Distributed unmanned aerial vehicle emergency operation system and method

Abstract

A distributed unmanned aerial vehicle emergency operation system provided by the present application comprises a control system and a plurality of operation systems arranged in a target area and in communication connection with each other, the control system is in communication connection with a main operation system in the plurality of operation systems, and the main operation system receives an operation task issued by the control system and sends the operation task to the control system. Determining an operation scheme of each operation system according to the operation task and sending the operation scheme to the corresponding operation system; each operation system is used for controlling each unmanned aerial vehicle included in the operation system to operate according to the received operation scheme; wherein a first operation system in each operation system comprises a first unmanned aerial vehicle carrying an ad hoc network device; the ad-hoc network device is used for establishing communication connection among the multiple first devices, the first devices are devices carrying the ad-hoc network device, and each operation system is further used for controlling each unmanned aerial vehicle included by the operation system to operate through the communication connection among the multiple first devices. The emergency communication network deployment efficiency and the unmanned aerial vehicle operation range can be improved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a distributed drone emergency operation system and method. Background Art

[0002] In areas without public network coverage (such as remote disaster-stricken areas), using drones to rapidly deploy emergency communication networks and conduct rescue operations has become a highly viable solution. However, existing drone-based emergency rescue deployment solutions present at least the following challenges: First, deploying emergency communication networks often requires manual on-site operations. For example, the deployment of tethered drones requires manual operation, resulting in low deployment efficiency. Second, when performing large-scale collaborative rescue operations involving multiple drones, the communication range between drones and remote control equipment is limited, making it difficult to effectively expand the operating range. For example, multi-rotor drones generally have short flight times, making it difficult to provide long-term, effective, and continuous communication coverage for personnel across a large area. Summary of the Invention

[0003] The present application provides a distributed drone emergency operation system to address the shortcomings of the existing technology, such as low efficiency in emergency communication network deployment and limited scope of drone rescue operations.

[0004] The present application provides a distributed UAV emergency operation system, comprising a plurality of operation systems and a control system, wherein the plurality of operation systems are communicatively connected to each other, the plurality of operation systems are arranged in a target area, and the plurality of operation systems include a main operation system; The control system is in communication with the main operation system, and the control system is used to issue an operation task for the target area to the main operation system; The main operation system is used to determine the operation plan corresponding to each operation system according to the operation task, and send the operation plan to the corresponding operation system; Each of the operation systems includes a drone, and each of the operation systems is used to control the operation of each drone included in it according to the received operation plan; Each of the operating systems includes a first operating system, the first operating system includes a first drone and an ad hoc network device, and the first drone is equipped with the ad hoc network device; The self-organizing network device is used to establish a communication connection between multiple first devices, the first device is a device equipped with the self-organizing network device, and the type of the first device includes a drone. Each of the operating systems is also used to control the operation of each drone included in it through the communication connection between the multiple first devices.

[0005] According to the distributed UAV emergency operation system of the present application, each of the operation systems includes a second operation system, which includes a second UAV, a public network connection device, and a satellite communication device, and the second UAV is equipped with the public network connection device and the satellite communication device; The satellite communication device is used to establish a communication connection between the second UAV and a satellite; The public network connection device is used to generate a public network signal and provide an interface for accessing the public network for a first user equipment within the coverage area of ​​the public network signal; The second UAV is used to send the communication request to the second user equipment via the satellite after receiving the communication request initiated by the first user equipment through the interface. The second user equipment is located outside the target area, and the area where the second user equipment is located is covered by a public network.

[0006] According to the distributed UAV emergency operation system of the present application, the type of the UAV includes a tethered UAV, and the operation system in addition to the main operation system also includes a third operation system; When the main operating system is in a faulty state, the third operating system is used to take over the work of the main operating system. The third operating system includes a third drone equipped with the satellite communication equipment. The third operating system communicates with the control system through the third drone. The third drone is a tethered drone.

[0007] According to the distributed UAV emergency operation system of the present application, each of the operation systems further includes a UAV control device, and the UAV control device is communicatively connected to each UAV in the operation system via a UAV data link; The drone control device is used to determine the operation instructions of each drone in the operating system according to the operation plan corresponding to the operating system, and send the operation instructions to the corresponding drone.

[0008] According to the distributed drone emergency operation system of the present application, each of the operation systems includes a fourth operation system and a fifth operation system, the fourth operation system includes a fourth drone, the fifth operation system includes a fifth drone, the fourth drone and the fifth drone are both equipped with the self-organizing network device, and the fourth drone and the fifth drone communicate through the self-organizing network device; When the communication distance between the fourth drone and the drone control device in the fourth operating system is greater than a first preset distance, the drone control device in the fourth operating system is further configured to send an operation instruction for the fourth drone to the drone control device in the fifth operating system; The drone control device in the fifth operation system is further configured to send the received operation instruction for the fourth drone to the fourth drone via the fifth drone.

[0009] According to the distributed drone emergency operation system of the present application, a Lora Mesh module is provided on the drone control device in each of the operation systems, and a communication connection is established between any two different operation systems through the Lora Mesh modules on their respective drone control devices.

[0010] According to the distributed drone emergency operation system of the present application, when the distance between any two different operation systems is greater than a second preset distance, a second device is used as a relay device, and the second device is a terminal device equipped with a Lora Mesh module and / or a microwave communication device.

[0011] According to the distributed UAV emergency operation system of the present application, an emergency operation analysis model is deployed in the main operation system, and the emergency operation analysis model is used to determine the operation plan corresponding to each of the operation systems according to the operation task.

[0012] According to the distributed UAV emergency operation system of the present application, the emergency operation analysis model is provided in the satellite and the control system; The satellite or the control system is also used to determine the operation plan corresponding to each operation system according to the operation task through the emergency operation analysis model deployed by itself when the emergency operation analysis model in the main operation system is in a fault state, and send the operation plan to the main operation system.

[0013] The present application also provides a distributed UAV emergency operation method, which is applied to a main operation system in a distributed UAV emergency operation system. The distributed UAV emergency operation system includes multiple operation systems and a control system. The multiple operation systems are communicatively connected to each other. The multiple operation systems are arranged in a target area. The multiple operation systems include the main operation system. The control system is communicatively connected to the main operation system. The method includes: receiving an operation task for the target area issued by the control system; Determine the operation plan corresponding to each operation system according to the operation task; Sending the operation plan to a corresponding operation system, wherein the operation system is used to control the operations of each drone included in the system according to the received operation plan; Among them, each of the operating systems includes a first operating system, the first operating system includes a first drone and a self-organizing network device, the first drone is equipped with the self-organizing network device, the self-organizing network device is used to establish a communication connection between multiple first devices, the first device is a device equipped with the self-organizing network device, the type of the first device includes a drone, and each of the operating systems is also used to control the operation of each drone included in it through the communication connection between the multiple first devices.

[0014] The distributed UAV emergency operation system of the present application can be used as an emergency communication system, and has at least the following advantages: First, when deploying the emergency communication network, there is no need for manual on-site operation, and the deployment of the entire emergency communication network can be completed entirely by the collaboration of the control system and the main operation system, thereby improving the deployment efficiency of the emergency communication network; Second, by establishing communication connections between different operation systems and forming a self-organizing communication network between multiple first devices including the first UAV, the transmission path of the operation instructions can be enriched, and the coverage of the rescue operation can be effectively improved. When performing multi-machine large-area collaborative operation tasks, it is no longer limited by the communication distance between the UAV and the remote control device. The distributed UAV emergency operation system of the present application can work continuously and stably in harsh and complex emergency environments, providing guarantees for rescue work in the target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 This is a schematic diagram of an emergency communication network shown in an embodiment of the present application; Figure 2 This is a processing flow chart of a task according to an embodiment of the present application; Figure 3 This is a flow chart of an emergency alternative solution shown in one embodiment of the present application; Figure 4 This is a diagram of a drone network link architecture shown in one embodiment of the present application; Figure 5 This is a flow chart of a distributed UAV emergency operation method shown in one embodiment of the present application. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] The distributed UAV emergency operation system provided in this application includes multiple operation systems and control systems, and multiple operation systems are set in the target area.

[0019] Among them, an operating system includes all the equipment in a drone hangar, so an operating system is equivalent to a drone hangar.

[0020] The control system is located in the Emergency Command Center. Equipped with a dedicated emergency network, the center is used to make decisions and provide solutions in the event of various emergencies. Through a cloud platform, the center monitors all relevant information, including geographic location, environmental information, personnel information, and equipment information, and serves as the command and dispatch center for emergency communications and rescue missions.

[0021] In this application, multiple operating systems are dispersed across different locations within a target area where the operational mission is to be performed. The target area is defined as an area without public network coverage (e.g., cell phone towers, public internet access points, etc.). In this application, prior to the activation of the distributed drone emergency operating system within the target area, the target area is defined as an area with only satellite signals and no other communication signals.

[0022] In this application, multiple operating systems communicate with each other. Specifically, multiple operating systems can communicate with each other through Lora Mesh. Lora Mesh is a wireless communication network based on LoRa technology. It uses Low-Power Wide-Area Network (LPWAN) technology to achieve wide-area transmission and full coverage of IoT applications, providing reliable communication connections between IoT devices.

[0023] In the present application, the mutual communication connection between multiple operating systems means that any two different operating systems among the multiple operating systems can achieve direct communication or indirect communication.

[0024] The multiple operating systems include a master operating system. All other operating systems except the master operating system are slave operating systems. The master operating system is the master library, and the slave operating systems are the slave library.

[0025] In the present application, the control system is connected to the main operating system in communication. Specifically, the control system can be connected to the main operating system in communication via a communication satellite.

[0026] When emergency rescue is required in the target area, the control system sends an operation task for the target area to the main operation system. This operation task is a rescue operation task.

[0027] In this application, before the control system sends the operation task to the main operation system, multiple operation systems have been deployed in the target area, and these operation systems can communicate with each other.

[0028] Based on the received job tasks, the master job system determines the job plans corresponding to each job system and sends the job plans to the corresponding job systems. For example, the job systems include job systems 1 through 15, with job system 1 being the master job system. After receiving the job tasks, job system 1 determines the job plans for each of the job systems 1 through 15 based on the job tasks. It then sends the job plan corresponding to job system 1 to job system 1, the job plan corresponding to job system 2 to job system 2, and so on, until the job plan corresponding to job system 15 is sent to job system 15.

[0029] In this application, each operating system includes at least one drone. Upon receiving an operation plan, each operating system controls the operations of its included drones according to the plan. The operation plan specifies the operations to be performed on each drone. If the operation plan specifies no operations for a particular drone (no operation required), the operating system will maintain the original state when controlling the drone, i.e., perform no operation.

[0030] In this application, some operating systems may include not only drones but also ad hoc network devices. If an operating system includes a drone equipped with an ad hoc network device, then the drone is a first drone, and the operating system including the first drone is a first operating system.

[0031] In the present application, the number of the first operating system may be one or more. In the first operating system, the number of drones equipped with ad hoc network devices may be one or more, that is, the number of the first drones may be one or more.

[0032] In this application, the operations that need to be performed on the drone as recorded in the operation plan received by each operation system include whether to carry out operations on self-organizing network devices, and information on the specific self-organizing network devices selected when self-organizing network devices need to be carried. The process of the operation system controlling the operation of the drone according to the operation plan includes two stages. The first stage is the preparation stage before the drone takes off, and the other is the flight mission execution stage. In the preparation stage, the operation system equips the drone that needs to carry self-organizing network devices with self-organizing network devices according to the operation plan, and performs some pre-takeoff preparations (such as charging the drone, loading the drone with rescue equipment, rescue supplies, reconnaissance equipment, etc.). In the flight mission execution stage, the operation system controls the drone to take off and controls the drone's flight path in real time.

[0033] In this application, an ad hoc networking device is a complete system that includes the necessary hardware (communication modules, processing chips, etc.) and software (ad hoc networking protocols and programs). A drone equipped with an ad hoc networking device can implement ad hoc networking capabilities.

[0034] An ad hoc network is a network that is organized automatically and decentralized and does not rely on fixed infrastructure. Ad hoc networks include broadband and narrowband ad hoc networks. Broadband ad hoc networks use relatively wide bandwidths and can support relatively high data transmission rates. They are capable of transmitting various types of information, such as voice, video, and large data files. Narrowband ad hoc networks use relatively narrow bandwidths and have relatively low data transmission rates. They are suitable for transmitting small amounts of data, signals, or simple control information and are typically used in low-power, long-distance applications. The ad hoc network devices in this application include broadband and narrowband ad hoc network devices.

[0035] In this application, the term "first device" includes all drones in all operating systems equipped with ad hoc networking devices, as well as other non-drone devices equipped with ad hoc networking devices. All first devices form an ad hoc network, enabling any two first devices to communicate with each other via the ad hoc network. For example, if drone 1 in operating system 1 is equipped with an ad hoc networking device, and drone 2 in operating system 2 is equipped with an ad hoc networking device, drones 1 and 2 can communicate via the ad hoc network.

[0036] In traditional solutions, drones are directly controlled by drone control equipment within the operating system via a drone data link. A drone data link is a dedicated wireless communication link between the drone and its control equipment, used to transmit control commands, telemetry data, and mission payload data (such as video and images).

[0037] The types of drones used in this application include tethered drones, multi-rotor drones, and compound-wing drones. Each operating system can choose the type of drones used and the number of drones of each type based on actual conditions.

[0038] In the present application, each type of drone can be equipped with a self-organizing network device, that is, the type of the first drone can be a tethered drone, a multi-rotor drone, or a compound-wing drone.

[0039] Tethered drones equipped with self-organizing networking equipment can be used for communication coverage and relay, enabling communication between drones and between drones and operating systems. Specifically, tethered drones can remain stable in the air for extended periods of time. Equipped with self-organizing networking equipment, they can serve as temporary signal boosters and information forwarding stations in the air. This allows tethered drones to not only form a network that covers a certain area, but also help connect other drones to each other and establish and maintain communications between drones and operating systems, thereby expanding the coverage and reliability of the entire drone network.

[0040] In this application, multi-rotor drones can ascend and descend vertically and fly flexibly. They can be launched into the air in areas where ground signals are blocked by buildings, mountains, and other structures, providing communication signal coverage in the air. Equipped with ad hoc networking equipment (and other devices, as described later), multi-rotor drones can fly to areas slightly further away from the signal range of hangars or tethered drones to extend their communication range. Furthermore, multi-rotor drones can carry various rescue equipment, such as detection equipment (e.g., cameras), infrared thermal imagers, or small cargo boxes (for transporting emergency medicine and food).

[0041] Composite-wing drones are capable of both vertical takeoff and landing (VTOL) and long-distance flight quickly and efficiently. They can launch directly from a hangar, eliminating the need for a separate takeoff area. While possessing the long endurance and high speed of fixed-wing aircraft, composite-wing drones can quickly reach locations far from operational systems. Once at the remote mission area, composite-wing drones can utilize their onboard ad hoc networking equipment (which can also include other equipment, as will be discussed later) to establish aerial communication coverage or utilize their onboard detection equipment for large-scale reconnaissance.

[0042] The emergency communication network formed by the distributed UAV emergency operation system provided by this application can be Figure 1 shown. Figure 1 This is a schematic diagram of an emergency communication network shown in an embodiment of the present application. Figure 1 In the figure, the hangar represents the operating system, and the command center is the emergency command center where the control system is located. Arrows with different numbers represent different types of communication links. Broadband and narrowband ad hoc networks include broadband ad hoc networks and narrowband ad hoc networks.

[0043] In the present application, a communication connection is established between different operating systems, and an ad hoc communication network is formed between multiple first devices including the first drone, which can enrich the transmission paths of various operating instructions during emergency operations. For example, when a drone equipped with a self-organizing network device cannot obtain a communication connection with the operating system to which it belongs, other drones equipped with self-organizing network devices can be used as relays to communicate with the operating system to which they belong, thereby achieving reliable information transmission.

[0044] The distributed UAV emergency operation system of the present application can be used as an emergency communication system, and has at least the following advantages: First, when deploying the emergency communication network, there is no need for manual on-site operation, and the deployment of the entire communication network can be completed entirely by the collaboration of the control system and the main operation system, thereby improving the deployment efficiency of the emergency communication network, effectively reducing the human resources required for UAV deployment, and solving the problem that general emergency services rely on advance deployment and lack of timeliness; Second, establishing communication connections between different operation systems, and forming a self-organizing communication network between multiple first devices including the first UAV, can enrich the transmission path of operation instructions, effectively improve the coverage of rescue operations, and no longer be limited by the communication distance between the UAV and the remote control device when performing multi-machine large-area collaborative operation tasks. The distributed UAV emergency operation system of the present application can work continuously and stably in harsh and complex emergency environments, providing guarantees for rescue work in the target area.

[0045] In combination with the above embodiments, in one implementation, each operating system includes a second operating system, the second operating system includes a second drone, a public network connection device, and a satellite communication device, and the second drone is equipped with a public network connection device and a satellite communication device.

[0046] In this application, if a drone is equipped with both public network connection equipment and satellite communication equipment, then the drone is considered a second drone, and the operating system to which the drone belongs is a second operating system. The number of second drones can be one or more, and the number of second operating systems can be one or more.

[0047] In this application, the operations required to be performed on the drone as described in the operation plan received by each operation system may include, in addition to whether to carry out operations on ad hoc network equipment and information on the specific ad hoc network equipment selected when such equipment is required, whether to carry out operations on public network connection equipment and satellite communication equipment and information on the specific public network connection equipment and satellite communication equipment selected when such equipment is required. In the preparatory stage, the operation system equips drones that need to carry public network connection equipment and satellite communication equipment according to the operation plan.

[0048] Among them, the satellite communication equipment is used to establish a communication connection between the second UAV and the satellite, that is, after the UAV is equipped with the satellite communication equipment, it can communicate with the communication satellite.

[0049] The public network connection device is used to generate a public network signal and provide an interface for accessing the public network for the first user equipment within the coverage area of ​​the public network signal, such as Figure 1 shown.

[0050] The second UAV is used to send the communication request to the second user device via a satellite after receiving the communication request initiated by the first user device through the interface. The second user device is located outside the target area, and the area where the second user device is located is covered by a public network.

[0051] In the present application, since the second UAV is equipped with a public network connection device, the first user device located in the target area can, under the user's operation, send a request to communicate with the second user device to the second UAV through the interface. Since the second UAV can communicate with the satellite, it can directly send the communication request to the communication satellite. The communication satellite sends the communication request to the second user device outside the target area through the ground receiving station, the core network (the core part of the public network) and the base station in turn.

[0052] Therefore, in this application, drones can access the core network through satellite communication equipment to meet the communication needs between users in the target area and remote public network users.

[0053] In combination with the above embodiments, in one implementation, an emergency operation analysis model is deployed in the main operation system, and the emergency operation analysis model is used to determine the operation plan corresponding to each operation system according to the operation task.

[0054] Figure 2 This is a processing flow chart of a task according to an embodiment of the present application. Figure 2 The control system first transmits the task to the master operation system via satellite. The master operation system activates an emergency operation analysis model and determines the optimal operation plan for each operation system based on the current status of each operation system and the status of each drone, according to the task. The master operation system then distributes the optimal operation plan (including the operations to be performed by each drone) to each slave operation system. Each operation system then loads the drone with the required payload according to the operation plan and controls the drone's takeoff.

[0055] During mission execution, drones communicate with the master operating system through one or more of the following: drone data links, inter-operation system communication links, and onboard ad hoc networking devices. The master operating system collects real-time data and status updates from each drone (e.g., drone location, status, and reconnaissance information), each slave operating system (e.g., drone battery level and equipment status), and the control system (e.g., new mission instructions and on-site assessment information). The emergency operation analysis model continuously processes and analyzes this real-time feedback, adjusting its current situational assessment and predictions of future actions based on the latest developments. Based on this dynamically updated information and analysis, it automatically generates or modifies the drone's mission execution plan and determines the optimal operational plan. These plans are then retransmitted to the appropriate drone for execution. While the emergency operation analysis model processes information and generates plans, the master operating system also simultaneously transmits real-time dynamic information from the scene (including drone status, reconnaissance data, and the model's decision-making process or results) to the control system. This ensures that the command center has timely access to the latest emergency situation and the operational status of the entire emergency operation system, facilitating macro-decision-making. This step is repeated until the entire mission is completed.

[0056] Afterwards, the drone will return to the operating system, and the main hangar will transmit the data of this operation mission back to the control system via satellite. The emergency command center can evaluate or optimize the emergency operation analysis model based on the transmitted data, and redeploy the optimized emergency operation analysis model to the main operating system via satellite.

[0057] The emergency operation analysis model used in this application can quickly obtain the optimal operation plan and improve rescue efficiency.

[0058] In combination with the above embodiments, in one implementation, each slave operating system also includes a third operating system. When the main operating system is in a faulty state, the third operating system is used to take over the work of the main operating system. The third operating system includes a third drone equipped with satellite communication equipment. The third operating system communicates with the control system through the third drone, and the third drone is a tethered drone.

[0059] In this application, any tethered drone equipped with satellite communications equipment can be referred to as a third drone, and the operating system within the third drone is referred to as the third operating system. If the primary operating system fails, the third operating system takes over and communicates with the control system via the satellite communications equipment on the third drone.

[0060] Since a tethered drone can stay in the air stably for a long time, the third drone is selected as a tethered drone, which can ensure the stability of the communication connection between the third operating system and the control system.

[0061] Emergency communication networks often need to be started and ensure smooth channels in extreme environments such as power, communication, and traffic outages, which places high demands on the reliability and robustness of the entire system. However, in the prior art, in an emergency situation where the communication between the drone hangar cluster and the external public network or control system is completely interrupted, the existing solutions lack a response mechanism to quickly and effectively re-open the link and provide emergency communication guarantees. In this application, in order to ensure that the command center and the drone hangar maintain communication, each slave hangar will act as a temporary host hangar for the tethered drones equipped with satellite communication equipment to contact the command center when a failure occurs in the host hangar. In an emergency situation where the communication between the drone hangar cluster and the external public network or control system is completely interrupted, a response mechanism can be used to quickly and effectively re-open the link and provide emergency communication guarantees, effectively solving the above-mentioned problems.

[0062] In conjunction with the above embodiments, in one implementation, an emergency operation analysis model is provided in the satellite or control system. The satellite or control system is further configured to, when the emergency operation analysis model in the primary operation system fails, use its own deployed emergency operation analysis model to determine the corresponding operation plan for each operation system based on the operation task, and transmit the operation plan to the primary operation system.

[0063] In this application, the emergency operation analysis model can be deployed at multiple locations, including the control system, satellites, and the main operation system, so as to avoid the situation where the model in the main operation system fails and causes the entire operation mission to be interrupted, and ensure that the rescue mission is carried out continuously and stably.

[0064] Figure 3 This is a flow chart of an emergency alternative solution shown in one embodiment of the present application. Figure 3 If the master operating system can communicate with the control system, then after receiving the task, the master operating system determines whether its own deployed emergency operation analysis model is functioning properly. If so, it uses the emergency operation analysis model to obtain the operation plan for each operating system and sends it to the corresponding operating system. If the master operating system cannot communicate with the control system, the master operating system controls the drone of the slave operating system to launch with satellite communication equipment and determine whether it can contact the control system. If so, the slave operating system will take over the master operating system's work. Otherwise, a new slave operating system that can replace the master operating system will be searched for. When the master operating system determines whether its own deployed emergency operation analysis model is functioning properly, if it cannot, it determines whether the emergency operation analysis model on the control system is functioning properly. If so, it obtains the operation plan from the emergency operation analysis model on the control system. If the emergency operation analysis model on the control system cannot function properly, the operation plan is obtained from the emergency operation analysis model on the satellite.

[0065] Therefore, the distributed drone emergency operation system of the present application can be started and ensure smooth channels in extreme environments such as power, communication, and traffic interruptions, and the entire system has high reliability and robustness.

[0066] In combination with the above embodiments, in one implementation manner, each operating system further includes a drone control device, and the drone control device is communicatively connected to each drone in the operating system via a drone data link.

[0067] In this application, the drone control device is used to determine the operation instructions of each drone in the operating system to which it belongs according to the operation plan corresponding to the operating system, and send the operation instructions to the corresponding drone.

[0068] In this application, the operating system may include not only drones and drone control equipment, but also modular mission payloads, robotic arms, fuel generators, and other logistical support equipment. Modular mission payloads are devices that can be installed on drones according to specific mission requirements. They may include communication payloads (such as ad hoc network equipment, satellite communication equipment, and public network connection equipment) and rescue payloads (such as search and rescue equipment, reconnaissance equipment, and material delivery equipment). The robotic arm is used to assist the drone in replacing various modular mission payloads. The fuel generator is used to provide an independent power source for the entire operating system in the absence of an external power supply.

[0069] In this application, the drone control equipment serves as the control equipment of the entire operation system. After obtaining the operation plan, it can control the drone operation, control the robotic arm to load various modular mission payloads for the drone, etc., thereby realizing the automatic execution of the operation task without human intervention, which can significantly improve the operation efficiency.

[0070] In combination with the above embodiments, in one implementation, a Lora Mesh module is provided on the drone control device in each operating system, and a communication connection is established between any two different operating systems through the Lora Mesh modules on their respective drone control devices.

[0071] In this application, different operating systems can be connected through Lora Mesh modules (the communication distance between two modules can reach more than 4KM), thereby establishing a Lora Mesh network, so that the network communication between hangars does not rely on a single path, and enhances the reliability of the emergency communication network, such as Figure 1 shown.

[0072] In target areas without signal coverage, building and maintaining communication links between drone hangars and between individual drone platforms is a technical challenge. Maintaining the interconnected state between hangar networks for a long time consumes a lot of stored energy, and the existing technology lacks a systematic communication network deployment and management planning solution. In this application, Lora Mesh modules are deployed on different operating systems to achieve communication between each operating system. Since Lora Mesh is a wireless communication network based on LoRa technology, it can maintain the interconnected state between hangar networks for a long time without consuming a lot of stored energy, effectively solving the problems in the above-mentioned existing technology.

[0073] In combination with the above embodiments, in one implementation, when the distance between any two different operating systems is greater than a second preset distance, a second device is used as a relay device, and the second device is a terminal device equipped with a Lora Mesh module and / or a microwave communication device.

[0074] The second preset distance can be set according to actual needs.

[0075] In this application, when the operating systems are far apart, multiple Lora Mesh modules can be deployed to achieve relay interconnection between different operating systems. In large and complex environments, microwave communication can also be used to achieve interconnection between operating systems.

[0076] Secondly, the Lora Mesh module has low power consumption characteristics, and this application can continuously power it through micro solar charging panels and batteries.

[0077] In combination with the above embodiments, in one implementation, each operating system includes a fourth operating system and a fifth operating system, the fourth operating system includes a fourth drone, the fifth operating system includes a fifth drone, the fourth drone and the fifth drone are both equipped with self-organizing network devices, and the fourth drone and the fifth drone communicate through the self-organizing network devices.

[0078] When the communication distance between the fourth drone and the drone control device in the fourth operating system is greater than the first preset distance, the drone control device in the fourth operating system is further configured to send an operation instruction for the fourth drone to the drone control device in the fifth operating system; The drone control device in the fifth operating system is also used to send the received operation instructions for the fourth drone to the fourth drone through the fifth drone.

[0079] The first preset distance can be set according to actual needs.

[0080] In one implementation scenario, two drones can communicate via their onboard ad hoc networking devices. If a drone is too far away from the drone control device in its operating system and is unable to communicate with that device via the drone data link, it can use another drone or the drone control device in the operating system to communicate with its own drone control device as an intermediary.

[0081] Therefore, when the communication distance between the UAV control device in the fourth operating system and the fourth UAV is greater than the first preset distance, resulting in the transmission of operating instructions between the two through the UAV data link, the UAV control device in the fourth operating system can send the operating instructions for the fourth UAV to the UAV control device in the fifth operating system, or send it to the UAV control device in the fifth operating system through some other UAV control devices in the operating system, and then the UAV control device in the fifth operating system will send the operating instructions for the fourth UAV to the fifth UAV through the UAV data link between the fifth UAV and the fifth UAV, and finally the fifth UAV will send the operating instructions for the fourth UAV to the fourth UAV.

[0082] Therefore, in this application, after the operation is started and the self-organizing network devices are successfully networked, the communication between the operating systems does not have to rely entirely on the LoRa Mesh module. It can also be communicated through pure self-organizing network communication or self-organizing network-UAV data link to improve the success rate of the transmission of operation instructions. In addition, the self-organizing network communication link in this application can transmit flight control instructions (the operation instructions in this application include flight control instructions). When the UAV reaches the maximum communication distance through the UAV data link, the flight control instructions can be relayed through the LoRa Mesh module and the self-organizing network device to achieve a longer operating distance.

[0083] In this application, after the drones are established in an ad hoc network, the network becomes another channel for transmitting commands and information between operating systems, complementing the existing Lora Mesh link and improving communication reliability. Furthermore, by combining Lora Mesh and the ad hoc network, even if a drone flies beyond the direct control range of its own drone data link, flight control commands can still be transmitted through Lora Mesh and the ad hoc network, greatly improving the drone's operating range and mission execution capabilities.

[0084] Figure 4 This is a UAV network link architecture diagram shown in one embodiment of the present application. Figure 4Three types of links are drawn in the figure: one is the drone data link between the drone and its operating system, one is the LoraMesh link between different operating systems, and the other is an ad hoc network link formed by four unmanned aerial vehicles. The combination of the three links can increase the path for emergency operation command transmission, which not only improves the reliability of communication, but also realizes the relay transmission of flight control commands and increases the operating distance of the drone.

[0085] In one implementation, in specific deployment scenarios, in addition to satellite communications, underground private network communications can be used between the emergency command center and the primary operating system. This involves establishing a dedicated communication network link underground (e.g., buried optical cables or other communication cables) that is not shared with the public network to enable information transmission between the emergency command center and the primary operating system.

[0086] In one implementation, in addition to using Lora Mesh, the communication links between operating systems can utilize wired communication. Specifically, pipes are laid on the ground, and communication cables (such as network cables or optical fibers) are routed through these pipes. The physical cables connect the operating systems to achieve communication connectivity. This approach is suitable for deployment environments where the installation of pipes and cables above ground is feasible.

[0087] In summary, the distributed drone emergency operation system of this application can provide timely, long-lasting emergency communications and emergency rescue in areas without public network coverage. Multiple operation systems are deployed within the target area, each equipped with multi-configuration drones, modular payloads, and logistics support equipment. After receiving operation tasks from the emergency command center via satellite, the main operation system activates the emergency operation analysis model, develops drone operation plans, and distributes them to each operation system. To facilitate long-term deployment, the different operation systems are connected using low-power Lora Mesh modules. Modular payloads can include communication payloads (such as ad hoc network equipment, satellite communication equipment, and public network connection equipment) and rescue payloads (such as search and rescue equipment, reconnaissance equipment, and material delivery equipment). Drones can be equipped with ad hoc network equipment, which can provide emergency communication services to personnel in the target area. Rescue payloads can also provide emergency rescue services. Therefore, the distributed drone emergency operation system of this application can provide long-term, accurate emergency communication and rescue services in areas without public network coverage, reducing labor costs.

[0088] The distributed UAV emergency operation system of this application has at least the following advantages: First, when deploying the emergency communication network, there is no need for manual on-site operations. The deployment of the entire emergency communication network can be completed entirely by the collaboration of the control system and the main operating system, which improves the deployment efficiency of the emergency communication network, effectively reduces the human resources required for drone deployment, and solves the problem that general emergency services rely on advance deployment and lack timeliness.

[0089] Second, Lora Mesh communication connections are established between different operating systems, and a self-organizing communication network is formed between multiple drones, which enriches the information transmission path and effectively improves the operation coverage. When performing large-scale collaborative operations of multiple drones, the system is no longer limited by the communication distance between the drone and the remote control device. The system can continue to work stably in harsh and complex emergency environments, providing protection for rescue work in the target area.

[0090] Third, deploy Lora Mesh modules on different operating systems to achieve communication between the various operating systems. Since Lora Mesh is a wireless communication network based on LoRa technology, it can maintain the network interconnection status between operating systems for a long time without consuming much storage energy. It can effectively solve the problem of building and maintaining communication links between operating systems and drones in areas without signal coverage.

[0091] Fourth, to ensure that the emergency command center maintains communication with the main operating system, each slave operating system will act as a temporary main operating system for the tethered drone equipped with satellite communication equipment to contact the emergency command center when the main operating system fails. In an emergency situation where the communication between the main operating system and the external public network or control system is completely interrupted, the system can quickly and effectively re-open the link and provide a response mechanism for emergency communication guarantee. This effectively solves the problem in the existing technology that in an emergency situation where the communication between the main operating system and the external public network or control system is completely interrupted, the existing solution lacks a response mechanism for quickly and effectively re-opening the link and providing emergency communication guarantee.

[0092] The following describes a distributed UAV emergency operation method provided by this application. The distributed UAV emergency operation method described below and the distributed UAV emergency operation system described above can correspond to each other.

[0093] The method of the present application is applied to the main operating system in a distributed UAV emergency operating system, wherein the distributed UAV emergency operating system includes multiple operating systems and a control system, wherein the multiple operating systems are interconnected for communication, the multiple operating systems are arranged in a target area, the multiple operating systems include the main operating system, and the control system is communicatively connected to the main operating system. Figure 5 This is a flow chart of a distributed UAV emergency operation method according to an embodiment of the present application. Figure 5 , the method of the present application includes: Step 100: receiving an operation task for the target area issued by the control system; Step 200: Determine the operation plan corresponding to each operation system according to the operation task; Step 300: Send the operation plan to the corresponding operation system, and the operation system is used to control the operation of each drone included in it according to the received operation plan; Among them, each of the operating systems includes a first operating system, the first operating system includes a first drone and a self-organizing network device, the first drone is equipped with the self-organizing network device, the self-organizing network device is used to establish a communication connection between multiple first devices, the first device is a device equipped with the self-organizing network device, the type of the first device includes a drone, and each of the operating systems is also used to control the operation of each drone included in it through the communication connection between the multiple first devices.

[0094] The specific implementation process of steps 100-300, and the working principles of each operating system and control system have been described above, and please refer to the above text for details.

[0095] This application addresses the lack of specific solutions for the emergency deployment of multi-hangar drones in areas without public networks. It provides a highly feasible automated emergency communication and rescue solution that can address the problems of a single communication link and weak risk resistance within the original drone emergency deployment system, and reduce the system's dependence on a single node and a single link.

[0096] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A distributed UAV emergency operation system, characterized in that: The system comprises a plurality of operating systems and a control system, wherein the plurality of operating systems are in communication with each other, the plurality of operating systems are arranged in a target area, and the plurality of operating systems include a main operating system; The control system is in communication with the main operation system, and the control system is used to issue an operation task for the target area to the main operation system; The main operation system is used to determine the operation plan corresponding to each operation system according to the operation task, and send the operation plan to the corresponding operation system; Each of the operation systems includes a drone, and each of the operation systems is used to control the operation of each drone included in it according to the received operation plan; Each of the operating systems includes a first operating system, the first operating system includes a first drone and an ad hoc network device, and the first drone is equipped with the ad hoc network device; The self-organizing network device is used to establish a communication connection between multiple first devices, the first device is a device equipped with the self-organizing network device, and the type of the first device includes a drone. Each of the operating systems is also used to control the operation of each drone included in it through the communication connection between the multiple first devices.

2. The distributed UAV emergency operation system according to claim 1 is characterized in that: Each of the operating systems includes a second operating system, the second operating system includes a second drone, a public network connection device, and a satellite communication device, and the second drone is equipped with the public network connection device and the satellite communication device; The satellite communication device is used to establish a communication connection between the second UAV and a satellite; The public network connection device is used to generate a public network signal and provide an interface for accessing the public network for a first user equipment within the coverage area of ​​the public network signal; The second UAV is used to send the communication request to the second user equipment via the satellite after receiving the communication request initiated by the first user equipment through the interface. The second user equipment is located outside the target area, and the area where the second user equipment is located is covered by a public network.

3. The distributed UAV emergency operation system according to claim 2, characterized in that: The type of the drone includes a tethered drone, and the operating system in addition to the main operating system also includes a third operating system; When the main operating system is in a faulty state, the third operating system is used to take over the work of the main operating system. The third operating system includes a third drone equipped with the satellite communication equipment. The third operating system communicates with the control system through the third drone. The third drone is a tethered drone.

4. The distributed UAV emergency operation system according to any one of claims 1 to 3, characterized in that: Each of the operating systems further includes a drone control device, which is connected to each drone in the operating system via a drone data link; The drone control device is used to determine the operation instructions of each drone in the operating system according to the operation plan corresponding to the operating system, and send the operation instructions to the corresponding drone.

5. The distributed UAV emergency operation system according to claim 4 is characterized in that: Each of the operating systems includes a fourth operating system and a fifth operating system, the fourth operating system includes a fourth drone, the fifth operating system includes a fifth drone, the fourth drone and the fifth drone are both equipped with the ad hoc network device, and the fourth drone and the fifth drone communicate via the ad hoc network device; When the communication distance between the fourth drone and the drone control device in the fourth operating system is greater than a first preset distance, the drone control device in the fourth operating system is further configured to send an operation instruction for the fourth drone to the drone control device in the fifth operating system; The drone control device in the fifth operation system is further configured to send the received operation instruction for the fourth drone to the fourth drone via the fifth drone.

6. The distributed UAV emergency operation system according to claim 4, characterized in that: The drone control device in each of the operating systems is provided with a Lora Mesh module, and any two different operating systems establish a communication connection through the Lora Mesh modules on their respective drone control devices.

7. The distributed UAV emergency operation system according to claim 6, characterized in that: When the distance between any two different operating systems is greater than a second preset distance, a second device is used as a relay device, where the second device is a device equipped with a Lora Mesh module and / or a microwave communication device.

8. The distributed UAV emergency operation system according to claim 2, characterized in that: An emergency operation analysis model is deployed in the main operation system, and the emergency operation analysis model is used to determine the operation plan corresponding to each operation system according to the operation task.

9. The distributed UAV emergency operation system according to claim 8, characterized in that: The satellite and the control system are provided with the emergency operation analysis model; The satellite or the control system is also used to determine the operation plan corresponding to each operation system according to the operation task through the emergency operation analysis model deployed by itself when the emergency operation analysis model in the main operation system is in a fault state, and send the operation plan to the main operation system.

10. A distributed UAV emergency operation method, characterized in that: A main operating system applied to a distributed UAV emergency operating system, the distributed UAV emergency operating system comprising a plurality of operating systems and a control system, the plurality of operating systems being communicatively connected to each other, the plurality of operating systems being arranged in a target area, the plurality of operating systems including the main operating system, the control system being communicatively connected to the main operating system; the method comprising: receiving an operation task for the target area issued by the control system; Determine the operation plan corresponding to each operation system according to the operation task; Sending the operation plan to a corresponding operation system, wherein the operation system is used to control the operations of each drone included in the system according to the received operation plan; Among them, each of the operating systems includes a first operating system, the first operating system includes a first drone and a self-organizing network device, the first drone is equipped with the self-organizing network device, the self-organizing network device is used to establish a communication connection between multiple first devices, the first device is a device equipped with the self-organizing network device, the type of the first device includes a drone, and each of the operating systems is also used to control the operation of each drone included in it through the communication connection between the multiple first devices.

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