Extreme-low-altitude detection emergency method, system and device and medium

Abstract

The invention relates to the technical field of emergency monitoring, and discloses an ultra-low-altitude detection emergency method, system and device and a medium, and the method comprises the steps: obtaining a current disaster scene; based on the current disaster scene, generating an ultra-low-altitude flight layout of the unmanned aerial vehicle fleet to meet the emergency demand of the unmanned aerial vehicle for the current disaster scene; wherein the emergency demand comprises a layout condition required by the unmanned aerial vehicle group to collect data in the current disaster scene; based on the ultra-low-altitude flight layout, the unmanned aerial vehicle group is controlled to fly to the area where the current disaster scene is located, and disaster data of the current disaster scene is collected; and generating an emergency decision based on the disaster data. According to the method, the corresponding ultralow-altitude flight layout is generated for the disaster scene, so that the unmanned aerial vehicle can accurately collect disaster data while flying at an ultralow altitude, a more accurate emergency decision is generated, and the emergency rescue requirement is met.

Description

Technical Field

[0001] The present invention relates to the field of emergency monitoring technology, and in particular to an ultra-low altitude detection emergency method, system, device and medium. Background Art

[0002] In various disaster scenarios, due to the harsh environment, people cannot enter directly, so they need to use drones to complete data collection and generate emergency strategies based on the data collected by drones to complete emergency rescue.

[0003] However, existing technologies do not have a reasonable drone flight layout for disaster scenarios. They only arrange drones to go to disaster scenes to collect data. As a result, the data collected by drones often fail to achieve the desired effect, making it impossible for the back-end analysis data to generate accurate emergency decisions, thus delaying the optimal rescue time. Summary of the Invention

[0004] In order to overcome the problem that there is no reasonable drone flight layout for disaster scenarios, which results in the data collected by drones often being ineffective, making it impossible for the back-end analysis data to generate accurate emergency decisions, and delaying the optimal rescue time, the present invention provides an ultra-low altitude detection emergency method, system, device and medium.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides an ultra-low altitude detection emergency method, comprising:

[0006] Obtain the current disaster scenario;

[0007] Based on the current disaster scenario, an ultra-low-altitude flight layout of the drone fleet is generated to meet the emergency needs of the drones in the current disaster scenario; the emergency needs include the layout conditions required for the drone fleet to collect data in the current disaster scenario;

[0008] Based on the ultra-low-altitude flight layout, the drone fleet is controlled to fly to the area where the current disaster scene is located and collect disaster data of the current disaster scene;

[0009] Generate emergency decisions based on disaster data.

[0010] In a second aspect, the present invention provides an ultra-low altitude detection emergency system, comprising:

[0011] Disaster scene acquisition module, used to obtain the current disaster scene;

[0012] The drone layout module is used to generate an ultra-low-altitude flight layout for a drone fleet based on the current disaster scenario to meet the emergency needs of drones in the current disaster scenario. The emergency needs include the layout conditions required for the drone fleet to collect data in the current disaster scenario.

[0013] The data acquisition module is used to control the drone fleet to fly to the area where the current disaster scene is located based on the ultra-low-altitude flight layout, and collect disaster data of the current disaster scene;

[0014] The emergency decision generation module is used to generate emergency decisions based on disaster data.

[0015] In the third aspect, the present invention provides an ultra-low altitude detection emergency device, comprising: a drone swarm, a disaster data monitoring module and an adaptive networking module, wherein the disaster data monitoring module and the adaptive networking module are equipped on the drone, and the drone swarm executes an ultra-low altitude detection emergency method as described above by deploying a lightweight AI model.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal device, the terminal device executes the steps of an ultra-low altitude detection emergency method as described above.

[0017] The beneficial effects of the present invention are: based on the current disaster scenario, an ultra-low-altitude flight layout of a drone fleet is generated, so that the drone fleet meets the layout conditions for collecting data in the current disaster scenario, and then the drone fleet is controlled to collect data according to the ultra-low-altitude flight layout, and emergency decisions are generated based on the collected disaster data. This application generates a corresponding ultra-low-altitude flight layout for the disaster scenario, so that drones can accurately collect disaster data while flying at ultra-low altitudes, thereby generating more accurate emergency decisions and meeting emergency rescue needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 Schematic diagram of a flow chart of an ultra-low altitude detection emergency method according to an embodiment of the present invention;

[0020] Figure 2 The figure is a structural diagram of an ultra-low altitude detection emergency system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0022] The following describes an ultra-low altitude detection emergency method, system, device and medium according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0023] like Figure 1 As shown, an embodiment of the present invention provides an ultra-low altitude detection emergency method, comprising:

[0024] S1. Obtain the current disaster scenario.

[0025] S2. Based on the current disaster scenario, generate an ultra-low-altitude flight layout for the drone fleet to meet the emergency needs of the drones for the current disaster scenario; wherein the emergency needs include the layout conditions required for the drone fleet to collect data in the current disaster scenario.

[0026] S3. Based on the ultra-low-altitude flight layout, control the drone fleet to fly to the area where the current disaster scene is located, and collect disaster data of the current disaster scene.

[0027] S4. Generate emergency decisions based on disaster data.

[0028] In this embodiment, an ultra-low-altitude flight layout for a drone fleet is generated based on the current disaster scenario, so that the drone fleet meets the layout conditions for collecting data in the current disaster scenario. The drone fleet is then controlled to collect data according to the ultra-low-altitude flight layout, and emergency decisions are generated based on the collected disaster data. This application generates a corresponding ultra-low-altitude flight layout for the disaster scenario, so that drones can accurately collect disaster data while flying at ultra-low altitudes, thereby generating more accurate emergency decisions and meeting emergency rescue needs.

[0029] Optionally, if the current disaster scenario is a forest fire, the ultra-low-altitude flight layout of the drone fleet includes:

[0030] Controlling at least a first number of drones to autonomously take off from a base station at preset intervals and fly to the current disaster scene; wherein the first drone to take off is a first leader drone, and all remaining drones are first followers;

[0031] Control the first pilot aircraft to fly at a first preset altitude and perform thermal infrared scanning;

[0032] controlling the first follower aircraft to fly at a second preset altitude and collecting the concentration of combustible gas;

[0033] The first preset height is greater than the second preset height, and both the first preset height and the second preset height meet the requirements for ultra-low altitude flight.

[0034] In this embodiment, the first number is set according to actual conditions. Preferably, in this embodiment, the first number is 3.

[0035] In this embodiment, the preset time is set according to actual conditions. Preferably, in this embodiment, the preset time is 15 seconds.

[0036] In this embodiment, the first preset height and the second preset height are set according to actual conditions. Preferably, in this embodiment, the first preset height is 30 meters and the second preset height is 15 meters.

[0037] For example, after receiving a fire alarm, three drones took off autonomously from the base station at intervals of 15 seconds and flew to the site of the fire forest. The pilot drone conducted a thermal infrared scan (temperature resolution 0.1°C) at an altitude of 30 meters, and the follower drone collected combustible gas concentrations at an altitude of 15 meters.

[0038] In this embodiment, the drone fleet performs thermal infrared scanning and combustible gas concentration collection at an altitude that meets the requirements of ultra-low altitude flight, which can accurately collect disaster data and improve the accuracy of emergency decision-making generated by analyzing data.

[0039] Optionally, if the current disaster scenario is a forest fire, an emergency decision is generated based on the disaster data, including:

[0040] generating a fire spread model based on the temperature data scanned by the first pilot aircraft and the first concentration data collected by the first follower aircraft;

[0041] Based on the fire spread model, evacuation routes and deployment points of fire trucks are generated.

[0042] In this embodiment, based on the temperature data and the first concentration data, a fire spread model is generated by fusing the data through the edge computing node. Based on the fire spread model, the command center can generate an evacuation route and the deployment point of the fire truck within 10 seconds, thereby carrying out emergency rescue for the fire forest in the first time.

[0043] In this embodiment, the edge node fusion data theory is used to increase the disaster identification accuracy from 82% to 96%.

[0044] In this embodiment, a three-dimensional GIS environment model and a resource demand prediction model are established to optimize the rescue material delivery path (which can reduce time costs by 30%).

[0045] Optionally, if the current disaster scenario is a chemical plant leak, an ultra-low-altitude flight layout of a drone fleet is generated, including:

[0046] controlling at least a second number of drones to fly to the current disaster scene;

[0047] Control each drone to fly to a third preset altitude and collect the concentration of leaked gas after avoiding suspended pipelines based on real-time point cloud modeling;

[0048] Among them, the third preset altitude meets the altitude for ultra-low altitude flight.

[0049] In this embodiment, the second number is set according to actual conditions. Preferably, in this embodiment, the second number is 3.

[0050] In this embodiment, the third preset height is set according to actual conditions. Preferably, in this embodiment, the third preset height is 1.5 meters.

[0051] For example, when entering the pipeline area of a chemical plant, the drone automatically switches to a height of 1.5 meters, avoids suspended pipelines through real-time point cloud modeling, and then collects the concentration of leaked gas.

[0052] In this embodiment, the drone fleet collects the concentration of leaked gas at an altitude that meets the requirements of ultra-low altitude flight, which can accurately collect disaster data and improve the accuracy of emergency decision-making generated by analyzing data.

[0053] Optionally, if the current disaster scenario is a chemical plant leak, an emergency decision is generated based on the disaster data, including:

[0054] Based on the second concentration data collected by the drone, determine whether the concentration of the leaked gas exceeds the standard;

[0055] When the concentration of the leaked gas exceeds the standard, three-dimensional modeling of the poisoned area is performed based on the second concentration data to determine a poisoned area model;

[0056] Based on the toxic area model, the intelligent robot is controlled to perform leak plugging operations.

[0057] In this embodiment, by collecting the second concentration data of the UAV in an ultra-low-altitude flight configuration, it is possible to determine in real time whether there is a leakage gas concentration exceeding the standard in the chemical plant. If the leakage gas concentration exceeds the standard, the intelligent robot is controlled to perform leak plugging operations. By working together with the UAV and the intelligent robot, emergency response to the accident is completed, thereby improving rescue efficiency.

[0058] For example, when entering the pipeline area of a chemical plant, the drone automatically switches to a height of 1.5 meters and avoids suspended pipelines through real-time point cloud modeling. When the real-time detected VOCs (volatile organic compounds) concentration exceeds the standard, it automatically triggers the three-dimensional modeling of the poisonous area and, based on the generated poisonous area model, simultaneously notifies the intelligent robot team to start the leak plugging operation.

[0059] Optionally, if the current disaster scenario is a nuclear accident leak, the ultra-low-altitude flight layout of the drone fleet includes:

[0060] Controlling at least a third number of drones to fly in a fan-shaped formation toward the current disaster scene; wherein the drone in the middle of the fan-shaped formation serves as the second lead drone, and all other drones serve as second follower drones;

[0061] controlling the second pilot aircraft to fly at a fourth preset altitude and collecting a gamma ray dose at a preset sampling rate;

[0062] Control the second follower aircraft to fly at the fifth preset altitude and capture surface pollution particle samples;

[0063] Among them, the fourth preset height is greater than the fifth preset height, and the fourth preset height and the fifth preset height both meet the height requirements for ultra-low altitude flight.

[0064] In this embodiment, the third number is set according to actual conditions. Preferably, in this embodiment, the third number is 10. In addition, the fan-shaped arrangement means that the second lead aircraft in the middle position flies to the front, and the second follower aircraft on both sides are arranged in a fan-shaped manner on both sides of the second lead aircraft.

[0065] In this embodiment, the fourth preset height and the fifth preset height are set according to actual conditions. Preferably, in this embodiment, the fourth preset height is 10 meters and the second preset height is 5 meters.

[0066] In this embodiment, the preset sampling rate is set according to actual conditions. Preferably, in this embodiment, the preset sampling rate is 10 times / second.

[0067] For example, a drone cluster equipped with a nuclear radiation sensor module automatically generates a fan-shaped scanning path (the distance between two adjacent drones is 20 meters). The pilot drone performs gamma-ray dose rate mapping at an altitude of 10 meters (sampling rate 10 times / second), and the follower drone grabs surface contaminated particle samples at an altitude of 5 meters (the robotic arm grabs with an accuracy of ±1cm).

[0068] In this embodiment, by collecting gamma-ray doses and capturing surface contaminated particle samples in an ultra-low-altitude flight configuration, the radioactive source concentration in the nuclear accident area can be mapped in real time, and surface contaminated particle samples can be captured and analyzed in real time, thereby improving the accuracy of disaster data collection.

[0069] Optionally, if the current disaster scenario is a nuclear accident leak, an emergency decision is generated based on the disaster data, including:

[0070] Based on the collected gamma-ray dose, the location of the radiation source is determined, and the intelligent robot is controlled to grab the lost radiation source at the radiation source location and put it into a sealed lead can.

[0071] In this embodiment, by collecting gamma-ray doses from the drone in an ultra-low-altitude flight configuration, the location of the radiation source can be obtained in real time, and the intelligent robot can be controlled to go to the location of the radiation source to grab the lost radiation source. Through the collaborative work of the drone and the intelligent robot, emergency response to the accident is completed, thereby improving rescue efficiency.

[0072] like Figure 2 As shown, the present invention provides an ultra-low altitude detection emergency system, comprising:

[0073] Disaster scene acquisition module, used to obtain the current disaster scene;

[0074] The drone layout module is used to generate an ultra-low-altitude flight layout for a drone fleet based on the current disaster scenario to meet the emergency needs of drones in the current disaster scenario. The emergency needs include the layout conditions required for the drone fleet to collect data in the current disaster scenario.

[0075] The data acquisition module is used to control the drone fleet to fly to the area where the current disaster scene is located based on the ultra-low-altitude flight layout, and collect disaster data of the current disaster scene;

[0076] The emergency decision generation module is used to generate emergency decisions based on disaster data.

[0077] Optionally, if the current disaster scenario is a forest fire, the drone layout module is specifically used to:

[0078] Controlling at least a first number of drones to autonomously take off from a base station at preset intervals and fly to the current disaster scene; wherein the first drone to take off is a first leader drone, and all remaining drones are first followers;

[0079] Control the first pilot aircraft to fly at a first preset altitude and perform thermal infrared scanning;

[0080] controlling the first follower aircraft to fly at a second preset altitude and collecting the concentration of combustible gas;

[0081] The first preset height is greater than the second preset height, and both the first preset height and the second preset height meet the requirements for ultra-low altitude flight.

[0082] Optionally, the emergency decision generation module is specifically used to:

[0083] generating a fire spread model based on the temperature data scanned by the first pilot aircraft and the first concentration data collected by the first follower aircraft;

[0084] Based on the fire spread model, evacuation routes and deployment points of fire trucks are generated.

[0085] Optionally, if the current disaster scenario is a chemical plant leak, the drone deployment module is specifically used to:

[0086] controlling at least a second number of drones to fly to the current disaster scene;

[0087] Control each drone to fly to a third preset altitude and collect the concentration of leaked gas after avoiding suspended pipelines based on real-time point cloud modeling;

[0088] Among them, the third preset altitude meets the altitude for ultra-low altitude flight.

[0089] Optionally, the emergency decision generation module is specifically used to:

[0090] Based on the second concentration data collected by the drone, determine whether the concentration of the leaked gas exceeds the standard;

[0091] When the concentration of the leaked gas exceeds the standard, three-dimensional modeling of the poisoned area is performed based on the second concentration data to determine a poisoned area model;

[0092] Based on the toxic area model, the intelligent robot is controlled to perform leak plugging operations.

[0093] Optionally, if the current disaster scenario is a nuclear accident leak, the drone layout module is specifically used to:

[0094] Controlling at least a third number of drones to fly in a fan-shaped formation toward the current disaster scene; wherein the drone in the middle of the fan-shaped formation serves as the second lead drone, and all other drones serve as second follower drones;

[0095] controlling the second pilot aircraft to fly at a fourth preset altitude and collecting a gamma ray dose at a preset sampling rate;

[0096] Control the second follower aircraft to fly at the fifth preset altitude and capture surface pollution particle samples;

[0097] Among them, the fourth preset height is greater than the fifth preset height, and the fourth preset height and the fifth preset height both meet the height requirements for ultra-low altitude flight.

[0098] Optionally, the emergency decision generation module is specifically used to:

[0099] Based on the collected gamma-ray dose, the location of the radiation source is determined, and the intelligent robot is controlled to grab the lost radiation source at the radiation source location and put it into a sealed lead can.

[0100] The present invention provides an ultra-low altitude detection emergency device, comprising: a drone swarm, a disaster data monitoring module and an adaptive networking module, wherein the disaster data monitoring module and the adaptive networking module are equipped on the drones, and the drone swarm executes an ultra-low altitude detection emergency method as described above by deploying a lightweight AI model.

[0101] In this embodiment, the entire device adopts the architecture of [drone cluster]←5G private network→[edge computing node]←optical fiber→[command center AI decision platform]→[emergency response terminal equipment].

[0102] The disaster data monitoring module in this embodiment includes:

[0103] Equipped with millimeter-wave radar (detection accuracy ±0.1m) + multi-spectral imager (8 bands) + laser methane detection module (sensitivity 0.1ppm) + Na crystal dose monitoring module (threshold: 0-100Sv / h).

[0104] The disaster data monitoring module in this embodiment is a pluggable sensor module. By carrying various types of sensor modules, it meets the multi-parameter monitoring needs of complex disasters. It can be reused in cross-domain emergency scenarios such as toxic gas and hazardous chemical leaks, and can realize rapid switching of multi-scenario detection functions such as nuclear radiation, fire, and hazardous chemical leaks (switching time <5 minutes).

[0105] In this embodiment, the adaptive networking module supports dynamic self-organizing networks (Mesh topology), and communication can still be maintained through relay drones in a disconnected environment.

[0106] In this embodiment, the drone swarm can also be equipped with a 4D light field camera + ultrasonic array to achieve 360° obstacle perception with a response delay of <50ms.

[0107] In this embodiment, the drone swarm can also be equipped with a hydrogen fuel cell + solar panel dual-mode power supply, extending the flight time to 120 minutes (an 80% increase compared to conventional lithium batteries).

[0108] In this embodiment, a lightweight AI model deployed on the drone side is used to achieve on-site real-time analysis, reducing the minute-level delay of traditional cloud processing to seconds.

[0109] In this embodiment, pluggable sensor modules and a unified data protocol are used to achieve rapid switching of detection functions for multiple scenarios such as nuclear radiation, fire, and hazardous chemical leakage (switching time < 5 minutes).

[0110] An embodiment of the present invention also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal device, the terminal device executes the steps of the ultra-low altitude detection emergency method as described above.

[0111] Those skilled in the art will appreciate that the present invention may be implemented as a system, method, or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: in the form of complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the present invention may also be implemented in the form of a computer program product in one or more computer-readable media, the computer-readable media containing computer-readable program code. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination thereof.

[0112] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0113] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An ultra-low altitude detection emergency method, characterized in that: include: Obtain the current disaster scenario; Based on the current disaster scenario, generating an ultra-low-altitude flight layout of the drone fleet to meet the emergency needs of the drones for the current disaster scenario; wherein the emergency needs include the layout conditions required for the drone fleet to collect data in the current disaster scenario; Based on the ultra-low-altitude flight layout, control the drone fleet to fly to the area where the current disaster scene is located, and collect disaster data of the current disaster scene; Based on the disaster data, emergency decisions are generated.

2. The method according to claim 1, characterized in that If the current disaster scenario is a forest fire, the ultra-low-altitude flight layout of the drone fleet includes: Controlling at least a first number of drones to autonomously take off from a base station at preset intervals and fly to the current disaster scene; wherein the first drone to take off is a first pilot drone, and all other drones are first followers; controlling the first pilot aircraft to fly at a first preset altitude and perform thermal infrared scanning; controlling the first follower aircraft to fly at a second preset altitude and collecting the concentration of the combustible gas; The first preset height is greater than the second preset height, and both the first preset height and the second preset height meet the requirements for ultra-low altitude flight.

3. The method according to claim 2, characterized in that If the current disaster scenario is a forest fire, generating an emergency decision based on the disaster data includes: generating a fire spread model based on the temperature data scanned by the first pilot aircraft and the first concentration data collected by the first follower aircraft; Based on the fire spread model, evacuation routes and deployment points of fire trucks are generated.

4. The method according to claim 1, wherein If the current disaster scenario is a chemical plant leak, the ultra-low-altitude flight layout of the drone fleet includes: controlling at least a second number of drones to fly to the current disaster scene; Controlling each of the drones to fly to a third preset altitude, and collecting the concentration of the leaked gas after avoiding the suspended pipeline based on real-time point cloud modeling; The third preset height satisfies the altitude required for ultra-low altitude flight.

5. The method according to claim 4, characterized in that If the current disaster scenario is a chemical plant leak, then an emergency decision is generated based on the disaster data, including: Based on the second concentration data collected by the drone, determine whether the concentration of the leaked gas exceeds the standard; When the concentration of the leaked gas exceeds the standard, performing three-dimensional modeling of the poisoned area based on the second concentration data to determine a poisoned area model; Based on the poisoned area model, the intelligent robot is controlled to perform leak plugging operations.

6. The method according to claim 1, characterized in that If the current disaster scenario is a nuclear accident leak, the ultra-low-altitude flight layout of the drone fleet includes: Controlling at least a third number of drones to fly in a fan-shaped arrangement to the current disaster scene; wherein the drone in the middle of the fan-shaped arrangement serves as a second leader drone, and all other drones serve as second followers; controlling the second pilot aircraft to fly at a fourth preset altitude and collecting a gamma-ray dose at a preset sampling rate; controlling the second follower aircraft to fly at a fifth preset altitude and capture surface pollution particle samples; The fourth preset height is greater than the fifth preset height, and both the fourth preset height and the fifth preset height meet the requirements for ultra-low altitude flight.

7. The method according to claim 1, characterized in that If the current disaster scenario is a nuclear accident leak, then an emergency decision is generated based on the disaster data, including: Based on the collected gamma ray dose, the position of the radiation source is determined, and the intelligent robot is controlled to grab the lost radiation source at the radiation source position and put it into a sealed lead can.

8. An ultra-low altitude detection emergency system, characterized in that: include: Disaster scene acquisition module, used to obtain the current disaster scene; A drone layout module is used to generate an ultra-low-altitude flight layout for a drone fleet based on the current disaster scenario to meet the emergency needs of drones in the current disaster scenario; wherein the emergency needs include the layout conditions required for the drone fleet to collect data in the current disaster scenario; A data acquisition module is used to control the drone fleet to fly to the area where the current disaster scene is located based on the ultra-low altitude flight layout, and collect disaster data of the current disaster scene; The emergency decision generating module is used to generate emergency decisions based on the disaster data.

9. An ultra-low altitude detection emergency device, characterized in that: include: A drone swarm, a disaster data monitoring module and an adaptive networking module, wherein the disaster data monitoring module and the adaptive networking module are equipped on the drone, and the drone swarm executes an ultra-low altitude detection emergency method as described in any one of claims 1 to 7 by deploying a lightweight AI model.

10. A computer-readable storage medium, characterized in that Instructions are stored in a computer-readable storage medium. When the instructions are executed on a terminal device, the terminal device executes the steps of an ultra-low altitude detection emergency method as described in any one of claims 1 to 7.

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