorological satellite and radar signals to extract useful information; high degree of automation using computer technology. Disadvantages: High technical threshold for non-professionals; signal processing accuracy is limited by algorithm and computing power.

[0069] (6) Target observation technology. Advantages: Strong pertinence, can conduct intensive observation in key areas of typhoon path prediction; combined with assimilation method to reduce initial analysis error and improve prediction accuracy. Disadvantages: Requires large computing resources, especially in nonlinear methods; requires advanced observation platforms and technical support.

[0070] (7) Traditional meteorology method. Advantages: Mature technology, widely used; can provide basic information of typhoon such as location, intensity. Disadvantages: Limited monitoring capability due to distribution and performance of weather stations and satellites; may not respond quickly enough to rapidly changing typhoon characteristics.

[0071] Therefore, the application provides a typhoon monitoring method and system. The method comprises the following steps: acquiring typhoon track data of a target typhoon by a land control platform; transporting a cluster of observation unmanned aerial vehicles to a corresponding air designated position in a typhoon eye center area by a transport unmanned aerial vehicle controlled by the land control platform according to the typhoon track data, and performing three-dimensional observation on the typhoon eye center area at the air designated position by the cluster of observation unmanned aerial vehicles to obtain three-dimensional observation data of the unmanned aerial vehicles; moving a cluster of water unmanned surface vehicles to a corresponding water designated position in the typhoon eye center area by the transport unmanned aerial vehicle controlled by the land control platform, and performing water surface observation on the typhoon eye center area at the water designated position by the cluster of water unmanned surface vehicles to obtain water unmanned surface vehicle observation data; releasing a sounding balloon carried by the cluster of water unmanned surface vehicles in the air by the land control platform, and performing vertical space observation on the typhoon eye center area at a preset height in the air by a meteorological sensor hung on the sounding balloon to obtain vertical observation data of the balloon; and analyzing and processing the three-dimensional observation data of the unmanned aerial vehicles, the water unmanned surface vehicle observation data and the vertical observation data of the balloon by the land control platform to obtain a typhoon monitoring result. The application can obtain multi-dimensional and multi-level data of the typhoon through the collaborative observation of the cluster of unmanned aerial vehicles, the cluster of water unmanned surface vehicles and the sounding balloon, improves the quality and reliability of the data, and greatly improves the efficiency and accuracy of the typhoon observation, thereby providing more comprehensive information support for subsequent typhoon analysis and prediction. Meanwhile, the accurate and comprehensive typhoon monitoring result can provide timely decision support for meteorological departments and related institutions, which is conducive to reducing the loss caused by typhoon disasters, and the use of unmanned equipment reduces the risk of personnel and improves the safety of typhoon observation activities. In addition, the method for collaborative observation of the typhoon by the cluster of unmanned aerial vehicles, the cluster of water unmanned surface vehicles and the sounding balloon has low cost and is easy to operate.

[0072] The typhoon monitoring method provided by the embodiments of the present application relates to the technical field of data monitoring. The typhoon monitoring method provided by the embodiments of the present application can be applied to a terminal, can be applied to a server, and can also be software running in the terminal or the server. In some embodiments, the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a vehicle-mounted terminal, and the like, but is not limited thereto; the server end can be configured as a stand-alone physical server, can be configured as a server cluster or a distributed system formed by multiple physical servers, can be configured as a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN (Content Delivery Network), and big data and artificial intelligence platform, and the server can also be a node server in a blockchain network; the software can be an application for implementing the typhoon monitoring method, and the like, 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, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs (Personal Computers), minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. 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, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment in which tasks are performed by remote processing devices connected by a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0074] Please refer to Figure 1 , Figure 1 is an optional step flowchart of the typhoon monitoring method provided by the embodiments of the present application, Figure 1 The method in the step S101 to the step S105 can include but is not limited to the steps.

[0075] In step S101, the typhoon trajectory data of the target typhoon is acquired through a land control platform;

[0076] Typhoons are a type of natural disaster with high wind speeds, a wide impact area, and strong destructive power. Conventional meteorological equipment makes it difficult to observe typhoons in real time. Although current typhoon monitoring methods can obtain typhoon planar information, they lack refined observation of the typhoon's three-dimensional structure. The embodiments of the present application deploy a cluster of dynamic tracking unmanned observation equipment in the typhoon eye area to conduct real-time observation and collection of the typhoon's three-dimensional structure and meteorological and hydrological elements from the air, on the surface, and underwater, making typhoon monitoring more refined and intelligent, and 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 technical 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] A 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 track map refers to the typhoon track map of the target typhoon, which is obtained based on the typhoon track map released by the current typhoon track prediction platform ECMWF. The typhoon track map shows the typhoon's movement path over a period of time and its future forecast path. The typhoon track map may include but is not limited to: the typhoon's center location (usually the location of the typhoon's eye), movement direction, movement speed, and possible affected areas.

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

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

[0083] In step S102, the land control platform controls the transport unmanned aerial vehicle to transport the observation unmanned aerial vehicle cluster to a specified position in the air corresponding to the typhoon eye center area according to the typhoon trajectory data, and controls the observation unmanned aerial vehicle cluster to perform three-dimensional observation on the typhoon eye center area at the specified position in the air, to obtain three-dimensional observation data of the unmanned aerial vehicle in the air.

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

[0085] In the embodiments of the present application, the transport unmanned aerial vehicle can be used to transport the observation unmanned aerial vehicle cluster and the water unmanned boat cluster.

[0086] In specific implementations, the time t required for the transport unmanned aerial vehicle to reach the typhoon eye center area can be calculated based on the maximum speed v of the transport unmanned aerial vehicle and the distance S between the transport unmanned aerial vehicle and the typhoon eye, i.e., t = S / v. The transport unmanned aerial vehicle serves as a carrier for air observation, and is responsible for carrying n (n > 9) small observation unmanned aerial vehicles.

[0087] For observing the unmanned aerial vehicle cluster, a three-dimensional observation in the air at a specified position in the air is performed on the eye center area of the typhoon to obtain three-dimensional structure data of the eye center area of the typhoon, wherein the three-dimensional observation refers to horizontal plane space observation and vertical space observation, and the three-dimensional structure data includes data of the horizontal plane space in the air and data of the vertical space in the air. The unmanned aerial vehicle cluster includes multiple small unmanned aerial vehicles, each of which is equipped with a height gauge, a meteorological observation sensor, an x-band radar, a video shooting camera and the like, wherein the height gauge is used to observe the height of the unmanned aerial vehicle from the sea surface, the meteorological sensor is used to observe the wind speed, temperature, air pressure and dryness, the x-band radar is used to measure the rainfall, and the camera is used to shoot the cloud layer and sea surface information from the sky.

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

[0089] The eye center area of the typhoon refers to a relatively calm area inside the typhoon, which is usually located at the center of the typhoon, and this area can be referred to as the "eye of the typhoon". Specifically, the eye center area of the typhoon can be determined according to the eye position data in the typhoon trajectory data obtained in step S101. In a specific implementation, the monitoring range of the eye center area of the typhoon needs to be limited according to the actual situation.

[0090] The specified position in the air includes a preset horizontal plane position in the air determined according to the vertical maximum height h affected by the eye of the typhoon and a preset vertical position in the air determined based on the radius of the eye of the typhoon (the range of the area of the eye of the typhoon).

[0091] The three-dimensional observation data of the unmanned aerial vehicle in the air includes the unmanned aerial vehicle horizontal plane observation data obtained by the first unmanned aerial vehicle cluster in the preset horizontal plane position in the air to observe the eye center area of the typhoon in the horizontal plane space in the air, and the unmanned aerial vehicle vertical observation data obtained by the second unmanned aerial vehicle cluster in the preset vertical position in the air to observe the eye center area of the typhoon in the vertical space in the air.

[0092] For meteorological cloud information, it is satellite remote sensing observation data, which can include but is not limited to infrared cloud image, visible light cloud image, water vapor image and the like, containing temperature and humidity, height distribution, composition, lightning thunderstorm and the like.

[0093] Wherein, the vertical maximum height of the typhoon eye influence refers to the vertical height from the sea level of the typhoon eye center to the maximum height reached by the typhoon eye influence range (such as strong storm cloud and rotating air flow), which determines the flight height required by the observation unmanned aerial vehicle when conducting horizontal space observation. The typhoon eye radius refers to the distance from the typhoon eye center to the typhoon eye edge (i.e. the area where the storm cloud begins to significantly strengthen and rotate), which is an important basis for determining the size of the range around the typhoon eye center for the observation unmanned aerial vehicle when conducting horizontal space observation.

[0094] For the preset air observation point position, it is the air position where the transport unmanned aerial vehicle is set to descend by the land control platform according to the typhoon trajectory data and meteorological cloud information. When the transport unmanned aerial vehicle descends to the preset air observation point position, the first observation unmanned aerial vehicle cluster carried by the transport unmanned aerial vehicle is distributed in the preset air horizontal position in a concentric circle manner by the land control platform according to the typhoon eye radius, and the second observation unmanned aerial vehicle cluster carried by the transport unmanned aerial vehicle is distributed in the preset air vertical position in a vertical arrangement manner by the land control platform at the center of the typhoon eye center area.

[0095] In the process of moving of the transport unmanned aerial vehicle, the typhoon eye position information provided by the typhoon path prediction platform ECMWF in real time is used to correct and update the transport route of the transport unmanned aerial vehicle. Specifically, the information is sent to the transport unmanned aerial vehicle by the control room on land (land control platform) through satellite communication, and the transport unmanned aerial vehicle adjusts and updates the transport route after receiving the updated information.

[0096] In specific implementation, first, based on the maximum speed v of the transport unmanned aerial vehicle and the distance S between the transport unmanned aerial vehicle and the typhoon eye, the time t required for the transport unmanned aerial vehicle to reach the typhoon eye center area is calculated as t = S / v; then, the transport unmanned aerial vehicle takes off from the land airport and transports the small observation unmanned aerial vehicle to the position of the typhoon eye area. Specifically, in the process of transportation of the transport unmanned aerial vehicle, the land control platform receives the real-time meteorological cloud information observed by satellite remote sensing; then the vertical maximum height h of the typhoon eye influence is estimated by the control system of the land control platform according to the real-time meteorological cloud information, and the vertical maximum height information is sent to the transport unmanned aerial vehicle through satellite communication. When the transport unmanned aerial vehicle reaches the typhoon eye area, it is lowered to 1.2 times the vertical maximum height of the typhoon eye (i.e. 1.2h), that is, the transport unmanned aerial vehicle is lowered to the preset air observation point position, please refer to Figure 2 , Figure 2is a schematic diagram of observing the spatial arrangement of a UAV cluster provided by an embodiment of the present application, as shown in Figure 2 Figure 2 The green circle frame in the figure represents a small observation UAV, and the typhoon eye center is taken as the center of a concentric circle, and the observation UAV group is dispatched in the form of a concentric circle. The UAVs on each arc are arranged in a herringbone pattern (8 endpoints). Then, the SegNet deep learning method is used to identify the area range of the typhoon eye and estimate the radius r of the typhoon eye according to the infrared cloud image, visible light cloud image and water vapor image obtained from the satellite cloud image (meteorological cloud image information). Within the radius r of the typhoon eye, the spacing between each concentric circle is 50 kilometers. In actual application, the spacing between each concentric circle can be set according to actual conditions.

[0097] In a specific implementation, since the wind speed in the typhoon eye center is small, a vertical UAV observation chain is arranged in the most central part of the typhoon eye to carry out vertical observation of meteorological parameters in the typhoon eye. The vertical spacing of each UAV is 50 kilometers. In actual application, the vertical spacing of each UAV can be set according to actual conditions. Please refer to Figure 3 Figure 3 is a schematic diagram of vertical observation of a UAV in the typhoon eye center provided by an embodiment of the present application, as shown in Figure 3 Figure 3 The green circle frame in the figure represents a ring-shaped UAV observation cluster arranged in the upper part of the typhoon eye, and the red circle frame represents a vertical observation UAV cluster arranged in the center of the typhoon eye. It should be noted that Figure 3 The black dots in the vertical observation chain of the UAV in the figure represent n small observation UAVs that are omitted.

[0098] In actual application, since the typhoon eye is constantly moving, meteorological prediction information released by a related meteorological model (such as the Panggu meteorological model) can be obtained. Then, the land control platform obtains the moving speed of the typhoon eye from the meteorological prediction information, and the land control platform remotely controls the moving speed of the UAV cluster through satellite communication, so that the moving speed of the aerial UAV cluster is synchronized with the moving speed of the typhoon eye, and the position of the UAV cluster is kept relatively static with the typhoon eye area. During the entire typhoon movement process, the concentric ring and the vertical observation chain of the planar UAV are used to carry out three-dimensional observation and data collection on the core area of the typhoon eye.

[0099] ​​​In an embodiment of the present application, when a typhoon makes landfall or dissipates and the drone cluster completes 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 one by one to 10 meters below the storage hatch according to the position of the transport drone in a recovery order from the inside to the outside of the drone circular formation array; the small observation drones then rise back into the transport drone cabin and park, completing the recovery of the observation drone cluster one by one. After all observation drones are 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 typhoon observation. It can be understood that there is no conflict with the content here of recovering the drone cluster after the typhoon lands or dissipates and the drone cluster completes the observation. Moreover, 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 typhoon observation, the drone cluster and the unmanned boat cluster can be recovered respectively.

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

[0102] In some embodiments, when each protective sphere reaches the water surface, the step of controlling each water surface unmanned vehicle in the protective sphere to fall on the water surface and moving to the corresponding water surface designated position in the typhoon eye center area by the land control platform can include: when each protective sphere reaches the water surface, controlling the built-in elastic device in each protective sphere to separate the corresponding protective sphere into two hemispheres by the land control platform; one hemisphere is placed with a water surface unmanned vehicle; when each protective sphere is separated into two hemispheres, the opening and closing device in each hemisphere is controlled to perform a symmetrical opening operation by the land control platform, and the fixed chain in each hemisphere is controlled to release the fixation of the water surface unmanned vehicle in the hemisphere by the land control platform, so that each water surface unmanned vehicle falls on the water surface; each hemisphere is controlled to be combined by the land control platform, and after each hemisphere is combined, each water surface unmanned vehicle on the water surface is controlled to move to the corresponding water surface designated position in the typhoon eye center area by the land control platform.

[0103] The water surface unmanned vehicle cluster (also referred to as a water surface unmanned device cluster) is a collection of multiple water surface unmanned vehicles (also referred to as water surface unmanned devices). The water surface unmanned vehicle can autonomously navigate on the water surface and perform various tasks such as observation, monitoring, and data collection. In extreme weather conditions such as typhoon observation, the water surface unmanned vehicle cluster can work cooperatively to improve observation efficiency and data accuracy. The water surface unmanned vehicle cluster includes a plurality of water surface unmanned vehicles, and the water surface unmanned vehicles are located in protective spheres. Each protective sphere contains two water surface unmanned vehicles, and a sphere positioning system is provided in the protective sphere to obtain the positioning information of the protective sphere. The protective sphere is a device for protecting and transporting water surface unmanned vehicles. During transportation, the water surface unmanned vehicles are placed in the protective sphere to ensure safe arrival at the destination. The sphere positioning system is a GNSS (Global Navigation Satellite System) provided in the protective sphere.

[0104] In a specific implementation, after the transport unmanned vehicle delivers the small observation unmanned vehicle to the specified position in the air, the transport unmanned vehicle opens the storage compartment of the water surface unmanned vehicle cluster and starts to throw the water surface unmanned vehicle cluster into the water by the land control platform. Please refer to Figure 4 , Figure 4 is a schematic diagram of a spherical protective cover provided by an embodiment of the present application. In the embodiment of the present application, a spherical cover is used to protect the water surface unmanned vehicle, and a water surface unmanned device (water surface unmanned vehicle) and a GNSS positioning sensor are placed inside, as shown in Figure 4 , Figure 4The number 401 green circle ring part in the figure refers to the outer inflatable protective cover layer of the water unmanned vehicle; the number 402 black circle ring part refers to the outer rigid protective cover (the outer inflatable cover) for storing the water unmanned vehicle, and the outer rigid protective cover is made of stainless steel; the number 403 blue dashed line part refers to the inner partition line, which is used as a basis for dividing the two hemispheres. When the ball falls to a height of 2 kilometers from the water surface, the height threshold (2000 meters) is set, the inflatable system in the outer inflatable cover is opened, the inflatable device in the outer inflatable cover is used to make the outer inflatable cover expand, and when the ball falls to the sea surface, the outer inflatable cover can buffer the ball, thereby protecting the water unmanned vehicle in the ball from being damaged.

[0105] For the elastic device in the protective ball, it is used to open the whole protective ball into two symmetrical hemispheres according to the inner partition line in the ball. One of the hemispheres is used to place a water unmanned vehicle (unmanned equipment).

[0106] In a specific implementation, when the protective ball falls to the water surface, the GNSS positioning system in the protective ball sends the corresponding GNSS positioning information of the protective ball to the land control platform through satellite communication, and then analyzes the position information in the GNSS positioning information through the land control platform. If the vertical variation of the protective ball is less than 10 meters within 10 minutes (the numerical value can be set according to the actual situation), it is determined that the protective ball has fallen to the water surface, otherwise it is determined that the protective ball has not fallen to the water surface. If the protective ball has not fallen to the water surface, it is waited to reach the water surface or monitored whether it is affected by other reasons to fall; when it is determined that the protective ball has fallen to the water surface, the land control platform sends a ball segmentation instruction to the protective ball that has fallen to the water surface through satellite communication, so that the elastic device arranged in the protective ball opens the protective ball from the middle and divides it into two hemispheres according to the ball segmentation instruction. The two hemispheres are connected through the built-in hinge ring. Please refer to Figure 5 , Figure 5 is a schematic diagram of opening the spherical protective cover provided by the embodiment of the application, as shown in Figure 5 , Figure 5 Two unmanned equipment (water unmanned vehicles) are respectively fixed in the two hemispheres in the figure, and the two opened hemispheres are connected through the built-in hinge ring, Figure 5 The number 501 in the figure represents the hinge ring.

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

[0108] Please refer to Figure 6 , Figure 6 is a plane structure schematic diagram of the half-sphere before releasing the unmanned equipment provided by the embodiment of the application, as shown in Figure 6 , Figure 6 One of the half-spheres in Figure 7 , Figure 7 is a bottom opening schematic diagram when the half-sphere releases the unmanned equipment provided by the embodiment of the application, as shown in Figure 7 When the two half-spheres are separated, the land control platform sends a device opening instruction to each half-sphere, so that the built-in opening and closing device of each half-sphere opens the half-sphere symmetrically upwards according to the device opening instruction to divide it into two fan-shaped parts. When the opening width of the hatch below the half-sphere is 1.2 times the length of the water unmanned boat, the land control platform sends a command to the half-sphere to release the water unmanned equipment through satellite communication. The fixed device in the half-sphere will loosen the fixed chain inside the half-sphere after receiving the command, so that the unmanned equipment falls into the water. Then, the land control platform sends a start instruction to the water unmanned equipment (water unmanned boat) through satellite communication. The unmanned equipment starts the power system, and the unmanned equipment sinks to a position 5 meters deep in the water. Then, the land control platform sends a combination instruction to close the hatch at the bottom of the half-sphere, and the two half-spheres are combined through the tension between the hinges. After the two half-spheres complete the closing of the lower part and the combination of the two half-spheres, the land control platform sends a moving instruction to the unmanned equipment. After receiving the moving instruction, the unmanned equipment moves away from the water surface sphere, so that the launched unmanned equipment is arranged in a ring array around the position of the water surface sphere, and floats to the water surface after moving outward by 50 meters.

[0109] The number of launched water unmanned equipment (the number of water unmanned boats) corresponds to the number of air observation unmanned aerial vehicles. The number of water unmanned equipment is not less than m (m>9). The water unmanned equipment is arranged in a ring array around the center of the typhoon eye on the water surface. The distance between each ring is 50 kilometers. The arrangement array form is the same as the arrangement array of the air unmanned aerial vehicle cluster in the horizontal plane space. The water unmanned equipment cluster (water unmanned boat cluster) is equipped with ultrasonic anemometer, flow meter, temperature salinity and water depth observation sensor, x-band radar, etc.

[0110] In a specific implementation, after the water unmanned surface vehicle reaches the array predetermined position, the water unmanned surface vehicle starts to observe and collect data (sea current data and sea surface wind speed), wherein the sea current data includes sea current flow speed and flow direction; then, based on the sea current data and wind speed data obtained by the water unmanned surface vehicle observation, the satellite communication is used to send the sea current data and wind speed data to the land control platform; then, the control system of the land control platform is used to calculate the resultant force of the sea current and the wind on the water unmanned surface vehicle; finally, the land control platform sends a power setting instruction to the water unmanned surface vehicle to set the power drive output value of the water unmanned surface vehicle engine, so that the moving speed of the water unmanned surface vehicle engine output is equal to the size of the resultant force of the sea current and the wind, and the direction is opposite, thereby making the water unmanned surface vehicle keep a relatively static position on the water surface, facilitating the positioning observation and data collection in the eye of the typhoon area.

[0111] In some embodiments, after step S103, it can also include: after each water unmanned surface vehicle completes data observation, the land control platform controls each water unmanned surface vehicle to move to the corresponding hemisphere according to the hemisphere positioning information corresponding to each hemisphere; when each water unmanned surface vehicle reaches the lower hatch of the corresponding hemisphere, the land control platform judges whether each water unmanned surface vehicle is located at the preset unmanned surface vehicle recovery position according to the hemisphere positioning information and the unmanned surface vehicle positioning information corresponding to each water unmanned surface vehicle; when each water unmanned surface vehicle is located at the preset unmanned surface vehicle recovery position respectively, the land control platform sends an unmanned surface vehicle recovery instruction to each hemisphere, so that each hemisphere recovers the corresponding water unmanned surface vehicle according to the unmanned surface vehicle recovery instruction.

[0112] In a specific implementation, when the typhoon lands or dissipates and the water surface unmanned ship cluster completes observation, the land control platform sends a moving instruction and a hemispherical positioning information to the water surface unmanned ship cluster according to the stored position and positioning of the water surface unmanned ship ball (the hemispherical positioning information corresponding to each hemisphere), so that the unmanned ship cluster approaches the corresponding hemisphere according to the received hemispherical positioning information and moving instruction; when the water surface unmanned ship reaches the range of 50 meters of the corresponding hemisphere, the water surface unmanned ship starts to dive to 5 meters underwater, and then continues to drive to the bottom of the corresponding hemisphere; when the water surface unmanned ship reaches the directly below the corresponding hemisphere, the land control platform determines whether the horizontal position overlaps and the vertical position differs by 4-6 meters through the GNSS positioning information corresponding to the hemisphere and the water surface unmanned ship, and sends a position coincidence information instruction to the hemisphere; after the corresponding hemisphere receives the position coincidence information instruction, the storage hatch is opened, and the strong magnetic force adsorption device in the hemisphere is lowered, and the strong magnetic force adsorption device and the adsorption block on the water surface unmanned ship panel are adsorbed and integrated, and then the ball sends the integration completion information to the land control system through satellite communication; finally, the land control platform sends a water surface unmanned ship recovery instruction to the ball, the strong magnetic force adsorption device lifts the water surface unmanned ship to the inside of the hemisphere through the automatic winch in the ball, and when the water surface unmanned ship is stored in the hemisphere, the automatic winch stops rotating and sends a storage completion information to the land control platform, and then the land control platform sends a ball hatch closing instruction to the ball, and the ball closes the hatch after receiving the instruction. Each water surface unmanned ship is recovered in the same way. After all the water surface unmanned ships are recovered in the hemisphere and the integration of the hemisphere is completed, the ball group carrying the water surface unmanned ship sends a water surface unmanned ship cluster recovery completion information and the position information of the ball group to the land control platform on the shore through the positioning system; then, the land control platform calculates the distribution radius of the ball group on the water surface according to the distribution of the ball on the water surface, takes the center of the ball distribution as the target point, and sends a start recovering ball instruction to the recovery mother ship to make the mother ship sail to the nearest ball and start salvaging and recovering the ball, and then sail to the second nearest ball and recover it, and recover the balls one by one in this way; after all the balls are recovered, the mother ship sends a all ball recovery completion information to the land control platform, and the land control platform sends a mother ship start returning instruction to the mother ship after receiving the information, 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 embodiments of the present application refers to the recovery of the unmanned aerial vehicle cluster and the unmanned surface vehicle cluster after the three of the unmanned aerial vehicle cluster, the unmanned surface vehicle cluster and the sounding balloon complete the typhoon observation. It can be understood that there is no conflict with the content of the present typhoon landing or dissipation and the unmanned surface vehicle cluster completes the observation, and the observation time of the three of the unmanned aerial vehicle cluster, the unmanned surface vehicle cluster and the sounding balloon is determined according to the actual application, that is, the order of completion of observation also needs to be determined according to the actual application. After the three of the unmanned aerial vehicle cluster, the unmanned surface vehicle cluster and the sounding balloon complete the typhoon observation, the unmanned aerial vehicle cluster and the unmanned surface vehicle cluster can be recovered respectively. In addition, the completion of observation of the present unmanned surface vehicle cluster not only includes the completion of observation of the unmanned surface vehicle cluster, but also includes the completion of observation of the sounding balloon carried by the unmanned surface vehicle cluster. It can be understood that, assuming that the unmanned aerial vehicle cluster completes the observation in the air, the unmanned surface vehicle cluster also completes the observation, but the sounding balloon released by the unmanned surface vehicle cluster in the air is still performing the typhoon observation task, then the unmanned aerial vehicle cluster and the unmanned surface vehicle cluster need to be uniformly recovered after the sounding balloon also completes the observation.

[0113] In step S104, the sounding balloon carried by the unmanned surface vehicle cluster is released in the air by the land control platform, and the meteorological sensor suspended by the sounding balloon is used to perform vertical space observation on the typhoon eye center area in a preset height in the air to obtain vertical observation data of the balloon in the air.

[0114] In the preset height in the air, the setting is to ensure that the sounding balloon does not interfere with the observation unmanned aerial vehicle. In the embodiments of the present application, the self-destruction height of the sounding balloon is set to 5000 meters. When the sounding balloon reaches 5000 meters, it will break and fall by itself. It should be noted that the sounding balloon is mostly 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 can be understood that in actual application, appropriate sounding balloons can be selected for observation according to actual conditions, or a recovery mechanism for the sounding balloon can be formulated, which is not limited in the embodiments of the present application.

[0115] In some embodiments, step S104 can include: when the unmanned surface vehicle cluster reaches the specified water surface position, the land control platform controls the inflation device built in the unmanned surface vehicle cluster to perform inflation operation on the sounding balloon carried by the unmanned surface vehicle cluster; the land control platform controls the inflated sounding balloon to be released in the air above the corresponding position on the water surface at a preset time interval; in the process of the inflated sounding balloon rising in the air, the meteorological sensor suspended by the sounding balloon is used to perform vertical space observation on the typhoon eye center area in a preset height in the air to obtain vertical observation data of the balloon in the air.

[0116] Please refer to Figure 8 , Figure 8 is a schematic diagram of a sounding balloon provided by an embodiment of the present application, as shown in Figure 8 , Figure 8 The black circular part of serial number 801 in the figure refers to a sounding balloon, serial number 803 refers to a meteorological sensor suspension plate, and serial number 802 refers to a chain or rope used to connect the sounding balloon 801 and the meteorological sensor suspension plate 803.

[0117] In a specific implementation, the sounding balloon is filled with helium by an inflating device in the internal cabin of each unmanned ship, and all the unmanned ships on the water surface in the typhoon eye sea area release the sounding balloons into the air synchronously at an interval of a certain period of time (such as 1 hour), each sounding balloon has a meteorological sensor suspended at the lower part, the meteorological sensor is used to observe wind speed, air pressure and other information, which are important features of typhoon changes, and can provide information support for observing typhoon changes and prediction, the meteorological sensor suspension plate is made of flexible composite plastic material, which can reduce the load of the sounding balloon and facilitate storage, and the data (including wind speed, air pressure, humidity, etc.) collected by the meteorological sensor is transmitted in real time to the land control platform through satellite communication. In order to protect the sounding balloon from interfering with the observation unmanned aerial vehicle in the air, the self-destruction height of the sounding balloon is set to 5000 meters, and the sounding balloon will break and fall by itself after reaching 5000 meters.

[0118] In the unmanned device cluster recovery phase of the embodiment of the present application, after the sounding balloon completes the observation, if both the aerial unmanned vehicle cluster and the water surface unmanned ship cluster have completed the observation, the unmanned vehicle cluster and the unmanned ship cluster can be recovered respectively, and it should be noted that the detailed description of each step in the recovery of the unmanned vehicle cluster and the unmanned ship cluster can refer to the related content in the foregoing embodiments, which will not be repeated here.

[0119] In step S105, the land control platform analyzes and processes the aerial unmanned vehicle three-dimensional observation data, the water surface unmanned ship observation data, and the aerial balloon vertical observation data to obtain a typhoon monitoring result.

[0120] The typhoon monitoring result refers to a comprehensive conclusion about the state, characteristics and trend of the typhoon obtained by comprehensively analyzing and processing the aerial unmanned vehicle three-dimensional observation data, the water surface unmanned ship observation data, and the aerial balloon vertical observation data. These data come from different types of observation devices, each has a unique observation perspective and advantage, and can capture information about the typhoon at different heights and positions, so that a more accurate and comprehensive typhoon monitoring result can be obtained, which can provide strong support for meteorological forecasting, disaster prevention and reduction, and scientific research, etc. The typhoon monitoring result can also be used for formulating emergency response plans, issuing warning information, guiding rescue operations, etc., to minimize the negative impact of the typhoon.

[0121] The steps S101 to S105 shown in the embodiments of the present application are as follows: the land control platform acquires typhoon track data of a target typhoon; the land control platform controls a transport unmanned aerial vehicle to transport a cluster of observation unmanned aerial vehicles to a corresponding air designated position of a typhoon eye center area according to the typhoon track data, and the cluster of observation unmanned aerial vehicles performs three-dimensional observation on the typhoon eye center area at the air designated position to obtain three-dimensional observation data of the unmanned aerial vehicles in the air; the land control platform controls a cluster of water unmanned surface vehicles carried by the transport unmanned aerial vehicle to move to a corresponding water designated position of the typhoon eye center area, and the cluster of water unmanned surface vehicles performs water surface observation on the typhoon eye center area at the water designated position to obtain water unmanned surface vehicle observation data; the land control platform controls a cluster of sounding balloons carried by the cluster of water unmanned surface vehicles to be released in the air, and a meteorological sensor suspended by the sounding balloons performs vertical spatial observation on the typhoon eye center area at a preset height in the air to obtain vertical observation data of the balloons in the air; and the land control platform analyzes and processes the three-dimensional observation data of the unmanned aerial vehicles in the air, the water unmanned surface vehicle observation data, and the vertical observation data of the balloons in the air to obtain a typhoon monitoring result. Through the collaborative observation of the cluster of unmanned aerial vehicles in the air, the cluster of water unmanned surface vehicles, and the sounding balloons, the embodiments of the present application can obtain multi-dimensional and multi-level data of the typhoon, improve the quality and reliability of the data, and greatly improve the efficiency and accuracy of typhoon observation, thereby providing more comprehensive information support for subsequent typhoon analysis and prediction. Meanwhile, the accurate and comprehensive typhoon monitoring result can provide timely decision support for meteorological departments and related institutions, which is conducive to reducing the loss caused by typhoon disasters, and the use of unmanned equipment reduces the risk of personnel and improves the safety of typhoon observation activities. In addition, the method for the collaborative observation of the typhoon by the cluster of unmanned aerial vehicles in the air, the cluster of water unmanned surface vehicles, and the sounding balloons has low cost and is easy to operate.

[0122] In summary, the typhoon monitoring method provided by the embodiments of the present application mainly includes four steps: the first step is to acquire typhoon track data to determine the position of the typhoon eye center area; the second step is to dispatch a cluster of aerial observation unmanned aerial vehicles; the third step is to dispatch a cluster of water unmanned surface vehicles, which involves the release of a sounding balloon carried by the water unmanned surface vehicle; and the fourth step is to recover the cluster of water unmanned surface vehicles and the cluster of aerial observation unmanned aerial vehicles. It should be noted that the detailed description of each step can be referred to the related content in the foregoing embodiments, which will not be described here. It can be understood that the present application does not limit this. The typhoon monitoring method provided by the embodiments 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 landing process, 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 landing on the water surface, thereby protecting the equipment; and after the sphere lands on the water surface, it can be divided into two hemispheres by 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 surface unmanned boat is recovered by the spherical device that lands on the water surface, which can avoid collisions with the mother ship during the hoisting back, thereby ensuring the safety and stability of the equipment.

[0125] (3) The surface unmanned boat cluster is arranged in a circular array on the water surface with the center of the typhoon eye as the center of the circle 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 make the position of the surface unmanned boat relative to the typhoon eye fixed and continuously collect data.

[0126] (4) Through the helium inflation device carried by the surface unmanned boats, after the surface unmanned boat cluster reaches the designated position of the circular array, each surface unmanned boat inflates the sounding balloon through the inflation device at preset intervals. After all the unmanned boats have completed the inflation of the sounding balloons, all the surface unmanned 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 Figure 9 The present application also provides a typhoon monitoring system 900, which can implement the above-mentioned typhoon monitoring method. The system includes the following modules:

[0128] Typhoon track data acquisition module 901, used to obtain typhoon track data of the target typhoon through the land control platform;

[0129] The unmanned aerial vehicle three-dimensional observation data acquisition module 902 is configured to control the transport unmanned aerial vehicle to transport the observation unmanned aerial vehicle cluster to a specified air position corresponding to the typhoon eye center region according to the typhoon track data by the land control platform, and obtain aerial unmanned aerial vehicle three-dimensional observation data by performing aerial three-dimensional observation on the typhoon eye center region by the observation unmanned aerial vehicle cluster at the specified air position.

[0130] The unmanned surface vehicle observation data acquisition module 903 is configured to control the water surface unmanned surface vehicle cluster carried by the transport unmanned aerial vehicle to move to a specified water surface position corresponding to the typhoon eye center region by the land control platform, and obtain water surface unmanned surface vehicle observation data by performing water surface observation on the typhoon eye center region by the water surface unmanned surface vehicle cluster at the specified water surface position.

[0131] The balloon vertical observation data acquisition module 904 is configured to control the sounding balloon carried by the water surface unmanned surface vehicle cluster to be released in the air by the land control platform, and obtain aerial balloon vertical observation data by performing aerial vertical space observation on the typhoon eye center region by the meteorological sensor hung by the sounding balloon within a preset height in the air.

[0132] The typhoon observation data analysis module 905 is configured to analyze and process the aerial unmanned aerial vehicle three-dimensional observation data, the water surface unmanned surface vehicle observation data, and the aerial balloon vertical observation data by the land control platform to obtain a typhoon monitoring result.

[0133] It can be understood that the contents in the above method embodiments are all applicable to the present system embodiment, the present system embodiment specifically implements the same functions as the above method embodiments, and achieves the same beneficial effects as the above method embodiments.

[0134] The present application embodiment further provides an electronic device, which comprises 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 intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0135] It can be understood that the contents in the above method embodiments are all applicable to the present device embodiment, the present device embodiment specifically implements the same functions as the above method embodiments, and achieves the same beneficial effects as the above method embodiments.

[0136] Please refer to Figure 10 , Figure 10 The hardware structure of the electronic device of another embodiment is illustrated, which comprises:

[0137] The processor 1001 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0138] The memory 1002 can be implemented by a ROM (Read-Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory), and the like. The memory 1002 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 1002 and are called and executed by the processor 1001 to implement the typhoon monitoring method of the embodiments of the present application.

[0139] The input / output interface 1003 is configured to implement information input and output.

[0140] The communication interface 1004 is configured to implement the communication interaction between the device and other devices. The communication can be realized by a wired manner (for example, a USB, a network cable, and the like) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, and the like).

[0141] The bus 1005 is configured to transmit information between various components (for example, the processor 1001, the memory 1002, the input / output interface 1003, and the communication interface 1004) of the device.

[0142] The processor 1001, the memory 1002, the input / output interface 1003, and the communication interface 1004 are connected to each other through the bus 1005 to realize the communication connection between the device.

[0143] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the above typhoon monitoring method.

[0144] It can be understood that the contents of the above method embodiments are applicable to the storage medium embodiments. The storage medium embodiments specifically implement the functions of the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0145] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory that is remotely arranged relative to the processor, and these remote memories can be connected to the processor through 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 a target typhoon through a land control platform; control a transport unmanned aerial vehicle to transport a cluster of observation unmanned aerial vehicles to a corresponding air designated position of a typhoon eye center area according to the typhoon track data through the land control platform, and obtain air unmanned aerial vehicle three-dimensional observation data by performing three-dimensional observation on the typhoon eye center area at the air designated position through the cluster of observation unmanned aerial vehicles; control a cluster of water surface unmanned surface vehicles carried by the transport unmanned aerial vehicle to move to a corresponding water surface designated position of the typhoon eye center area through the land control platform, and obtain water surface unmanned surface vehicle observation data by performing water surface observation on the typhoon eye center area at the water surface designated position through the cluster of water surface unmanned surface vehicles; control a sounding balloon carried by the cluster of water surface unmanned surface vehicles to be released in the air through the land control platform, and obtain air balloon vertical observation data by performing vertical space observation on the typhoon eye center area at a preset height in the air through a meteorological sensor hung by the sounding balloon; and analyze and process the air unmanned aerial vehicle three-dimensional observation data, the water surface unmanned surface vehicle observation data, and the air balloon vertical observation data through the land control platform to obtain a typhoon monitoring result. Through the cooperative observation of the cluster of air unmanned aerial vehicles, the cluster of water surface unmanned surface vehicles, and the sounding balloon, the embodiments of the present application can obtain multi-dimensional and multi-level data of the typhoon, improve the quality and reliability of the data, and greatly improve the efficiency and accuracy of typhoon observation, thereby providing more comprehensive information support for subsequent typhoon analysis and prediction. Meanwhile, the accurate and comprehensive typhoon monitoring result can provide timely decision support for meteorological departments and related institutions, which is conducive to reducing the loss caused by typhoon disasters, and the use of unmanned equipment reduces the risk of personnel and improves the safety of typhoon observation activities. In addition, the method for cooperatively observing the typhoon through the cluster of air unmanned aerial vehicles, the cluster of water surface unmanned surface vehicles, and the sounding balloon has low cost and is easy to operate.

[0147] The embodiments described in the embodiments of the present application are used 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 by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0148] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation to the embodiments of the present application, and can include more or fewer steps than the figures, or combine certain steps, or different steps.

[0149] The system embodiments described above are merely illustrative, and the units described as separate components can or can not be physically separated, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments.

[0150] Those skilled in the art can understand that all or some steps in the above disclosed method, the function modules / units in the system, and the device can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0151] The terms "first", "second", "third", "fourth" and the like (if any) in the specification of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units 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" means one or more, and "multiple" means two or more. "And / or" is used to describe the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple 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, and c can be single or multiple.

[0153] In several embodiments provided in the present application, it should be understood that the disclosed system and method can be implemented in other manners. For example, the system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, and electrical, mechanical or other forms.

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

[0155] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0156] If the integrated unit is realized 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 solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program storage media.

[0157] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, but this does not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

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; Controlling the transport drones by the land control platform according to the typhoon trajectory data 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; Controlling the swarm of unmanned surface boats carried by the transport drone to move to a designated surface location corresponding to the central area of ​​the typhoon eye by means of the land control platform, and performing surface observation of the central area of ​​the typhoon eye by the swarm of unmanned surface boats at the designated surface location to obtain surface observation data of the unmanned surface boats; The land-based control platform controls the release of the sounding balloons carried by the surface unmanned boat cluster into the air, and the meteorological sensors suspended from the sounding balloons perform aerial vertical space observations of the typhoon eye center area at a preset altitude in the air, thereby obtaining vertical observation data from the balloons 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 obtaining of 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 land-based control platform controls the transport drones according to the typhoon trajectory data to transport the observation drone cluster to a 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: Obtaining weather cloud map information through the land control platform; estimating the maximum vertical height and radius of the typhoon eye affected by the typhoon through the land control platform 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 altitude; 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 in a concentric circle at a preset aerial horizontal position according to the radius of the typhoon eye, and controls the second observation drone cluster carried by the transport drone to be distributed in a vertical arrangement at the center of the circle in the central area of ​​the typhoon eye at a preset aerial vertical position. The first observation drone cluster performs aerial horizontal plane spatial 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 spatial observation of the typhoon eye center area at the preset aerial vertical position, obtaining aerial drone vertical observation data; The aerial drone horizontal 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, wherein The unmanned surface boat cluster includes several unmanned surface boats, each of which is located in a protection sphere. One protection sphere 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 position on the water surface corresponding to the central area of ​​the typhoon eye, and the unmanned surface boat cluster performs water surface observation of the central area of ​​the typhoon eye at the designated position on the water surface to obtain the unmanned surface boat observation data, including: When the observation drone cluster reaches the designated position in the air, the transport drone is controlled by the land control platform to drop the plurality of protective spheres carried by the transport drone onto the water surface; Determining whether each of the protection spheres has fallen onto the water surface by the land control platform based on 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 typhoon eye center area at the designated position on the water surface to obtain the observation data of the unmanned surface boat.

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 split the corresponding protection sphere into two hemispheres; wherein one of the hemispheres is placed in the unmanned surface boat; When each of the protective spheres is divided into two hemispheres, the land control platform controls the opening and closing devices in each of the hemispheres to perform symmetrical opening operations, and the land control platform controls the fixing chains in each of the hemispheres to release the fixing of the unmanned surface boat in the hemispheres, 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 merges 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-based control platform controls the release of the sounding balloons carried by the surface unmanned boat cluster into the air, and the meteorological sensors suspended from the sounding balloons perform aerial vertical space observation of the typhoon eye center area at a preset altitude in the air, thereby obtaining vertical balloon observation data, including: When the swarm of unmanned surface boats reaches the designated position on the water surface, the land control platform controls the built-in inflation device of the swarm of unmanned surface boats to inflate the sounding balloons carried by the swarm 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 rising 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 performing water surface observation of the typhoon eye center area at the designated water surface location by the swarm of unmanned surface boats to obtain the observation data of the unmanned surface boats, 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 move toward the corresponding hemisphere according to the hemisphere positioning information corresponding to each hemisphere; 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 hemisphere and the positioning information of the unmanned surface boats corresponding to each of the unmanned surface boats; When each of the surface unmanned 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 surface unmanned 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 obtain the typhoon track data of the target typhoon through the land control platform; a UAV three-dimensional observation data acquisition module, configured to control, through the land control platform, a transport UAV to transport a cluster of observation UAVs to a designated aerial position corresponding to the central area of ​​the typhoon eye according to the typhoon trajectory data, and to perform an aerial three-dimensional observation of the central area of ​​the typhoon eye by the cluster of observation UAVs at the designated aerial position, thereby obtaining 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 location corresponding to the typhoon eye center area through the land control platform, and to perform surface observation of the typhoon eye center area by the surface unmanned boat cluster at the designated surface location to obtain surface unmanned boat observation data; A balloon vertical observation data acquisition module is used to control the release of the sounding balloons carried by the surface unmanned boat cluster into the air through the land control platform, and to obtain vertical balloon observation data by performing aerial vertical space observation of the typhoon eye center area at a preset altitude in the air through the meteorological sensors suspended by the sounding balloons; The typhoon observation data analysis module 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.

9. An electronic device, characterized in that: The electronic device includes 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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