Method and device for cooperative monitoring by high and low orbit satellites and storage medium

Abstract

The application 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 high and low orbit satellites provided by the application comprises the following steps: acquiring forestry drying index, forestry wind level information and an initial monitoring area of a high orbit satellite; determining a monitoring rule corresponding to the high orbit satellite based on the forestry drying index, and controlling the high orbit satellite to monitor the initial monitoring area based on the monitoring rule; in the case that fire abnormal information of the initial monitoring area is acquired, determining a target concentrated monitoring area corresponding to a low orbit satellite and a position of an abnormal point corresponding to the fire abnormal information in the target concentrated monitoring area based on the forestry wind level information, and controlling the low orbit satellite to monitor the target concentrated monitoring area and the position. The application can improve the accuracy and timeliness of forestry fire monitoring.

Description

Technical Field

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

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

[0003] However, the inventors of this application discovered that due to the wide coverage of high-orbit satellite monitoring, in the early stages of forest fire development, due to the limitation of the clarity of images collected by high-orbit satellites, the accuracy and timeliness of the early forest fire development monitored by monitoring forest fires through images containing forest fires collected by high-orbit satellites are low. Summary of the Invention

[0004] In order to improve the accuracy and timeliness of forest fire monitoring, the present 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-orbit and low-orbit satellites, using the following technical solutions:

[0006] A method for collaborative monitoring using high-orbit and low-orbit satellites, comprising:

[0007] Obtain forestry dryness index, forestry wind level information, and the initial monitoring area of ​​high-orbit satellites;

[0008] Based on the forestry dryness index, the corresponding monitoring rules of the high-orbit satellite are determined, and the high-orbit satellite is controlled to monitor the initial monitoring area based on the monitoring rules;

[0009] After determining the fire anomaly information in the initial monitoring area, 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 position.

[0010] According to some embodiments, the above-mentioned determination of the monitoring rules corresponding to the high-orbit satellite based on the forestry dryness index includes: determining the forestry dryness level based on the forestry dryness index; when the forestry dryness level is the first preset forestry dryness level, determining the monitoring rule corresponding to the high-orbit satellite as 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 the preset minimum image acquisition frequency; when the forestry dryness level is the second preset forestry dryness level, determining the monitoring rule corresponding to the high-orbit satellite as 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 the preset maximum image acquisition frequency.

[0011] According to some embodiments, the above-mentioned control of the high-orbit satellite to monitor the initial monitoring area based on the monitoring rules includes: when 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, generating a minimum instruction for collecting image pixels, and based on the minimum instruction for collecting image pixels, controlling the high-orbit satellite to monitor the initial monitoring area.

[0012] 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, the target concentrated monitoring area corresponding to the low-orbit satellite and the position of the abnormal point corresponding to the fire abnormality information within the target concentrated monitoring area are determined, including: obtaining the maximum monitoring area of ​​the low-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 rules, the first target concentrated monitoring area included in the maximum monitoring area is determined; based on the forestry wind direction and forestry wind speed information, it is determined that the abnormal point is located at the first position within the first target concentrated monitoring area.

[0013] According to some embodiments, the above-mentioned determination of the abnormal point located at the first position within the first target concentrated monitoring area based on forestry wind direction and forestry wind speed information includes: obtaining the center point and edge point of the first target concentrated monitoring area, wherein the edge point is the edge point of the edge point of the first target concentrated monitoring area that is opposite to the forestry wind direction; determining the line segment of 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 rules.

[0014] According to some embodiments, the above-mentioned determination of the target concentrated monitoring area corresponding to the low-orbit satellite and the position of the abnormal point corresponding to the fire abnormality information within the target concentrated monitoring area based on forestry wind level information also 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 rules, determining the second target concentrated monitoring area included in the maximum monitoring area, wherein 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 that the abnormal point is located at the second position within the second target concentrated monitoring area.

[0015] According to some embodiments, the above method also includes: obtaining the forestry fire range corresponding to the fire anomaly information; generating a high-orbit satellite switching instruction when the forestry fire range is not smaller than the target centralized monitoring area; 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.

[0016] This application provides a device for collaborative monitoring using high- and low-orbit satellites, which adopts the following technical solutions:

[0017] A device for collaborative monitoring using high and low orbit satellites includes: an information acquisition module, a first control module and a second control module, wherein:

[0018] The information acquisition module is used to obtain forestry dryness index, forestry wind level information, and the initial monitoring area of ​​the high-orbit satellite;

[0019] The first control module 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;

[0020] 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 abnormality information within the target concentrated monitoring area based on the forestry wind level information after determining the fire abnormality information in the initial monitoring area, and control the low-orbit satellite to monitor the target concentrated monitoring area and position.

[0021] According to some embodiments, the above-mentioned 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 the monitoring rule corresponding to the high-orbit satellite as 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 the preset minimum image acquisition frequency; when the forestry dryness level is the second preset forestry dryness level, determine the monitoring rule corresponding to the high-orbit satellite as 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 the preset maximum image acquisition frequency.

[0022] According to some embodiments, the above-mentioned first control module is specifically used to: when the monitoring rule is determined to be the first preset monitoring rule, generate a maximum instruction for collecting image pixels, and based on the maximum instruction for collecting image pixels, control the high-orbit satellite to monitor the initial monitoring area; when the monitoring rule is determined to be the second preset monitoring rule, generate a minimum instruction for collecting image pixels, and based on the minimum instruction for collecting image pixels, control the high-orbit satellite to monitor the initial monitoring area.

[0023] 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 used to: obtain the maximum monitoring area of ​​the low-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 rules, 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 that the abnormal point is located at the first position within the first target concentrated monitoring area.

[0024] According to some embodiments, the above-mentioned second control module is specifically used to: obtain the center point and edge point of the first target concentrated monitoring area, wherein 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 determine the first position based on the line segment and the first area diameter definition and abnormal point selection rules.

[0025] According to some embodiments, the above-mentioned second control module is specifically further used to: when 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 the preset second area diameter definition and abnormal point selection rules, wherein 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 that the abnormal point is located at the second position within the second target concentrated monitoring area.

[0026] According to some embodiments, the above-mentioned device for collaborative monitoring using high-orbit and low-orbit satellites also includes: a fire range acquisition module, an instruction generation module and a third control module, wherein the fire range acquisition module is used to obtain the forestry fire range corresponding to the fire anomaly information; the instruction generation module is used to generate a high-orbit satellite switching instruction when the forestry 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 based on the high-orbit satellite switching instruction, and control the high-orbit satellite to monitor the initial monitoring area.

[0027] This application provides an electronic device, which adopts the following technical solution:

[0028] An electronic device, comprising:

[0029] processor;

[0030] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned method of collaborative monitoring using high and low orbit satellites.

[0031] This application provides a computer-readable storage medium, which adopts the following technical solution:

[0032] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the above-mentioned method of collaborative monitoring using high- and low-orbit satellites.

[0033] According to the above-mentioned embodiment provided in the present application, the monitoring rules adapted for high-orbit satellites are determined by the forestry dryness index, and the high-orbit satellites are controlled to monitor the initial monitoring area based on the monitoring rules; when abnormal fire information is detected in the initial monitoring area, low-orbit satellites are used for centralized monitoring, that is, the target centralized monitoring area of ​​the low-orbit satellite and the position of the abnormal points corresponding to the abnormal fire information in the target centralized monitoring area are determined based on the forestry wind level information, and then the low-orbit satellites are controlled to monitor the centralized monitoring area and the abnormal points, thereby improving the accuracy and timeliness of initial forestry fire monitoring by combining high and low-orbit satellites and using the forestry dryness index and the forestry wind level index to determine the monitoring rules adapted for high-orbit satellites and the positions of the centralized monitoring areas and abnormal points adapted for low-orbit satellites. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a block diagram of a method for collaborative monitoring using high- and low-orbit satellites according to an embodiment of the present application;

[0035] Figure 2 1 is a block diagram of an apparatus for collaborative monitoring using high- and low-orbit satellites according to an embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0037] Description of reference numerals:

[0038] 20: Device for collaborative monitoring using high-orbit 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

[0039] The following is combined with Figure 1-Figure 3 This application is described in further detail.

[0040] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] An embodiment of the present application provides a method for collaborative monitoring using high-orbit and low-orbit satellites, which can be executed by an electronic device, wherein the electronic device can be a server, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server providing cloud computing services; the server can be installed on a ground communication terminal.

[0042] Reference Figure 1 A method for collaborative monitoring using high-orbit and low-orbit satellites includes: step S101, step S102, and step S103, wherein:

[0043] S101: Obtain forestry dryness index, forestry wind level information, and the initial monitoring area of ​​the high-orbit satellite.

[0044] In some embodiments, the forestry dryness index is numerical information converted and integrated according to corresponding weights based on relevant parameters that can affect the occurrence of forestry fires to a certain extent, such as air humidity information, precipitation information, etc.; the forestry wind level information represents the wind conditions in the initial monitoring area.

[0045] The electronic equipment obtains air humidity information, precipitation information, forestry wind level information, etc. from the weather monitoring terminal installed in the initial monitoring area, and determines the influence proportion of the air humidity information and precipitation information on the occurrence of forestry fires based on the influence of the air humidity information and precipitation information respectively. Based on the influence proportion, the electronic equipment determines the proportion information corresponding to the air humidity information and the proportion information corresponding to the precipitation information. Subsequently, the corresponding proportion information of the two is integrated to obtain the forestry dryness index.

[0046] 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 captured 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. The initial monitoring area can be the maximum shooting area that the high-orbit satellite can capture, or it can be a partial area within the maximum shooting area that the high-orbit satellite can capture.

[0047] S102: Based on the forestry 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.

[0048] In some embodiments, the monitoring rule is a rule that enables the high-orbit satellite to monitor the initial monitoring area based on a specific image acquisition frequency and enables the electronic device to monitor the initial monitoring area based on a specific image comparison frequency.

[0049] The forestry dryness index is compared with a preset dryness level data table to determine the forestry dryness level corresponding to the forestry dryness index, and the preset monitoring rules corresponding to the forestry dryness level are determined. The electronic device sends the preset monitoring rules to the high-orbit satellite, so that the high-orbit satellite monitors the initial monitoring area based on the preset monitoring rules. Each forestry dryness level in the preset dryness level data table corresponds to a forestry dryness index range. The forestry dryness index is compared with each forestry dryness index range, and when it is determined that the forestry dryness index is within any of the forestry dryness index ranges, it is determined that the forestry dryness index corresponds to the forestry dryness level corresponding to any of the forestry dryness index ranges.

[0050] S103, when the fire anomaly information in 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 position.

[0051] In some embodiments, when the electronic device controls the high-orbit satellite to monitor the initial monitoring area based on the determined monitoring rules, the high-orbit satellite continuously obtains image information of the initial monitoring area based on the monitoring rules, that is, multiple image information, and sends the multiple image information to the electronic device. The electronic device compares and analyzes the multiple image information based on the monitoring rules, obtains analysis results, and determines whether a fire abnormality occurs in the initial monitoring area based on the analysis results.

[0052] When the electronic device determines a fire anomaly based on the analysis results, that is, determines the fire anomaly information in the initial monitoring area, it indicates that an initial forest fire has occurred in the initial monitoring area; due to the limitations of the image accuracy of high-orbit satellites, in order to be able to timely monitor the fire trends of the initial forest fire, low-orbit satellites can be used to conduct centralized monitoring of the fire anomaly points and the monitoring areas covering the anomaly points. Therefore, it is necessary to 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 monitoring area.

[0053] That is, based on the forestry wind level information, the electronic equipment determines the target centralized monitoring area corresponding to the low-orbit satellite and the location of the abnormal point corresponding to the fire abnormality information. Subsequently, the electronic equipment controls the low-orbit satellite to conduct centralized monitoring of the target centralized monitoring area and the abnormal point, that is, controls the low-orbit satellite to adjust the shooting area to only shoot the target centralized monitoring area, thereby using the low-orbit satellite to conduct continuous and accurate monitoring of the initial forestry fire, thereby improving the accuracy and timeliness of forestry fire monitoring.

[0054] In step S102, based on the forestry dryness index, the monitoring rules corresponding to the high-orbit satellite are determined, including: determining the forestry dryness level based on the forestry dryness index; when the forestry dryness level is the first preset forestry dryness level, determining the monitoring rule corresponding to the high-orbit satellite to be 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 the preset minimum image acquisition frequency; when the forestry dryness level is the second preset forestry dryness level, determining the monitoring rule corresponding to the high-orbit satellite 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 the preset maximum image acquisition frequency.

[0055] 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 calls the preset monitoring rules corresponding to the forestry dryness level.

[0056] When the forestry dryness level is the first preset forestry dryness level, it indicates that the forestry dryness level in the monitored area is low and forestry fires are not likely to occur. Therefore, the monitored area can be monitored at a low frequency. Then, the electronic device retrieves the first preset monitoring rule associated with the first forestry dryness level, and sends the first forestry dryness rule to the high-orbit satellite, so that the high-orbit 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 lowest image acquisition frequency, and the high-orbit satellite sends the collected multiple image information to the electronic device; the electronic device compares and analyzes the multiple image information based on the first preset monitoring rule, that is, the electronic device compares and analyzes the multiple image information at the lowest image comparison frequency.

[0057] When the forestry dryness level is the second preset forestry dryness level, it indicates that the forestry dryness level in the monitored area is high and forestry fires are prone to occur. Therefore, the monitored area needs to be monitored at a high frequency. Then, the electronic device retrieves the second preset monitoring rule associated with the second forestry dryness level, and sends the second forestry dryness rule to the high-orbit satellite, so that the high-orbit satellite monitors the initial monitoring area based on the second preset monitoring rule, and during the monitoring process, the initial monitoring area is imaged at the highest image acquisition frequency; the high-orbit satellite sends the collected multiple image information to the electronic device; the electronic device compares and analyzes the multiple image information based on the second preset monitoring rule, that is, the electronic device compares and analyzes the multiple image information at the highest image comparison frequency.

[0058] In some embodiments, the high-orbit satellite is controlled to monitor the initial monitoring area based on the monitoring rules, including: when the monitoring rule is determined to be the first preset monitoring rule, a maximum instruction for collecting image pixels is generated, and based on the maximum instruction for collecting image pixels, the high-orbit satellite is controlled 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.

[0059] In some embodiments, when the monitoring rule is the first preset monitoring rule, it means that the high-orbit satellite will use the lowest acquisition frequency to collect image information of the initial monitoring area, and the electronic device will use the lowest comparison frequency to compare multiple image information. That is to say, the acquisition time interval between two image information at adjacent times is longer. At the same time, the time interval for the electronic device to compare and analyze two image information at adjacent times is longer. In this case, in order to avoid inaccurate results of subsequent image comparison and analysis due to image pixels, resulting in the inability to timely determine fire abnormalities, it is necessary to increase the pixels of the image information collected by the high-orbit satellite.

[0060] Therefore, when the monitoring rule determined by the electronic device is the first preset monitoring rule, it generates a maximum instruction for collecting image pixels and sends the maximum instruction for collecting image pixels to the high-orbit satellite, so that the high-orbit satellite monitors the initial monitoring area based on the maximum instruction for collecting image pixels, that is, collects high-pixel image information of the initial monitoring area.

[0061] When the electronic device determines that the monitoring rule is the second preset monitoring rule, it generates a minimum instruction for collecting image pixels and sends the minimum instruction for collecting image pixels to the high-orbit satellite, so that the high-orbit satellite monitors the initial monitoring area based on the minimum instruction for collecting image pixels, that is, collects low-pixel image information of the initial monitoring area, wherein the pixel quantity of the image information collected by the high-orbit satellite is controlled based on the minimum instruction for collecting image pixels, which is the minimum pixel quantity required for forest fires in the image information.

[0062] In some embodiments, forestry wind level information includes forestry wind speed information and forestry wind direction; therefore, in step S103, based on the forestry wind level information, the target concentrated monitoring area corresponding to the low-orbit satellite and the position of the abnormal point corresponding to the fire abnormality information within the target concentrated monitoring area are determined, including: obtaining the maximum monitoring area of ​​the low-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 rules, determining the first target concentrated monitoring area included in the maximum monitoring area; based on the forestry wind direction and forestry wind speed information, determining that the abnormal point is located at the first position within the first target concentrated monitoring area.

[0063] In some embodiments, the electronic device constructs a first forestry wind speed range in advance, and is associated with a first area diameter definition and anomaly point selection rule; the electronic device first obtains the maximum monitoring area that it can monitor from the low-orbit satellite, and at the same time, the electronic device compares the forestry wind speed information with the first preset forestry wind speed range constructed in advance; when the electronic device determines that the forestry wind speed information is within the first preset wind speed range, the electronic device calls the first area diameter node and the anomaly point selection rule to delineate the first target concentrated monitoring area corresponding to the forestry wind speed information from the maximum monitoring area. Subsequently, considering that forestry fires are affected by wind speed, that is, the speed at which fires spread in the downwind direction is greater than the speed at which they spread against the wind, in order to be able to continuously monitor forestry fires through low-orbit satellites, when determining the position of the anomaly point of the forestry fire within the first target concentrated monitoring area, it is necessary to use the forestry wind direction as the basic parameter of the determination process, that is, the electronic device determines that the anomaly point is located at the first position within the first target concentrated monitoring area based on the forestry wind direction and forestry wind speed information.

[0064] In some embodiments, based on forestry wind direction and forestry wind speed information, determining that the abnormal point is located at a first position within the first target concentrated monitoring area includes: obtaining the center point and edge point of the first target concentrated monitoring area, wherein the edge point is the edge point of the edge point of the first target concentrated monitoring area that is opposite to the forestry wind direction; determining the line segment of 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 rules.

[0065] In some embodiments, the electronic device obtains the center point of the first target concentrated monitoring area and the edge point opposite to the forestry wind direction, and then connects the center point with the edge to obtain the radius line of the first target concentrated monitoring area, that is, the line segment. Then, the electronic device calls the first area diameter definition and the abnormal point selection rule in the abnormal point selection rule to determine the target point in the line segment, and determines the target point as the abnormal point located at the first position within the first target concentrated monitoring area, wherein the target point is not an edge point of the first target concentrated monitoring area.

[0066] In step S103, based on the forestry wind level information, the target concentrated monitoring area corresponding to the low-orbit satellite and the position of the abnormal point corresponding to the fire abnormality information within the target concentrated monitoring area are determined, and it also 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 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 forestry wind speed information, it is determined that the abnormal point is located at the second position within the second target concentrated monitoring area.

[0067] In some embodiments, the electronic device constructs a second forestry wind speed range in advance, and is associated with a second area diameter definition and anomaly point selection rule; the electronic device compares the forestry wind speed information with the first preset forestry wind speed range, and 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 anomaly point selection rule to delineate a second target concentrated monitoring area corresponding to the forestry wind speed information from the maximum monitoring area; subsequently, the electronic device determines that the anomaly point is located at a second position within the second target concentrated monitoring area based on the forestry wind direction and forestry wind speed.

[0068] 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 centralized monitoring area and the second target centralized monitoring area respectively determined by the first area diameter definition and outlier selection rule and the second area diameter definition and outlier selection rule corresponding to the first and second areas, the range of the first target centralized monitoring area is smaller than the range monitored by the second target centralized area. The outlier selection rule included in each of the first area diameter definition and outlier selection rule and the second area diameter node and outlier selection rule is to randomly select a target point as the position of the outlier in a preset line segment within the line segment between the center point and the edge point, wherein 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.

[0069] In some embodiments, the above-mentioned method of collaborative monitoring using high-orbit and low-orbit satellites also includes: obtaining the forestry fire range corresponding to the fire anomaly information; generating a high-orbit satellite switching instruction when the forestry fire range is not smaller than the target concentrated monitoring area; based on the high-orbit satellite switching instruction, controlling the low-orbit satellite to stop monitoring the target concentrated monitoring area, and controlling the high-orbit satellite to monitor the initial monitoring area.

[0070] In some embodiments, while using low-orbit satellites to monitor target centralized monitoring areas and abnormal points, the scope of the fire continues to increase. Without certain intervention, the scope of the fire 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 can be monitored by low-orbit satellites, continuing to use low-orbit satellites to monitor forest fires will result in some areas where forest fires occur being unable to be monitored. Therefore, in this case, it is necessary to consider continuing to use high-orbit satellites for monitoring.

[0071] Therefore, the electronic equipment obtains the scope of the forest fire in real time and compares the scope of the forest fire with the target centralized monitoring area; when the electronic equipment determines that the scope of the forest fire is not smaller than the target centralized monitoring area, it indicates that the scope of the forest fire is about to exceed the area that can be monitored by the low-orbit satellite. Then, the electronic equipment 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.

[0072] This application provides a device for collaborative monitoring using high- and low-orbit satellites, which adopts the following technical solutions:

[0073] Reference Figure 2A 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, wherein:

[0074] The information acquisition module 201 is used to obtain the forestry dryness index, forestry wind level information, and the initial monitoring area of ​​the high-orbit satellite;

[0075] The first control module 202 is configured 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;

[0076] The second control module 203 is used to determine 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 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 centralized monitoring area and position.

[0077] In some embodiments, the above-mentioned first control module 202 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 the monitoring rule corresponding to the high-orbit satellite as 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 the preset minimum image acquisition frequency; when the forestry dryness level is the second preset forestry dryness level, determine the monitoring rule corresponding to the high-orbit satellite as 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 the preset maximum image acquisition frequency.

[0078] In some embodiments, the above-mentioned first control module 202 is specifically used to: when the monitoring rule is determined to be the first preset monitoring rule, generate a maximum instruction for collecting image pixels, and based on the maximum instruction for collecting image pixels, control the high-orbit satellite to monitor the initial monitoring area; when the monitoring rule is determined to be the second preset monitoring rule, generate a minimum instruction for collecting image pixels, and based on the minimum instruction for collecting image pixels, control the high-orbit satellite to monitor the initial monitoring area.

[0079] 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 used to: obtain the maximum monitoring area of ​​the low-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 rules, 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 that the abnormal point is located at the first position within the first target concentrated monitoring area.

[0080] In some embodiments, the above-mentioned second control module 203 is specifically used to: obtain the center point and edge point of the first target concentrated monitoring area, wherein the edge point is the edge point in the edge point of the first target concentrated monitoring area that is opposite to the forestry wind direction; determine the line segment of the center point and the edge point, and determine the first position based on the line segment and the first area diameter definition and abnormal point selection rules.

[0081] In some embodiments, the above-mentioned second control module 203 is specifically used to: when 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 the preset second area diameter definition and abnormal point selection rules, wherein 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 that the abnormal point is located at the second position within the second target concentrated monitoring area.

[0082] 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, wherein the fire range acquisition module is used to obtain the forestry fire range corresponding to the fire anomaly information; the instruction generation module is used to generate a high-orbit satellite switching instruction when the forestry 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 based on the high-orbit satellite switching instruction, and control the high-orbit satellite to monitor the initial monitoring area.

[0083] 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 contained in an electronic device; 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 contained in an electronic device; 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 contained in an electronic device.

[0084] 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 contained in an electronic device; 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 contained in an electronic device; 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 contained in an electronic device.

[0085] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0086] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program. When the computer program is executed by the processor, the processor executes the above-mentioned method of collaborative monitoring using high- and low-orbit satellites.

[0087] For example, refer to Figure 3 , Figure 3 The electronic device 30 shown includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 30 may further include a transceiver 304. It should be noted that in practice, the number of transceivers 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present invention.

[0088] Processor 301 can 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 device, transistor logic device, hardware component, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in the present disclosure. Processor 301 can 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.

[0089] Bus 302 may include a path for transmitting information between the above components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0090] 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, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other storage medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0091] The memory 303 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0092] Figure 3 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0093] An embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a method for collaborative monitoring using high- and low-orbit satellites.

[0094] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0095] The above are only some of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for collaborative monitoring using high and low orbit satellites, characterized in that: include: Obtaining a forestry dryness index, forestry wind level information, and an initial monitoring area of ​​a high-orbit satellite; wherein the forestry wind level information includes forestry wind speed information and forestry wind direction; 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; When the fire anomaly information of the initial monitoring area is determined, determining, based on the forestry wind level information, a target centralized monitoring area corresponding to the low-orbit satellite and a location of the anomaly point corresponding to the fire anomaly information within the target centralized monitoring area, and controlling the low-orbit satellite to monitor the target centralized monitoring area and the location; The step of 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 includes: Obtaining the maximum monitoring area of ​​the low-orbit satellite; When the forestry wind speed information is within a first preset forestry wind speed range, determining a first target concentrated monitoring area included in the maximum monitoring area based on a preset first area diameter definition and abnormal point selection rule; 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, wherein the abnormal point selection rule is that any target point in a preset line segment within the line segment between the center point and the edge point of the first target concentrated monitoring area is determined as the first position, the preset line segment is smaller than the line segment, and the two endpoints of the preset line segment are not the center point and the edge point.

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 includes: 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: When the monitoring rule is determined to be the first preset monitoring rule, generating a maximum pixel acquisition instruction for an image, and based on the maximum pixel acquisition instruction for an image, controlling the high-orbit satellite to monitor the initial monitoring area, wherein based on the maximum pixel acquisition instruction for an image, controlling the high-orbit satellite to acquire high-pixel image information of 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, wherein based on the minimum instruction for collecting image pixels, the high-orbit satellite is controlled to collect low-pixel image information of the initial monitoring area.

4. The method according to claim 1, wherein Determining, based on the forestry wind direction and the forestry wind speed information, that the abnormal point is located at a first position within the first target centralized monitoring area includes: Acquire a center point and an 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 between 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 selection rules.

5. The method according to claim 1, wherein 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 further includes: When the forestry wind speed information is within a second preset forestry wind speed range, a second target concentrated monitoring area included in the maximum monitoring area is determined based on a preset second area diameter definition and abnormal point selection rule, 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.

6. The method according to claim 1, characterized in that The method further comprises: Obtaining the forestry fire range corresponding to the fire anomaly information; generating a high-orbit satellite switching instruction when the forest fire range is not smaller than the target centralized monitoring area; 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.

7. A device for collaborative monitoring using high and low orbit satellites, characterized in that: include: An information acquisition module is used to obtain a forestry dryness index, forestry wind level information, and an initial monitoring area of ​​a high-orbit satellite, wherein the forestry wind level information includes forestry wind speed information and forestry wind direction; A first control module is configured 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; a second control module, configured to, upon determining the fire anomaly information in the initial monitoring area, determine, based on the forestry wind level information, a target centralized monitoring area corresponding to the low-orbit satellite and a location of an abnormal point corresponding to the fire anomaly information within the target centralized monitoring area, and control the low-orbit satellite to monitor the target centralized monitoring area and the location; The second control module is used to obtain the maximum monitoring area of ​​the low-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 rules, determine the first target concentrated monitoring area included in the maximum monitoring area; based on the forestry wind direction and the forestry wind speed information, determine that the abnormal point is located at the first position within the first target concentrated monitoring area, wherein the abnormal point selection rule is that any target point in the preset line segment within the line segment between the center point and the edge point of the first target concentrated monitoring area is determined as the first position, the preset line segment is smaller than the line segment, and the two endpoints of the preset line segment are not the center point and the edge point.

8. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1 to 6.

9. 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 6.

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