Unmanned aerial vehicle forest inspection system and method

Abstract

The embodiment of the invention provides an unmanned aerial vehicle forest inspection system and method, and the system comprises an unmanned aerial vehicle device which is used for generating a forest three-dimensional terrain model, planning a safe flight path, obtaining sensor data, carrying out the data preliminary processing and feature extraction, and transmitting the data to a ground control center, high-precision local patrol and fire emergency disposal are carried out; the ground control center is used for generating an optimal patrol route for the unmanned aerial vehicle device, planning a fire early warning and emergency disposal flight path, analyzing an image returned by the unmanned aerial vehicle device and comprehensively studying and judging whether a forest area is abnormal or not in combination with sensor data; monitoring the flight state of the unmanned aerial vehicle; after determining that the forest area is abnormal, generating an emergency processing scheme, starting a fire extinguishing resource scheduling and collaborative operation instruction, and notifying related departments; the data transmission network is used for ensuring communication between the unmanned aerial vehicle device and a ground control center; and the unmanned aerial vehicle hangar is used for providing charging, maintenance or task redistribution services for the unmanned aerial vehicle device.

Description

TECHNICAL FIELD

[0001] The present document relates to the technical field of forest resource protection and ecological disaster emergency prevention and control, and particularly relates to a forest inspection system and method based on unmanned aerial vehicle. BACKGROUND

[0002] Forests, as a key component of the earth's ecological system, maintain ecological balance, protect biodiversity and provide a living environment for human beings. However, forests are long-term threatened by fire, pests, illegal logging and other threats.

[0003] Currently, the mainstream technical solutions for forest inspection and disaster prevention and control mainly include manual inspection, ground sensor network monitoring and satellite remote sensing monitoring. Manual inspection relies on forest rangers to patrol the forest area on foot or by car. In complex terrain such as mountains and dense forests, it is not only inefficient and difficult to achieve real-time and comprehensive coverage of large areas of forest, but also poses a risk to the safety of the patrol personnel. Ground sensor network monitoring collects local environmental data through the deployment of temperature and humidity sensors, smoke sensors and cameras. However, the sensors are easily damaged by bad weather and wild animals, and the maintenance cost is high. Moreover, the distribution density is limited, and it is difficult to capture abnormalities at non-monitoring points in a timely manner. Satellite remote sensing monitoring can obtain images of a large range of forests, but the time resolution is low, making it difficult to discover small-scale fires and early-stage pests. Moreover, the image resolution is not sufficient to accurately locate and identify abnormal conditions.

[0004] With the development of unmanned aerial vehicle technology, it has been gradually applied in the field of forest inspection. However, existing unmanned aerial vehicle forest inspection systems mainly use a single type of unmanned aerial vehicle equipped with a simple camera for image acquisition, relying on manual analysis of data. Some unmanned aerial vehicle systems equipped with multiple sensors have strong network dependence and data transmission interruption problems in remote areas. When facing complex weather and terrain changes, they lack adaptive adjustment capabilities. Moreover, the multi-unmanned aerial vehicle coordination capability is insufficient, making it difficult to efficiently complete the task of coordinated patrol and disaster prevention and control in large areas of forest, especially in the full-process disposal of forest fires.

[0005] In summary, the main disadvantages of the prior art are as follows: 1. Low efficiency of inspection and prevention: single unmanned aerial vehicle inspection or manual data processing mode cannot meet the demand of large-area forest rapid inspection and disaster prevention, the data collection and analysis period is long, and it is difficult to realize early warning of fire and timely response to ecological abnormalities. 2. Limited data transmission: relying on specific network environment for data transmission, data transmission delay or interruption may occur in remote forest areas, affecting the timely discovery and processing of abnormal conditions such as fire, pests and diseases. 3. Poor environmental adaptability: when facing complex weather conditions and terrain, the unmanned aerial vehicle cannot automatically adjust the inspection and prevention strategy, and the inspection task is easy to interrupt or fail, which makes it difficult to ensure the continuity of disaster prevention work. 4. Lack of coordination capability: multi-unmanned aerial vehicle cooperative operation lacks intelligent scheduling mechanism, and there is overlap or omission in the inspection area, resource utilization efficiency is low, and an efficient integrated operation system for forest fire prevention and ecological inspection cannot be formed. SUMMARY

[0006] The purpose of the present application is to provide an unmanned aerial vehicle forest inspection system and method, which aims to solve the above problems in the prior art.

[0007] The present application provides an unmanned aerial vehicle forest inspection system, comprising:

[0008] An unmanned aerial vehicle device is used to generate a three-dimensional terrain model of the forest, plan a safe flight path for complex terrain, obtain sensor data through sensors and perform preliminary data processing and feature extraction on the sensor data, and send the sensor data and images to a ground control center for high-precision local inspection and fire emergency disposal. The sensor data specifically includes forest visible light and thermal infrared images, forest fire early heat source, ecological environment change, and flight environment meteorological conditions.

[0009] A ground control center is used to generate an optimal patrol route for the unmanned aerial vehicle device using a path planning algorithm, plan a fire warning and emergency disposal flight path, analyze the images returned by the unmanned aerial vehicle device using an image recognition algorithm, and comprehensively analyze and judge whether the forest area is abnormal in combination with the sensor data; monitor the flight state of the unmanned aerial vehicle; after confirming that the forest area is abnormal, generate an emergency disposal scheme, start fire extinguishing resource scheduling and cooperative operation instructions, and notify relevant departments;

[0010] A data transmission network is used to ensure communication between the unmanned aerial vehicle device and the ground control center through a hybrid communication mode.

[0011] An unmanned aerial vehicle hangar is used to automatically dispatch the unmanned aerial vehicle device back to the hangar under the control of the ground control center, and provide charging, maintenance or task reassignment services for the unmanned aerial vehicle device.

[0012] The present application provides an unmanned aerial vehicle forest inspection method for the unmanned aerial vehicle forest inspection system, comprising:

[0013] The ground control center plans a daily flight route for the long-endurance vertical take-off fixed-wing unmanned aerial vehicle;

[0014] The long-endurance vertical take-off fixed-wing unmanned aerial vehicle takes off according to the planned flight route, and in the flight process, data are collected in real time through sensors and transmitted to the ground control center through a data transmission network;

[0015] The ground control center analyzes the data in real time, if no abnormal situation is found, the long-endurance vertical take-off fixed-wing unmanned aerial vehicle continues to fly according to the planned flight route, if a suspected fire or an ecological anomaly is found, the abnormal area is immediately marked, the flight path of the multi-rotor unmanned aerial vehicle is planned and the task instruction is sent to the multi-rotor unmanned aerial vehicle;

[0016] After receiving the task instruction, the multi-rotor unmanned aerial vehicle goes to the marked abnormal area, collects data of the marked abnormal area and transmits the data to the ground control center;

[0017] According to the data fed back by the multi-rotor unmanned aerial vehicle, the ground control center accurately judges the nature and severity of the abnormal situation, starts the fire extinguishing process for the fire, starts the corresponding ecological protection measures for the ecological anomaly, and starts the corresponding emergency response mechanism.

[0018] By using the embodiment of the present application, through the cooperative work of the long-endurance vertical take-off fixed-wing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle, the functions of fire early warning, accurate ecological inspection and active fire extinguishing are integrated, combined with the intelligent decision of the ground control center, stable transmission of the mixed communication network and automatic scheduling of the unmanned aerial vehicle hangar, the whole process disposal of forest fire and real-time, comprehensive and accurate monitoring of forest ecological environment are realized. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the one or more embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a schematic diagram of the unmanned aerial vehicle forest inspection system of the embodiment of the present application;

[0021] Figure 2 is a schematic diagram of the system building implementation process of the embodiment of the present application;

[0022] Figure 3 is a schematic diagram of the forest inspection implementation process of the embodiment of the present application;

[0023] Figure 4A flowchart of a forest inspection method of the unmanned aerial vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the personnel in the technical field better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of the present specification. Obviously, the described embodiments are only a part of the embodiments of the present specification, not all. Based on one or more embodiments of the present specification, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present document.

[0025] System embodiment

[0026] According to an embodiment of the present application, a forest inspection system of an unmanned aerial vehicle is provided, Figure 1 is a schematic diagram of a forest inspection system of an unmanned aerial vehicle according to an embodiment of the present application, as Figure 1 shown, the forest inspection system of the unmanned aerial vehicle according to the embodiment of the present application specifically comprises:

[0027] The unmanned aerial vehicle device 10 is used to generate a forest three-dimensional terrain model, plan a safe flight path in a complex terrain, acquire sensor data through a sensor and perform preliminary data processing and feature extraction on the sensor data, send the sensor data and images to a ground control center, and perform high-precision local inspection and fire emergency disposal. The sensor data specifically includes forest visible light and thermal infrared images, forest fire early heat sources, ecological environment changes, and flight environment meteorological conditions.

[0028] The unmanned aerial vehicle device 10 specifically comprises:

[0029] The long-endurance vertical fixed-wing unmanned aerial vehicle is provided with a high-resolution optical camera, an infrared thermal imager, a high-precision navigation positioning module, a laser radar, a meteorological sensor, a smoke sensor, a gas component sensor, and a data processing module. The high-resolution optical camera and the infrared thermal imager are used to acquire forest visible light and thermal infrared images and identify forest fire early heat sources. The smoke sensor and the gas component sensor are used to monitor ecological environment changes. The laser radar is used to generate a forest three-dimensional terrain model. The high-precision navigation positioning module is used to assist the unmanned aerial vehicle in planning a safe flight path in a complex terrain. The meteorological sensor is used to monitor flight environment meteorological conditions in real time. The data processing module is used to perform preliminary processing and feature extraction on the sensor data.

[0030] The multi-rotor unmanned aerial vehicle is provided with a high-definition camera, a thermal imager, a portable spectrometer, an unmanned aerial vehicle-mounted pest and disease detection device and a fire extinguishing device, and is used for high-precision local patrol and fire emergency disposal, and close-range and multi-angle detection of suspicious areas, and initial fire extinguishing operation when fire is found.

[0031] The ground control center 12 is used for generating an optimal patrol route for the unmanned aerial vehicle device by using a path planning algorithm, planning a fire warning and emergency disposal flight path, analyzing images returned by the unmanned aerial vehicle device by using an image recognition algorithm, and comprehensively judging whether a forest area is abnormal in combination with sensor data; monitoring a flight state of the unmanned aerial vehicle; after confirming that the forest area is abnormal, generating an emergency disposal scheme, starting fire extinguishing resource scheduling and cooperative operation instructions, and notifying relevant departments; and specifically comprising:

[0032] The task planning module is used for generating an optimal patrol route for the unmanned aerial vehicle by using a path planning algorithm according to a forest area terrain, area, historical abnormal data and in combination with unmanned aerial vehicle performance parameters, and planning a fire warning and emergency disposal flight path for fire prevention and control requirements;

[0033] The data processing and analysis module is used for analyzing images returned by the unmanned aerial vehicle by using an image recognition algorithm, identifying fire, pests and diseases, illegal logging signs, and comprehensively judging in combination with sensor data;

[0034] The unmanned aerial vehicle monitoring module is used for monitoring a flight state of the unmanned aerial vehicle in real time, and timely alarming when an abnormality occurs;

[0035] The emergency response module is used for automatically generating an emergency disposal scheme after confirming that a forest area is abnormal, starting fire extinguishing resource scheduling and cooperative operation instructions for fire, and notifying relevant departments.

[0036] The data transmission network 14 is used for ensuring communication between the unmanned aerial vehicle device and the ground control center by using a hybrid communication mode; and specifically used for:

[0037] A hybrid communication mode combining 5G, 4G, satellite communication and ad hoc network communication is used, and in a network coverage area at the edge of a forest, 5G / 4G networks are preferentially used for high-speed data transmission.

[0038] In a network blind area, the unmanned aerial vehicle device establishes a temporary communication link by using ad hoc network communication, transmits data to a nearby unmanned aerial vehicle device or ground relay station having satellite communication capability, and then transmits the data to the ground control center by using satellite communication.

[0039] The unmanned aerial vehicle hangar 16 is used for automatically scheduling the unmanned aerial vehicle device to return to the hangar under the control of the ground control center, and providing charging, maintenance or task reassignment services for the unmanned aerial vehicle device.

[0040] In summary, by adopting the technical solutions of the embodiments of the present application, the problems of low efficiency of forest inspection and disaster prevention and control, unstable data transmission, poor environmental adaptability and insufficient multi-unmanned aerial vehicle cooperation capability in the prior art are solved, efficient whole-process disposal of forest fires and real-time, comprehensive and accurate monitoring of forest ecological environment are realized, and the early warning and processing capability of forest abnormal conditions is improved.

[0041] The above technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0042] The unmanned aerial vehicle forest inspection system of the embodiments of the present application mainly comprises an unmanned aerial vehicle device, a ground control center, a data transmission network and an unmanned aerial vehicle hangar.

[0043] a. Unmanned aerial vehicle device

[0044] The unmanned aerial vehicle device comprises a long-endurance vertical take-off fixed-wing unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle. The long-endurance vertical take-off fixed-wing unmanned aerial vehicle is equipped with a high-resolution optical camera, an infrared thermal imager, a high-precision navigation positioning module, a laser radar, a meteorological sensor, a smoke sensor, a gas component sensor and a data processing module. The high-resolution optical camera and the infrared thermal imager are used to obtain visible light and thermal infrared images of the forest, which can not only identify early heat sources of forest fires, but also monitor changes in the ecological environment; the laser radar generates a three-dimensional terrain model of the forest to assist the unmanned aerial vehicle in planning a safe flight path in complex terrain; the meteorological sensor monitors the meteorological conditions of the flight environment in real time; and the data processing module preliminarily processes and extracts features from the sensor data to reduce the processing pressure of the ground control center.

[0045] The multi-rotor unmanned aerial vehicle focuses on high-precision local inspection and fire emergency disposal. In addition to the basic high-definition camera and thermal imager, it also carries a portable spectrometer, an unmanned aerial vehicle-borne pest and disease detection device and a fire extinguishing device, and has stronger mobility and flexibility. It can detect suspicious areas at close range and from multiple angles, and can perform initial fire extinguishing operations in a timely manner when a fire is found.

[0046] In the embodiments of the present application, in the unmanned aerial vehicle device, some sensors can be replaced by more advanced or different principle sensors, such as a hyperspectral imager instead of some optical sensors, to improve the monitoring accuracy of forest pests and diseases and the health status of vegetation; in terms of fire extinguishing devices, different fire extinguishing media and spraying devices can be selected according to actual needs.

[0047] b. Ground control center

[0048] The ground control center comprises a task planning module, a data processing and analysis module, a UAV monitoring module and an emergency response module. The task planning module generates an optimal patrol route for the UAV according to the terrain, area, historical abnormal data of the forest region, in combination with the performance parameters of the UAV, and plans a fire warning and emergency disposal flight path in view of the fire prevention and control requirements; the data processing and analysis module analyzes the images returned by the UAV using image recognition algorithms, identifies signs of fire, pest, illegal logging, etc., and comprehensively judges in combination with sensor data; the UAV monitoring module monitors the flight state of the UAV in real time and alarms in a timely manner when an abnormality occurs; the emergency response module automatically generates an emergency processing scheme after confirming the abnormal situation, starts the fire extinguishing resource scheduling and cooperative operation instruction for the fire, and notifies the relevant departments.

[0049] c. Data transmission network

[0050] A hybrid communication mode combining 5G, 4G, satellite communication and ad hoc network communication is adopted. In the network coverage area such as the edge of the forest, 5G / 4G network is preferentially used for high-speed data transmission; in the network blind area, the UAV establishes a temporary communication link through ad hoc network communication and transmits data to the nearby UAV or ground relay station with satellite communication capability, and then transmits the data to the ground control center through satellite communication, ensuring the continuity of data transmission of fire warning, ecological monitoring, etc.

[0051] d. UAV hangar

[0052] The UAV hangar has automatic charging, maintenance and take-off and landing functions, and is built-in with communication enhancement equipment, which can be used as a regional communication relay node. The hangar receives instructions from the ground control center and automatically schedules the UAV to return to the hangar for charging, maintenance or reassignment of tasks in the case of insufficient power of the UAV, task adjustment, etc., to ensure the continuous execution of fire prevention and control and ecological inspection tasks.

[0053] (2) Working method

[0054] In the normal patrol stage, the ground control center plans the daily flight route for the long-endurance vertical take-off fixed-wing UAV according to the forest region and the performance of the UAV, which can be for a single UAV or for multiple UAVs in cooperation. The UAV takes off according to the planned route, and in the flight process, the sensor collects data in real time and transmits the data to the ground control center through 5G / 4G network or satellite communication. The data analysis software of the ground control center analyzes the data in real time, if no abnormal situation is found, the UAV continues to fly according to the predetermined route; if a suspected fire or ecological anomaly is found, the abnormal area is immediately marked, and the flight path of the multi-rotor UAV is planned.

[0055] After receiving the task instruction, the multi-rotor unmanned aerial vehicle takes off from the nearby unmanned aerial vehicle hangar and quickly goes to the abnormal area. During the flight, the multi-rotor unmanned aerial vehicle adjusts the flight height, angle and other parameters according to the instructions of the ground control center, and collects comprehensive and detailed data of the abnormal area. The collected data is also transmitted to the ground control center in real time. The ground control center accurately judges the nature and severity of the abnormal situation according to these data, starts the fire extinguishing process for fire, starts the corresponding ecological protection measures for ecological abnormalities, and starts the corresponding emergency response mechanism.

[0056] When multiple unmanned aerial vehicles need to work together, the ground control center first divides the forest into multiple sub-regions according to the forest area and the distribution of abnormal situations. Then, using a task allocation algorithm, combined with the endurance, current position, sensor type and other factors of the unmanned aerial vehicle, each unmanned aerial vehicle is assigned a patrol and disaster prevention and control task. During the cooperative operation, the unmanned aerial vehicles share data in real time through the communication module, and the ground control center monitors the state and task execution of each unmanned aerial vehicle in real time, dynamically adjusts the task and flight route according to the actual situation, and ensures the efficient completion of the patrol and disaster prevention and control work.

[0057] As can be seen from the above description, the multi-rotor unmanned aerial vehicle cooperative operation mode and task allocation strategy realize efficient cooperation of fire prevention and control and ecological inspection tasks; the data transmission guarantee mechanism under the mixed communication mode ensures stable transmission of disaster warning and ecological monitoring data; the autonomous path planning of unmanned aerial vehicles in complex environment and the adaptive adjustment method of inspection strategy ensure the continuity of fire prevention and control and ecological inspection tasks.

[0058] As shown in Figure 2 , the system construction implementation process

[0059] (1) According to the forest area, terrain and other factors, 5G / 4G base stations are built at appropriate positions on the edge of the forest, and edge computing devices are mounted to realize high-quality network coverage and data near-computing processing on the edge of the forest, providing support for unmanned aerial vehicle data transmission and ground control center rapid analysis.

[0060] (2) In the forest, according to certain spacing and terrain characteristics, automated unmanned aerial vehicle hangars are reasonably deployed. The hangar is installed with network bridging equipment, information receiving and processing module, unmanned aerial vehicle dispatching control module, and charging and maintenance equipment, etc., to ensure efficient scheduling and continuous operation of unmanned aerial vehicles.

[0061] (3) Select different types of unmanned aerial vehicles, and debug and install sensors according to their functions and performance. Connect high-definition cameras, thermal imagers, smoke sensors, gas sensors, pest and disease monitoring sensors, etc. with the data acquisition and transmission system of the unmanned aerial vehicle to ensure accurate data collection and transmission. Calibrate and test the positioning module and communication module of the unmanned aerial vehicle to ensure accurate positioning and stable communication. At the same time, install fire extinguishing devices according to requirements and debug them.

[0062] (4) Build a ground control center and configure high-performance servers, data storage devices, data analysis software, task planning software, and monitoring terminals. Connect the server with 5G / 4G base stations and satellite communication equipment to ensure that data from unmanned aerial vehicles can be received. Install and debug image recognition and data analysis software to accurately process data transmitted by unmanned aerial vehicles. Develop intelligent decision-making software modules for fire prevention and control and ecological inspection.

[0063] As shown in Figure 3 the forest inspection implementation process

[0064] (1) In the normal patrol stage, the ground control center plans the daily flight route for the long-endurance vertical take-off fixed-wing unmanned aerial vehicle according to the forest area and the performance of the unmanned aerial vehicle. The unmanned aerial vehicle takes off according to the planned route. During the flight, the sensors collect data in real time and transmit the data to the ground control center through 5G / 4G network or satellite communication. The data analysis software of the ground control center analyzes the data in real time. If no abnormal situation is found, the unmanned aerial vehicle continues to fly according to the predetermined route. If a suspected fire or ecological anomaly is found, the abnormal area is marked immediately, and the flight path of the multi-rotor unmanned aerial vehicle is planned.

[0065] After receiving the task instruction, the multi-rotor unmanned aerial vehicle takes off from the nearby unmanned aerial vehicle hangar and quickly goes to the abnormal area. During the flight, the multi-rotor unmanned aerial vehicle adjusts the flight height, angle and other parameters according to the instructions of the ground control center, and comprehensively and carefully collects data of the abnormal area. The collected data is also transmitted to the ground control center in real time, and the ground control center accurately judges the nature and severity of the abnormal situation according to the data. If it is a fire, the ground control center starts the fire extinguishing process, dispatches the multi-rotor unmanned aerial vehicle to use the fire extinguishing device for initial fire extinguishing, and notifies the fire department; if it is an ecological abnormality, the corresponding ecological protection measures are started. (2) When multiple unmanned aerial vehicles need to work together, the ground control center first divides the forest into multiple sub-regions according to the forest area and the distribution of abnormal situations. Then, using a task allocation algorithm, taking into account the endurance, current position, sensor type and other factors of the unmanned aerial vehicle, each unmanned aerial vehicle is assigned a patrol and disaster prevention and control task. During the cooperative work, the unmanned aerial vehicles share data in real time through the communication module, the ground control center monitors the state and task execution of each unmanned aerial vehicle in real time, dynamically adjusts the task and flight route according to the actual situation, and ensures the efficient completion of the patrol and disaster prevention and control work.

[0066] The beneficial effects of the embodiments of the present application are as follows:

[0067] (1) Improve the comprehensive prevention and control efficiency: the long-endurance vertical fixed-wing unmanned aerial vehicle cooperates with the multi-rotor unmanned aerial vehicle, and the intelligent task planning is combined, so that large-area forest patrol can be quickly completed, early fire warning, accurate ecological monitoring and initial fire extinguishing can be realized, and the comprehensive efficiency of forest fire prevention and control and ecological inspection is greatly improved compared with the traditional single unmanned aerial vehicle inspection.

[0068] (2) Stable and reliable data transmission: the mixed communication mode ensures the stable transmission of fire warning, ecological monitoring and other data in different environments, avoids data loss or delay caused by network problems, and provides timely and accurate data support for forest disaster prevention and control and ecological protection.

[0069] (3) The environmental adaptability is significantly enhanced: the multiple sensors carried by the unmanned aerial vehicle and the autonomous path planning algorithm enable it to operate safely in complex meteorological and terrain conditions, ensuring the smooth progress of the forest fire prevention and control and ecological inspection tasks.

[0070] (4) Excellent cooperative work capability: the multi-rotor unmanned aerial vehicle cooperative work mechanism optimizes task allocation, reduces patrol blind area and overlap, improves resource utilization efficiency, reduces inspection cost, and forms an efficient integrated operation system for forest fire prevention and control and ecological inspection.

[0071] Method embodiment

[0072] According to the embodiments of the present application, an unmanned aerial vehicle forest inspection method is provided for the unmanned aerial vehicle forest inspection system, Figure 4is a flowchart of the unmanned aerial vehicle forest inspection method of the embodiment of the present application, as shown, the unmanned aerial vehicle forest inspection method according to the embodiment of the present application specifically comprises: Figure 4

[0073] Step S401, the ground control center plans the daily flight route for the long-endurance vertical take-off fixed-wing unmanned aerial vehicle; specifically comprising:

[0074] The daily flight route is planned for a single long-endurance vertical take-off fixed-wing unmanned aerial vehicle or multiple long-endurance vertical take-off fixed-wing unmanned aerial vehicles in cooperation.

[0075] Step S402, the long-endurance vertical take-off fixed-wing unmanned aerial vehicle takes off according to the planned flight route, in the flight process, data is collected in real time through the sensor, and the data is transmitted to the ground control center through the data transmission network;

[0076] Step S403, the ground control center analyzes the data in real time, if no abnormal situation is found, the long-endurance vertical take-off fixed-wing unmanned aerial vehicle continues to fly according to the planned flight route; if a suspected fire or an ecological anomaly is found, the abnormal area is immediately marked, the flight path of the multi-rotor unmanned aerial vehicle is planned and the task instruction is sent to the multi-rotor unmanned aerial vehicle;

[0077] Step S404, after receiving the task instruction, the multi-rotor unmanned aerial vehicle goes to the marked abnormal area and collects data of the marked abnormal area and transmits it to the ground control center; specifically comprising:

[0078] After receiving the task instruction, the multi-rotor unmanned aerial vehicle takes off from the nearby unmanned aerial vehicle hangar, goes to the marked abnormal area, adjusts the flight height and angle parameters according to the instruction of the ground control center in the flight process, collects data of the marked abnormal area and transmits it to the ground control center.

[0079] Step S405, the ground control center accurately judges the nature and severity of the abnormal situation according to the data fed back by the multi-rotor unmanned aerial vehicle, starts the fire extinguishing process for the fire, starts the corresponding ecological protection measures for the ecological anomaly, and starts the corresponding emergency response mechanism.

[0080] When multiple unmanned aerial vehicles need to work in cooperation, the ground control center first divides the forest into multiple sub-regions according to the forest region and the distribution of abnormal situations, and then uses a task allocation algorithm in combination with the endurance capability, current position and sensor type of the unmanned aerial vehicle to allocate the patrol and disaster prevention and control tasks for each unmanned aerial vehicle. In the process of cooperative work, the unmanned aerial vehicles share data in real time through the communication module, the ground control center monitors the state and task execution of each unmanned aerial vehicle in real time, and dynamically adjusts the task and flight route according to the actual situation.

[0081] ​During the regular patrol phase, the ground control center plans daily flight routes for long-endurance vertical-takeoff fixed-wing drones, either individually or in a coordinated fashion, based on the forest area and the drone's performance. The drones take off according to the planned routes. During flight, their sensors collect real-time data and transmit it to the ground control center via 5G / 4G networks or satellite communications. The ground control center's data analysis software analyzes the data in real time. If no anomalies are detected, the drones continue their planned flight routes. If suspected fires or ecological anomalies are detected, the abnormal areas are immediately marked and the multi-rotor drones' flight paths are planned.

[0082] After receiving the mission command, the multi-rotor drone took off from a nearby drone hangar and quickly headed for the abnormal area. During flight, the multi-rotor drone adjusted its altitude, angle, and other parameters according to the instructions from the ground control center, collecting comprehensive and detailed data on the abnormal area. This collected data was also transmitted to the ground control center in real time. Based on this data, the ground control center accurately determined the nature and severity of the abnormality, initiated firefighting procedures for fires, initiated appropriate ecological protection measures for ecological anomalies, and activated the appropriate emergency response mechanism.

[0083] When multiple drones need to collaborate, the ground control center first divides the forest into multiple sub-areas based on the distribution of forest areas and abnormalities. Then, using a task allocation algorithm, each drone is assigned patrol and disaster prevention tasks based on factors such as its flight endurance, current location, and sensor type. During collaborative operations, drones share data in real time via communication modules. The ground control center monitors each drone's status and mission execution in real time, dynamically adjusting missions and flight routes based on actual conditions to ensure efficient patrol and disaster prevention work.

[0084] like Figure 3 As shown in the following figure, the forest inspection implementation process

[0085] (1) During the regular patrol phase, the ground control center plans daily flight routes for long-endurance vertical take-off fixed-wing drones based on the forest area and drone performance. The drones take off according to the planned routes. During the flight, sensors collect data in real time and transmit the data to the ground control center via 5G / 4G networks or satellite communications. The data analysis software in the ground control center analyzes the data in real time. If no abnormalities are found, the drone continues to fly along the planned route. If suspected fires or ecological anomalies are found, the abnormal areas are immediately marked and the flight path of the multi-rotor drone is planned.

[0086] After receiving the task instruction, the multi-rotor unmanned aerial vehicle takes off from the nearby unmanned aerial vehicle hangar and quickly goes to the abnormal area. During the flight, the multi-rotor unmanned aerial vehicle adjusts the flight height, angle and other parameters according to the instructions of the ground control center, and collects comprehensive and detailed data of the abnormal area. The collected data is also transmitted to the ground control center in real time. The ground control center accurately judges the nature and severity of the abnormal situation according to these data. If it is a fire, the ground control center starts the fire extinguishing process, dispatches the multi-rotor unmanned aerial vehicle to use the fire extinguishing device for initial fire extinguishing, and notifies the fire department. If it is an ecological anomaly, the corresponding ecological protection measures are started.(2) When multiple unmanned aerial vehicles need to work together, the ground control center first divides the forest into multiple sub-regions according to the forest area and the distribution of abnormal situations. Then, using the task allocation algorithm, combined with the endurance, current position, sensor type and other factors of the unmanned aerial vehicle, each unmanned aerial vehicle is assigned a patrol and disaster prevention and control task. During the cooperative work, the unmanned aerial vehicles share data in real time through the communication module, the ground control center monitors the state and task execution of each unmanned aerial vehicle in real time, dynamically adjusts the task and flight route according to the actual situation, and ensures the efficient completion of the patrol and disaster prevention and control work.

[0087] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A UAV forest inspection system, characterized by: include: The drone device is used to generate a three-dimensional forest terrain model, plan a safe flight path over complex terrain, acquire sensor data through sensors, perform preliminary data processing and feature extraction on the sensor data, and transmit the sensor data and images to a ground control center for high-precision local inspections and fire emergency response. The sensor data specifically includes: visible light and thermal infrared images of the forest, early heat sources of forest fires, ecological and environmental changes, and flight environment meteorological conditions; The ground control center uses path planning algorithms to generate optimal patrol routes for drones, plans flight paths for fire warnings and emergency response, uses image recognition algorithms to analyze images sent back by drones and combines them with sensor data to comprehensively determine whether there are any abnormalities in the forest area; monitors the flight status of drones; and upon confirming an abnormality in the forest area, generates an emergency response plan, initiates firefighting resource dispatch and collaborative operation instructions, and notifies relevant departments. Data transmission network, used to ensure communication between the UAV device and the ground control center through a hybrid communication mode; The drone hangar is used to automatically dispatch the drone device to return to the hangar under the control of the ground control center, and provide charging, maintenance or reassignment services for the drone device.

2. The system according to claim 1, wherein: The drone device specifically includes: The long-flight vertical take-off fixed-wing UAV is equipped with a high-resolution optical camera, an infrared thermal imager, a high-precision navigation and positioning module, a lidar, a meteorological sensor, a smoke sensor, a gas composition sensor and a data processing module. It is used to obtain visible light and thermal infrared images of the forest through the high-resolution optical camera and infrared thermal imager, identify the early heat sources of forest fires, and monitor ecological environment changes through smoke sensors and gas composition sensors; generate a three-dimensional forest terrain model through the lidar, and assist the UAV in planning a safe flight path in complex terrain through the high-precision navigation and positioning module; monitor the flight environment meteorological conditions in real time through the meteorological sensor; and perform preliminary processing and feature extraction on the sensor data through the data processing module.

3. The system according to claim 1, wherein: The drone device specifically includes: The multi-rotor drone is equipped with a high-definition camera, a thermal imager, a portable spectrometer, a drone-borne pest and disease detection device, and a fire extinguishing device. It is used for high-precision local inspections and fire emergency response, close-range, multi-angle detection of suspicious areas, and timely initial fire extinguishing operations when a fire is discovered.

4. The system according to claim 1, wherein: The ground control center specifically includes: The mission planning module is used to generate the optimal patrol route for the drone based on the forest area's topography, area, and historical anomaly data, combined with the drone's performance parameters, using a path planning algorithm. It also plans flight paths for fire warnings and emergency response based on fire prevention and control needs. The data processing and analysis module uses image recognition algorithms to analyze images sent back by drones to identify signs of fire, pests and diseases, and illegal logging, while also combining sensor data for comprehensive analysis and judgment. The drone monitoring module is used to monitor the drone's flight status in real time and issue an alarm in case of abnormality; The emergency response module is used to automatically generate emergency treatment plans after confirming abnormal conditions in the forest area, initiate fire-fighting resource dispatch and collaborative operation instructions for the fire, and notify relevant departments.

5. The system according to claim 1, wherein: The data transmission network is specifically used for: A hybrid communication mode combining 5G, 4G, satellite communication and ad hoc network communication is adopted. In the network coverage area at the edge of the forest, 5G / 4G network is preferentially used for high-speed data transmission.

6. The system according to claim 1, wherein: The data transmission network is specifically used for: In network blind spots, the UAV device establishes a temporary communication link through self-organizing network communication, transmits data to nearby UAV devices or ground relay stations with satellite communication capabilities, and then transmits it to the ground control center via satellite communication.

7. A method for forest inspection by an unmanned aerial vehicle (UAV), used in the UAV forest inspection system according to any one of claims 1 to 6, the method comprising: The ground control center plans daily flight routes for long-endurance vertical take-off fixed-wing drones; The long-endurance vertical take-off fixed-wing drone takes off according to the planned flight route. During the flight, it collects data in real time through sensors and transmits the data to the ground control center through the data transmission network; The ground control center analyzes the data in real time. If no abnormalities are found, the long-endurance vertical take-off fixed-wing drone is controlled to continue flying according to the planned flight route. If a suspected fire or ecological anomaly is discovered, the abnormal area will be marked immediately, the flight path of the multi-rotor drone will be planned, and mission instructions will be sent to the multi-rotor drone; After receiving the mission instruction, the multi-rotor UAV goes to the marked abnormal area, collects data from the marked abnormal area and transmits it to the ground control center; Based on the data feedback from the multi-rotor drone, the ground control center accurately determines the nature and severity of the abnormal situation, initiates fire extinguishing procedures for fires, initiates corresponding ecological protection measures for ecological abnormalities, and activates the corresponding emergency response mechanism.

8. The method according to claim 7, wherein The ground control center plans the daily flight routes for the long-endurance vertical take-off fixed-wing UAV, including: Collaboratively plan daily flight routes for a single or multiple long-endurance vertical take-off fixed-wing UAVs.

9. The method according to claim 7, wherein After receiving the mission instruction, the multi-rotor drone goes to the marked abnormal area, collects data from the marked abnormal area and transmits it to the ground control center. The details include: After receiving the mission instructions, the multi-rotor drone took off from a nearby drone hangar and headed for the marked abnormal area. During the flight, it adjusted the flight altitude and angle parameters according to the instructions of the ground control center, collected data from the marked abnormal area, and transmitted it to the ground control center.

10. The method according to claim 7, wherein: The method further comprises: When multiple drones need to work together, the ground control center first divides the forest into multiple sub-areas based on the distribution of forest areas and abnormal situations. Then, using the task allocation algorithm, combined with the drone's endurance, current location, and sensor type, each drone is assigned patrol and disaster prevention and control tasks. During the collaborative operation process, drones share data in real time through communication modules. The ground control center monitors the status and task execution of each drone in real time, and dynamically adjusts tasks and flight routes based on actual conditions.

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