Method and device for carrying out cooperative monitoring by using high and low orbit satellites, and storage medium

Abstract

The invention provides a method and device for cooperative monitoring by using high and low orbit satellites, and a storage medium, and relates to the technical field of satellite monitoring. The method for cooperative monitoring by using the high and low orbit satellites provided by the invention comprises the following steps: acquiring a forestry dryness index, forestry wind level information and an initial monitoring area of the high orbit satellites; determining a monitoring rule corresponding to the high-orbit satellite based on the forestry dryness index, and controlling the high-orbit satellite to monitor the initial monitoring area based on the monitoring rule; and under the condition that the fire abnormal information of the initial monitoring area is obtained, determining a target centralized monitoring area corresponding to the low-orbit satellite and the position of an abnormal point corresponding to the fire abnormal information in the target centralized monitoring area based on the forestry wind level information, and controlling the low-orbit satellite to monitor the target centralized monitoring area and the position. The accuracy and timeliness of forestry fire monitoring can be improved.

Description

Technical Field

[0001] This application relates to the technical field of satellite monitoring, and in particular, to a method, device, and storage medium for collaborative monitoring using high and low orbit satellites. Background Art

[0002] With the rapid development of satellite technology, nowadays, satellite technology has been applied in various fields, such as the navigation field, the communication field, and the regional monitoring field, etc.; in the regional monitoring field, satellite technology is used to obtain images of the monitored area, and the images of the area are analyzed and processed to obtain the monitoring results of the monitored area. For example, for forest fire monitoring in remote areas, satellite images of the monitored area are taken, and the taken images are analyzed to determine whether a fire has occurred in the monitored area; and in order to be able to monitor a wider area to be monitored as much as possible, high orbit satellites are generally used to monitor the area to be monitored.

[0003] However, the inventors of this application found that due to the wide coverage of high orbit satellite monitoring, in the initial stage of forest fire development, limited by the clarity of the images collected by high orbit satellites, monitoring forest fires through the images containing forest fires collected by high orbit satellites has low accuracy and timeliness in the development of initial forest fires. Summary of the Invention

[0004] In order to improve the accuracy and timeliness of forest fire monitoring; this application provides a method, device, and storage medium for collaborative monitoring using high and low orbit satellites.

[0005] This application provides a method for collaborative monitoring using high and low orbit satellites, adopting the following technical solutions: A method for collaborative monitoring using high and low orbit satellites, comprising: Obtain the forest dryness index, forest wind level information, and the initial monitoring area of the high orbit satellite; Based on the forest dryness index, determine the monitoring rules corresponding to the high orbit satellite, and control the high orbit satellite to monitor the initial monitoring area based on the monitoring rules; When the fire anomaly information of the initial monitoring area is determined, based on the forest wind level information, determine the target concentrated monitoring area corresponding to the low orbit satellite and the position of the anomaly point corresponding to the fire anomaly information within the target concentrated monitoring area, and control the low orbit satellite to monitor the target concentrated monitoring area and the position.

[0006] According to some embodiments, determining the monitoring rules corresponding to the geostationary satellite based on the above-mentioned forestry drying index includes: determining the forestry drying level based on the forestry drying index; in the case where the forestry drying level is the first preset forestry drying level, determining the monitoring rules corresponding to the geostationary satellite as the first preset monitoring rules, where the first preset monitoring rules are to make the geostationary satellite monitor the initial monitoring area based on the preset minimum image acquisition frequency; in the case where the forestry drying level is the second preset forestry drying level, determining the monitoring rules corresponding to the geostationary satellite as the second preset monitoring rules, where the second preset monitoring rules are to make the geostationary satellite monitor the initial monitoring area based on the preset maximum image acquisition frequency.

[0007] According to some embodiments, controlling the geostationary satellite to monitor the initial monitoring area based on the monitoring rules includes: in the case where the monitoring rules are determined to be the first preset monitoring rules, generating a highest image pixel acquisition instruction, and controlling the geostationary satellite to monitor the initial monitoring area based on the highest image pixel acquisition instruction; in the case where the monitoring rules are determined to be the second preset monitoring rules, generating a lowest image pixel acquisition instruction, and controlling the geostationary satellite to monitor the initial monitoring area based on the lowest image pixel acquisition instruction.

[0008] According to some embodiments, the above-mentioned forestry wind level information includes forestry wind speed information and forestry wind direction; based on the forestry wind level information, determining the target concentrated monitoring area corresponding to the low-earth orbit satellite and the position of the abnormal point corresponding to the fire abnormal information within the target concentrated monitoring area includes: obtaining the maximum monitoring area of the low-earth orbit satellite; in the case where the forestry wind speed information is within the first preset forestry wind speed range, determining the first target concentrated monitoring area included in the maximum monitoring area based on the preset first area diameter definition and abnormal point selection rules; determining the first position of the abnormal point within the first target concentrated monitoring area based on the forestry wind direction and forestry wind speed information.

[0009] According to some embodiments, the above-mentioned determining the first position of the abnormal point within the first target concentrated monitoring area based on the forestry wind direction and forestry wind speed information includes: obtaining the center point and the edge point of the first target concentrated monitoring area, where the edge point is the edge point of the first target concentrated monitoring area that is opposite to the forestry wind direction; determining the line segment between the center point and the edge point, and determining the first position based on the line segment, the first area diameter definition and the abnormal point selection rules.

[0010] According to some embodiments, determining the target centralized monitoring area corresponding to the low-earth orbit satellite and the position of the abnormal point corresponding to the fire abnormal information within the target centralized monitoring area based on the forestry wind level information further includes: when the forestry wind speed information is within the second preset forestry wind speed range, determining the second target centralized monitoring area included in the maximum monitoring area based on the preset second area diameter definition and abnormal point selection rule, where the first target centralized monitoring area is smaller than the second target centralized monitoring area; determining the second position of the abnormal point within the second target centralized monitoring area based on the forestry wind direction and forestry wind speed information.

[0011] According to some embodiments, the above method further includes: obtaining the forestry fire range corresponding to the fire abnormal information; generating a high-earth orbit satellite switching instruction when the forestry fire range is not less than the target centralized monitoring area; controlling the low-earth orbit satellite to stop monitoring the target centralized monitoring area and controlling the high-earth orbit satellite to monitor the initial monitoring area based on the high-earth orbit satellite switching instruction.

[0012] This application provides a device for collaborative monitoring using high and low earth orbit satellites, adopting the following technical solutions: A device for collaborative monitoring using high and low earth orbit satellites includes: an information acquisition module, a first control module, and a second control module, where The information acquisition module is used to obtain the forestry dryness index, forestry wind level information, and the initial monitoring area of the high-earth orbit satellite; The first control module is used to determine the monitoring rule corresponding to the high-earth orbit satellite based on the forestry dryness index, and control the high-earth orbit satellite to monitor the initial monitoring area based on the monitoring rule; The second control module is used to, when the fire abnormal information of the initial monitoring area is determined, determine the target centralized monitoring area corresponding to the low-earth orbit satellite and the position of the abnormal point corresponding to the fire abnormal information within the target centralized monitoring area based on the forestry wind level information, and control the low-earth orbit satellite to monitor the target centralized monitoring area and the position.

[0013] According to some embodiments, the above first control module is specifically used to: determine the forestry dryness level based on the forestry dryness index; when the forestry dryness level is the first preset forestry dryness level, determine that the monitoring rule corresponding to the high-earth orbit satellite is the first preset monitoring rule, where the first preset monitoring rule is to make the high-earth orbit satellite monitor the initial monitoring area based on the preset minimum image acquisition frequency; when the forestry dryness level is the second preset forestry dryness level, determine that the monitoring rule corresponding to the high-earth orbit satellite is the second preset monitoring rule, where the second preset monitoring rule is to make the high-earth orbit satellite monitor the initial monitoring area based on the preset maximum image acquisition frequency.

[0014] According to some embodiments, the above-mentioned first control module is specifically configured to: when the monitoring rule is determined to be the first preset monitoring rule, generate a highest acquisition image pixel instruction, and based on the highest acquisition image pixel instruction, control the geostationary satellite to monitor the initial monitoring area; when the monitoring rule is determined to be the second preset monitoring rule, generate a lowest acquisition image pixel instruction, and based on the lowest acquisition image pixel instruction, control the geostationary satellite to monitor the initial monitoring area.

[0015] According to some embodiments, the above-mentioned forestry wind level information includes forestry wind speed information and forestry wind direction; the above-mentioned second control module is specifically configured to: obtain the maximum monitoring area of the low-earth orbit satellite; when the forestry wind speed information is within the first preset forestry wind speed range, based on the preset first area diameter definition and abnormal point selection rule, determine the first target concentrated monitoring area included in the maximum monitoring area; based on the forestry wind direction and forestry wind speed information, determine the first position where the abnormal point is located within the first target concentrated monitoring area.

[0016] According to some embodiments, the above-mentioned second control module is specifically configured to: obtain the center point and edge points of the first target concentrated monitoring area, where the edge point is the edge point in the first target concentrated monitoring area that is opposite to the forestry wind direction; draw a line segment between the center point and the edge point, and based on the line segment and the first area diameter definition and abnormal point selection rule, determine the first position.

[0017] According to some embodiments, the above-mentioned second control module is further specifically configured to: when the forestry wind speed information is within the second preset forestry wind speed range, based on the preset second area diameter definition and abnormal point selection rule, determine the second target concentrated monitoring area included in the maximum monitoring area, where the first target concentrated monitoring area is smaller than the second target concentrated monitoring area; based on the forestry wind direction and forestry wind speed information, determine the second position where the abnormal point is located within the second target concentrated monitoring area.

[0018] According to some embodiments, the device for collaborative monitoring using high and low earth orbit satellites further includes: a fire range acquisition module, an instruction generation module, and a third control module, where the fire range acquisition module is used to acquire the forestry fire range corresponding to the fire abnormal information; the instruction generation module is used to generate a geostationary satellite switching instruction when the forestry fire range is not less than the target concentrated monitoring area; the third control module is used to, based on the geostationary satellite switching instruction, control the low-earth orbit satellite to stop monitoring the target concentrated monitoring area, and control the geostationary satellite to monitor the initial monitoring area.

[0019] This application provides an electronic device, adopting the following technical solution: An electronic device, the electronic device includes: A processor; A memory stores a computer program, which, when executed by a processor, causes the processor to execute the method for collaborative monitoring using high and low orbit satellites as described above.

[0020] This application provides a computer-readable storage medium, adopting the following technical solution: A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to execute the method for collaborative monitoring using high and low orbit satellites as described above.

[0021] According to the above embodiments provided by this application, through the forestry drying index, a monitoring rule adapted to the high orbit satellite is determined, and based on the monitoring rule, the high orbit satellite is controlled to monitor the initial monitoring area; when fire abnormal information in the initial monitoring area is detected, the low orbit satellite is used for centralized monitoring, that is, based on the forestry wind level information, the target centralized monitoring area of the low orbit satellite and the position of the abnormal point corresponding to the fire abnormal information in the target centralized monitoring area are determined. Subsequently, the low orbit satellite is controlled to monitor the centralized monitoring area and the abnormal point, so as to improve the accuracy and timeliness of the initial forestry fire monitoring through the combination of high and low orbit satellites, and by using the forestry drying index and the forestry wind level index to determine the monitoring rule adapted to the high orbit satellite and the positions of the centralized monitoring area and the abnormal point adapted to the low orbit satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a block diagram of the method for collaborative monitoring using high and low orbit satellites according to an embodiment of this application; Figure 2 is a block diagram of the device for collaborative monitoring using high and low orbit satellites according to an embodiment of this application; Figure 3 is a schematic diagram of an electronic device according to an embodiment of this application.

[0023] DESCRIPTION OF THE REFERENCE NUMERALS: 20: Device for collaborative monitoring using high and low orbit satellites; 201: Information acquisition module; 202: First control module; 203: Second control module; 30: Electronic device; 301: Processor; 302: Bus; 303: Memory; 304: Transceiver. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following further elaborates on this application in conjunction with the attached Figures 1 - 3 for a more detailed description.

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will describe the technical solutions in the embodiments of this application clearly and completely with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0026] An embodiment of this application provides a method for collaborative monitoring using high- and low-orbit satellites, which can be executed by an electronic device. Among them, the electronic device can be a server. The server can be an independent physical server, a server cluster or distributed device composed of multiple physical servers, or a cloud server providing cloud computing services. The server can be installed at a ground communication terminal.

[0027] Referring to Figure 1 , a method for collaborative monitoring using high- and low-orbit satellites includes: step S101, step S102, and step S103. Among them, S101, obtain the forestry dryness index, forestry wind level information, and the initial monitoring area of the high-orbit satellite.

[0028] In some embodiments, the forestry dryness index is numerical information converted and integrated from relevant parameters that can affect the occurrence of forest fires to a certain extent, such as air humidity information, precipitation information, etc., according to the corresponding proportions; the forestry wind level information characterizes the wind conditions within the initial monitoring area.

[0029] The electronic device obtains air humidity information, precipitation information, forestry wind level information, etc. from the weather monitoring terminals installed in the initial monitoring area, and determines the influence proportions of air humidity information and precipitation information on the occurrence of forest fires based on their respective influences on the occurrence of forest fires. Then, based on the influence proportions, the proportion information corresponding to air humidity information and the proportion information corresponding to precipitation information are determined. Subsequently, the two corresponding proportion information is integrated to obtain the forestry dryness index.

[0030] At the same time, the electronic device sends a regional monitoring instruction to the high-orbit satellite. The high-orbit satellite responds to the forestry monitoring instruction, takes images of the initial monitoring area, and sends the image information containing the initial monitoring area to the electronic device. The electronic device obtains the initial monitoring area based on the analysis of the image information. Among them, the initial monitoring area can be the largest shooting area that the high-orbit satellite can capture, or a part of the largest shooting area that the high-orbit satellite can capture.

[0031] S102. Based on the forestry drying index, determine the monitoring rules corresponding to the geostationary satellite, and control the geostationary satellite to monitor the initial monitoring area based on the monitoring rules.

[0032] In some embodiments, the monitoring rules are rules for enabling the geostationary satellite to monitor the initial monitoring area based on a specific image acquisition frequency and enabling the electronic device to monitor the initial monitoring area based on a specific image comparison frequency.

[0033] Compare the forestry drying index with a preset drying grade data table to determine the forestry drying grade corresponding to the forestry drying index, and determine the preset monitoring rules corresponding to the forestry drying grade. The electronic device sends the preset monitoring rules to the geostationary satellite so that the geostationary satellite monitors the initial monitoring area based on the preset monitoring rules. Among them, each forestry drying grade in the preset drying grade data table corresponds to a forestry drying index range. Compare the forestry drying index with each forestry drying index range, and when it is determined that the forestry drying index is within any one of the forestry drying index ranges, it is determined that the forestry drying index corresponds to the forestry drying grade corresponding to that any one of the forestry drying index ranges.

[0034] S103. When the fire anomaly information of the initial monitoring area is determined, based on the forestry wind level information, determine the target concentrated monitoring area corresponding to the low-earth orbit satellite and the position of the anomaly point corresponding to the fire anomaly information within the target concentrated monitoring area, and control the low-earth orbit satellite to monitor the target concentrated monitoring area and the position.

[0035] In some embodiments, during the process of the electronic device controlling the geostationary satellite to monitor the initial monitoring area based on the determined monitoring rules, the geostationary satellite continuously acquires image information of the initial monitoring area based on the monitoring rules, that is, multiple pieces of image information, and sends the multiple pieces of image information to the electronic device. The electronic device performs comparative analysis on the multiple pieces of image information based on the monitoring rules to obtain an analysis result, and based on the analysis result, determines whether there is a fire anomaly in the initial monitoring area.

[0036] When the electronic device determines a fire anomaly based on the analysis result, that is, determines the fire anomaly information of the initial monitoring area, it indicates that an incipient forest fire has occurred in the initial monitoring area; limited by the image accuracy of the geostationary satellite, in order to be able to timely monitor the fire trend of the incipient forest fire, at this time, a low-earth orbit satellite can be selected to conduct concentrated monitoring on the fire anomaly point and the monitoring area covering the anomaly point. Therefore, it is necessary to determine the target concentrated monitoring area corresponding to the low-earth orbit satellite and the position of the anomaly point corresponding to the fire anomaly information within the monitoring area.

[0037] That is, based on the forestry wind level information, the electronic device determines the target centralized monitoring area corresponding to the low-earth orbit satellite and the location of the abnormal points corresponding to the fire abnormal information. Subsequently, the electronic device controls the low-earth orbit satellite to conduct centralized monitoring on the target centralized monitoring area and the abnormal points, that is, controls the low-earth orbit satellite to adjust the shooting area to only shoot the target centralized monitoring area, so as to continuously and accurately monitor the incipient forest fires with the help of the low-earth orbit satellite, thereby improving the accuracy and timeliness of forest fire monitoring.

[0038] In step S102, based on the forestry dryness index, the monitoring rules corresponding to the geostationary satellite are determined, including: based on the forestry dryness index, the forestry dryness level is determined; when the forestry dryness level is the first preset forestry dryness level, it is determined that the monitoring rules corresponding to the geostationary satellite are the first preset monitoring rules, where the first preset monitoring rule is to make the geostationary satellite monitor the initial monitoring area based on the preset minimum image acquisition frequency; when the forestry dryness level is the second preset forestry dryness level, it is determined that the monitoring rules corresponding to the geostationary satellite are the second preset monitoring rules, where the second preset monitoring rule is to make the geostationary satellite monitor the initial monitoring area based on the preset maximum image acquisition frequency.

[0039] In some embodiments, the electronic device associates different forestry dryness levels with different preset monitoring rules; when the electronic device determines the forestry dryness level corresponding to the forestry dryness index from the dryness level data table, the electronic device retrieves the preset monitoring rule corresponding to the forestry dryness level.

[0040] When the forestry dryness level is the first preset forestry dryness level, it indicates that the forestry dryness level in the area to be monitored is relatively low and it is not easy to occur forest fires. Therefore, the area to be monitored can be monitored at a low frequency. Immediately, the electronic device retrieves the first preset monitoring rule associated with the first forestry dryness level and sends the first forestry dry rule to the geostationary satellite, so that the geostationary satellite monitors the initial monitoring area based on the first preset monitoring rule, and during the monitoring process, the initial monitoring area is imaged at the minimum image acquisition frequency, and the geostationary satellite sends the multiple image information collected to the electronic device; the electronic device conducts comparative analysis on the multiple image information based on the first preset monitoring rule, that is, the electronic device conducts comparative analysis on the multiple image information at the minimum image comparison frequency.

[0041] When the forestry drying level is the second preset forestry drying level, it indicates that the forestry drying level in the area to be monitored is relatively high and forest fires are likely to occur. Therefore, it is necessary to monitor the area to be monitored at a high frequency. Subsequently, the electronic device retrieves the second preset monitoring rule associated with the second forestry drying level and sends the second forestry drying rule to the high-orbit satellite, enabling the high-orbit satellite to monitor the initial monitoring area based on the second preset monitoring rule. During the monitoring process, the high-orbit satellite collects images of the initial monitoring area at the highest image acquisition frequency. The high-orbit satellite sends the multiple collected image information to the electronic device. The electronic device conducts comparative analysis on the multiple image information based on the second preset monitoring rule, that is, the electronic device conducts comparative analysis on the multiple image information at the highest image comparison frequency.

[0042] In some embodiments, controlling the high-orbit satellite to monitor the initial monitoring area based on the monitoring rule includes: when the monitoring rule is determined to be the first preset monitoring rule, generating a highest image pixel acquisition instruction, and controlling the high-orbit satellite to monitor the initial monitoring area based on the highest image pixel acquisition instruction; when the monitoring rule is determined to be the second preset monitoring rule, generating a lowest image pixel acquisition instruction, and controlling the high-orbit satellite to monitor the initial monitoring area based on the lowest image pixel acquisition instruction.

[0043] In some embodiments, when the monitoring rule is the first preset monitoring rule, it means that the high-orbit satellite will collect the image information of the initial monitoring area in the way of the lowest acquisition frequency, and the electronic device will compare the multiple image information in the way of the lowest comparison frequency. That is to say, the acquisition time interval between two adjacent image information is relatively long, and at the same time, the time interval for the electronic device to conduct comparative analysis on two adjacent image information is relatively long. In this case, in order to avoid inaccurate results of subsequent image comparative analysis caused by image pixels and the situation of being unable to determine the fire anomaly in time, it is necessary to improve the pixel of the image information collected by the high-orbit satellite.

[0044] Therefore, when the monitoring rule determined by the electronic device is the first preset monitoring rule, a highest image pixel acquisition instruction is generated and sent to the high-orbit satellite, so that the high-orbit satellite monitors the initial monitoring area based on the highest image pixel acquisition instruction, that is, collects the high-pixel image information of the initial monitoring area.

[0045] When the electronic device determines that the monitoring rule is the second preset monitoring rule, it generates a lowest acquisition image pixel instruction and sends the lowest acquisition image pixel instruction to the high-orbit satellite, so that the high-orbit satellite monitors the initial monitoring area based on the lowest acquisition image pixel instruction, that is, acquires the image information with low pixels in the initial monitoring area. Among them, the pixel amount of the image information acquired by controlling the high-orbit satellite based on the lowest acquisition image pixel instruction is the pixel amount that meets the lowest pixel requirement for forest fires in the image information.

[0046] In some embodiments, the forest wind level information includes forest wind speed information and forest wind direction; therefore, in step S103, based on the forest wind level information, determining the target centralized monitoring area corresponding to the low-orbit satellite and the position of the abnormal point corresponding to the fire abnormality information within the target centralized monitoring area includes: obtaining the maximum monitoring area of the low-orbit satellite; when the forest wind speed information is within the first preset forest wind speed range, determining the first target centralized monitoring area included in the maximum monitoring area based on the preset first area diameter definition and abnormal point selection rule; determining the first position of the abnormal point within the first target centralized monitoring area based on the forest wind direction and the forest wind speed information.

[0047] In some embodiments, the electronic device constructs the first forest wind speed range in advance, and it is associated with the first area diameter definition and abnormal point selection rule; the electronic device first obtains the maximum monitoring area that it can monitor from the low-orbit satellite. At the same time, the electronic device compares the forest wind speed information with the pre-constructed first preset forest wind speed range; when the electronic device determines that the forest wind speed information is within the first preset wind speed range, the electronic device calls the first area diameter node and the abnormal point selection rule to demarcate the first target centralized monitoring area corresponding to the forest wind speed information from the maximum monitoring area. Subsequently, considering that forest fires are affected by wind speed, that is, the speed of fire spreading in the downwind direction is greater than that in the upwind direction, in order to continuously monitor forest fires through the low-orbit satellite, when determining the position of the abnormal point of the forest fire within the first target centralized monitoring area, the forest wind direction needs to be used as a basic parameter in the determination process, that is, the electronic device determines the first position of the abnormal point within the first target centralized monitoring area based on the forest wind direction and the forest wind speed information.

[0048] In some embodiments, determining the first position of the abnormal point within the first target centralized monitoring area based on the forest wind direction and the forest wind speed information includes: obtaining the center point and the edge point of the first target centralized monitoring area, where the edge point is the edge point of the first target centralized monitoring area that is opposite to the forest wind direction; determining the line segment between the center point and the edge point, and determining the first position based on the line segment and the first area diameter definition and abnormal point selection rule.

[0049] In some embodiments, the electronic device acquires the midpoint of the first target concentrated monitoring area and the edge point opposite to the forestry wind direction. Subsequently, the center point is connected to the edge to obtain the radius line of the first target concentrated monitoring area, that is, the line segment. Subsequently, the electronic device calls the abnormal point selection rule in the first area diameter definition and abnormal point selection rule to determine the target point in the line segment, and determines this target point as the first position where the abnormal point is located within the first target concentrated monitoring area, where the target point is not the edge point of the first target concentrated monitoring area.

[0050] In step S103, based on the forestry wind level information, determining the target concentrated monitoring area corresponding to the low-earth orbit satellite and the position of the abnormal point corresponding to the fire abnormal information within the target concentrated monitoring area further includes: when the forestry wind speed information is within the second preset forestry wind speed range, based on the preset second area diameter definition and abnormal point selection rule, determining the second target concentrated monitoring area included in the maximum monitoring area, where the first target concentrated monitoring area is smaller than the second target concentrated monitoring area; based on the forestry wind direction and forestry wind speed information, determining the second position where the abnormal point is located within the second target concentrated monitoring area.

[0051] In some embodiments, the electronic device pre-constructs the second forestry wind speed range and associates it with the second area diameter definition and abnormal point selection rule; while the electronic device compares the forestry wind speed information with the first preset forestry wind speed range, it also compares the forestry wind speed information with the second preset forestry wind speed range; when the electronic device determines that the forestry wind speed information is not within the first preset wind speed range but within the second preset wind speed range, the electronic device calls the second area diameter node and abnormal point selection rule to delimit the second target concentrated monitoring area corresponding to the forestry wind speed information from the maximum monitoring area. Subsequently, the electronic device determines the second position where the abnormal point is located within the second target concentrated monitoring area based on the forestry wind direction and forestry wind speed.

[0052] In some embodiments, the first preset forestry wind speed range is smaller than the second preset forestry wind speed range, and between the first target concentrated monitoring area and the second target concentrated monitoring area determined by the first area diameter definition and abnormal point selection rule and the second area diameter definition and abnormal point selection rule corresponding to them respectively, the range of the first target concentrated monitoring area is smaller than the range of the second target concentrated monitoring area. The abnormal point selection rules included in the first area diameter definition and abnormal point selection rule and the second area diameter node and abnormal point selection rule are to randomly select a target point as the position of the abnormal point within a preset line segment in the line segment between the center point and the edge point, where the preset line segment is smaller than the line segment, and the two endpoints of the preset line segment cannot be the center point and the edge point.

[0053] In some embodiments, the above method for collaborative monitoring using high and low orbit satellites further includes: obtaining the forest fire range corresponding to the fire anomaly information; generating a high orbit satellite switching instruction when the forest fire range is not less than the target centralized monitoring area; and based on the high orbit satellite switching instruction, controlling the low orbit satellite to stop monitoring the target centralized monitoring area, and controlling the high orbit satellite to monitor the initial monitoring area.

[0054] In some embodiments, during the process of using the low orbit satellite to monitor the target centralized monitoring area and the anomaly points, the fire range is continuously increasing. Without certain intervention, the fire range may exceed the target centralized monitoring area at a certain moment. Moreover, when the target centralized monitoring area is slightly smaller than the maximum monitoring area that the low orbit satellite can monitor, if the low orbit satellite continues to be used to monitor the forest fire, there will be some areas where forest fires occur that cannot be monitored. Therefore, in this case, it is necessary to consider continuing to use the high orbit satellite for monitoring.

[0055] Therefore, the electronic device obtains the forest fire range in real time and compares the forest fire range with the target centralized monitoring area; when the electronic device determines that the forest fire range is not less than the target centralized monitoring area, it indicates that the forest fire range is about to exceed the area that the low orbit satellite can monitor. Immediately, the electronic device generates a high orbit satellite switching instruction and sends the high orbit satellite switching instruction to the low orbit satellite and the high orbit satellite to control the low orbit satellite to stop monitoring the forest fire in the target centralized monitoring area, and control the high orbit satellite to monitor the forest fire in the initial monitoring area, so as to improve the ability to monitor forest fires.

[0056] This application provides a device for collaborative monitoring using high and low orbit satellites, and adopts the following technical solutions: Refer to Figure 2 , a device 20 for collaborative monitoring using high and low orbit satellites includes: an information acquisition module 201, a first control module 202, and a second control module 203, where, The information acquisition module 201 is used to obtain the forestry dryness index, the forestry wind level information, and the initial monitoring area of the high orbit satellite; The first control module 202 is used to determine the monitoring rules corresponding to the high orbit satellite based on the forestry dryness index, and control the high orbit satellite to monitor the initial monitoring area based on the monitoring rules; The second control module 203 is used to, when the fire anomaly information of the initial monitoring area is determined, determine the target centralized monitoring area corresponding to the low orbit satellite and the position of the anomaly point corresponding to the fire anomaly information within the target centralized monitoring area based on the forestry wind level information, and control the low orbit satellite to monitor the target centralized monitoring area and the position.

[0057] In some embodiments, the above-mentioned first control module 202 is specifically configured to: determine the forestry drying level based on the forestry drying index; in the case where the forestry drying level is the first preset forestry drying level, determine that the monitoring rule corresponding to the geostationary satellite is the first preset monitoring rule, where the first preset monitoring rule is to make the geostationary satellite monitor the initial monitoring area based on a preset minimum image acquisition frequency; in the case where the forestry drying level is the second preset forestry drying level, determine that the monitoring rule corresponding to the geostationary satellite is the second preset monitoring rule, where the second preset monitoring rule is to make the geostationary satellite monitor the initial monitoring area based on a preset maximum image acquisition frequency.

[0058] In some embodiments, the above-mentioned first control module 202 is specifically configured to: in the case where the monitoring rule is determined to be the first preset monitoring rule, generate a highest image pixel acquisition instruction, and based on the highest image pixel acquisition instruction, control the geostationary satellite to monitor the initial monitoring area; in the case where the monitoring rule is determined to be the second preset monitoring rule, generate a lowest image pixel acquisition instruction, and based on the lowest image pixel acquisition instruction, control the geostationary satellite to monitor the initial monitoring area.

[0059] In some embodiments, the above-mentioned forestry wind level information includes forestry wind speed information and forestry wind direction; the above-mentioned second control module 203 is specifically configured to: obtain the maximum monitoring area of the low-earth orbit satellite; in the case where the forestry wind speed information is within the first preset forestry wind speed range, determine the first target concentrated monitoring area included in the maximum monitoring area based on a preset first area diameter definition and anomaly point selection rule; determine the first position where the anomaly point is located within the first target concentrated monitoring area based on the forestry wind direction and forestry wind speed information.

[0060] In some embodiments, the above-mentioned second control module 203 is specifically configured to: obtain the center point and edge points of the first target concentrated monitoring area, where the edge point is the edge point of the first target concentrated monitoring area that is opposite to the forestry wind direction; determine the line segment between the center point and the edge point, and based on the line segment and the first area diameter definition and anomaly point selection rule, determine the first position.

[0061] In some embodiments, the above-mentioned second control module 203 is specifically configured to: in the case where the forestry wind speed information is within the second preset forestry wind speed range, determine the second target concentrated monitoring area included in the maximum monitoring area based on a preset second area diameter definition and anomaly point selection rule, where the first target concentrated monitoring area is smaller than the second target concentrated monitoring area; determine the second position where the anomaly point is located within the second target concentrated monitoring area based on the forestry wind direction and forestry wind speed information.

[0062] In some embodiments, the above-mentioned device 20 for collaborative monitoring of high and low orbit satellites further includes: a fire range acquisition module, an instruction generation module, and a third control module. Among them, the fire range acquisition module is used to acquire the forest fire range corresponding to the fire anomaly information; the instruction generation module is used to generate a high orbit satellite switching instruction when the forest fire range is not less than the target centralized monitoring area; the third control module is used to control the low orbit satellite to stop monitoring the target centralized monitoring area and control the high orbit satellite to monitor the initial monitoring area based on the high orbit satellite switching instruction.

[0063] In some embodiments, the information acquisition module 201 may include a logic circuit or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array included in an electronic device, etc.; the first control module 202 may include a logic circuit or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array included in an electronic device, etc.; the second control module 203 may include a logic circuit or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array included in an electronic device, etc.

[0064] In some embodiments, the fire range acquisition module may include a logic circuit or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array included in an electronic device, etc.; the instruction generation module may include a logic circuit or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array included in an electronic device, etc.; the third control module may include a logic circuit or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array included in an electronic device, etc.

[0065] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described systems, modules, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0066] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the processor is caused to execute the above-mentioned method for collaborative monitoring using high and low orbit satellites.

[0067] For example, referring to Figure 3 , Figure 3 the electronic device 30 shown includes: a processor 301 and a memory 303. Among them, the processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 30 may further include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation to the embodiments of the present invention.

[0068] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in the disclosure of the present invention. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0069] The bus 302 may include a path for transmitting information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 only a thick line is shown herein, but it does not mean that there is only one bus or one type of bus.

[0070] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory), or other type of dynamic storage device that can store information and instructions. It may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other storage medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0071] The memory 303 is used to store the application program code for implementing the solution of the present invention, and is controlled by the processor 301 for execution. The processor 301 is used to execute the application program code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0072] Figure 3 The illustrated electronic device is only an example and should not impose any limitation on the functions and scope of use of the embodiments of the present invention.

[0073] An embodiment of the present application discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor is caused to execute a method for collaborative monitoring using high and low orbit satellites.

[0074] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limitation, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. Their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0075] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for collaborative monitoring using high and low orbit satellites, characterized in that: include: Obtain forestry dryness index, forestry wind level information and initial monitoring area of ​​high-orbit satellites; Based on the forestry dryness index, determining a monitoring rule corresponding to the high-orbit satellite, and controlling the high-orbit satellite to monitor the initial monitoring area based on the monitoring rule; When the fire anomaly information of the initial monitoring area is determined, based on the forestry wind level information, the target concentrated monitoring area corresponding to the low-orbit satellite and the position of the anomaly point corresponding to the fire anomaly information within the target concentrated monitoring area are determined, and the low-orbit satellite is controlled to monitor the target concentrated monitoring area and the position.

2. The method according to claim 1, characterized in that The determining, based on the forestry dryness index, a monitoring rule corresponding to the high-orbit satellite comprises: Determining a forestry dryness level based on the forestry dryness index; When the forestry dryness level is the first preset forestry dryness level, determining that the monitoring rule corresponding to the high-orbit satellite is the first preset monitoring rule, wherein the first preset monitoring rule is to enable the high-orbit satellite to monitor the initial monitoring area based on a preset minimum image acquisition frequency; When the forestry dryness level is the second preset forestry dryness level, the monitoring rule corresponding to the high-orbit satellite is determined to be the second preset monitoring rule, wherein the second preset monitoring rule is to enable the high-orbit satellite to monitor the initial monitoring area based on a preset maximum image acquisition frequency.

3. The method according to claim 2, characterized in that The controlling the high-orbit satellite to monitor the initial monitoring area based on the monitoring rule includes: In a case where the monitoring rule is determined to be the first preset monitoring rule, generating a maximum instruction for collecting image pixels, and based on the maximum instruction for collecting image pixels, controlling the high-orbit satellite to monitor the initial monitoring area; When the monitoring rule is determined to be the second preset monitoring rule, a minimum instruction for collecting image pixels is generated, and based on the minimum instruction for collecting image pixels, the high-orbit satellite is controlled to monitor the initial monitoring area.

4. The method according to claim 1, characterized in that: The forestry wind level information includes forestry wind speed information and forestry wind direction; The determining, based on the forestry wind level information, a target centralized monitoring area corresponding to the low-orbit satellite and a position of an abnormal point corresponding to the fire abnormality information within the target centralized monitoring area comprises: Obtaining the maximum monitoring area of ​​the low-orbit satellite; In the case where the forestry wind speed information is within the first preset forestry wind speed range, based on the preset first area diameter definition and abnormal point selection rules, determining the first target concentrated monitoring area included in the maximum monitoring area; Based on the forestry wind direction and the forestry wind speed information, it is determined that the abnormal point is located at a first position within the first target concentrated monitoring area.

5. The method according to claim 4, characterized in that Based on the forestry wind direction and the forestry wind speed information, determining that the abnormal point is located at a first position within the first target centralized monitoring area includes: Acquire the center point and edge point of the first target centralized monitoring area, wherein the edge point is an edge point of the first target centralized monitoring area that is opposite to the forestry wind direction; A line segment of the center point and the edge point is determined, and the first position is determined based on the line segment and the first area diameter definition and outlier point selection rules.

6. The method according to claim 4, characterized in that The determining, based on the forestry wind level information, of a target centralized monitoring area corresponding to the low-orbit satellite and a position of an abnormal point corresponding to the fire abnormality information within the target centralized monitoring area further includes: In the case where the forestry wind speed information is within the second preset forestry wind speed range, based on the preset second area diameter definition and abnormal point selection rules, the second target concentrated monitoring area included in the maximum monitoring area is determined, wherein the first target concentrated monitoring area is smaller than the second target concentrated monitoring area; Based on the forestry wind direction and the forestry wind speed information, it is determined that the abnormal point is located at a second position within the second target concentrated monitoring area.

7. The method according to claim 1, characterized in that The method further comprises: Obtaining the forestry fire scope corresponding to the fire anomaly information; When the forest fire range is not smaller than the target centralized monitoring area, generating a high-orbit satellite switching instruction; Based on the high-orbit satellite switching instruction, the low-orbit satellite is controlled to stop monitoring the target concentrated monitoring area, and the high-orbit satellite is controlled to monitor the initial monitoring area.

8. A device for collaborative monitoring using high and low orbit satellites, characterized in that: include: Information acquisition module, used to obtain forestry dryness index, forestry wind level information and the initial monitoring area of ​​the high-orbit satellite; A first control module is used to determine a monitoring rule corresponding to the high-orbit satellite based on the forestry dryness index, and control the high-orbit satellite to monitor the initial monitoring area based on the monitoring rule; The second control module is used to determine the target concentrated monitoring area corresponding to the low-orbit satellite and the position of the abnormal point corresponding to the fire abnormal information within the target concentrated monitoring area based on the forestry wind level information when the fire abnormality information in the initial monitoring area is determined, and control the low-orbit satellite to monitor the target concentrated monitoring area and the position.

9. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 7.

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

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