Air-ground integrated emergency rescue system

Abstract

The invention relates to the technical field of emergency rescue, in particular to an air-ground integrated emergency rescue system which comprises a ground command platform, an unmanned aerial vehicle and a robot dog. The ground command platform plans a disaster situation investigation route according to the disaster situation information and a plurality of medical points; the unmanned aerial vehicle carries the robot dog to investigate a disaster-affected area including a plurality of medical points according to the disaster situation investigation route, and first investigation data including images are returned to the ground command platform through the communication link; the ground command platform responds to the first investigation data and returns a response message, discovers a target medical point according to the first investigation data and sends a target medical point instruction; the unmanned aerial vehicle determines a communication link according to the response message, and puts a robot dog to a target medical point when receiving an instruction of the target medical point; the robot dog investigates the affected medical point and sends second investigation data containing the image, and the air-ground integrated emergency rescue system guarantees rapid recovery of the medical institution on the affected site.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of emergency rescue, and in particular to an air-ground integrated emergency rescue system. BACKGROUND

[0002] In the extreme disaster scenarios such as earthquakes, floods and the like, it is crucial to quickly find out the disaster situation of the disaster front line and quickly restore the medical institutions in the disaster area in order to realize rapid emergency rescue command and formulate a scientific rescue plan.

[0003] In the current emergency rescue work, there are often situations such as power failure, network interruption, communication interruption, etc. The traditional health emergency unmanned aerial vehicle can only carry out close-range aerial reconnaissance and cargo transportation, and it is difficult to meet the rescue needs under the condition that the rescue forces cannot arrive at the scene in time in a complex environment.

[0004] Therefore, it is necessary to develop and design an air-ground integrated emergency rescue system. SUMMARY

[0005] The present application provides an air-ground integrated emergency rescue system to solve the problem that it is difficult to assist the disaster site to complete the rapid recovery of medical institutions in the prior art.

[0006] In a first aspect, the present application provides an air-ground integrated emergency rescue system, comprising: a ground command platform, an unmanned aerial vehicle and a robot dog. The ground command platform plans a disaster situation reconnaissance route according to disaster information and a plurality of medical points. The unmanned aerial vehicle carries the robot dog to conduct reconnaissance on a disaster area containing the plurality of medical points according to the disaster situation reconnaissance route, and returns first reconnaissance data containing images to the ground command platform through a communication link. The ground command platform returns a response message in response to the first reconnaissance data, finds a target medical point according to the first reconnaissance data, and issues an unmanned aerial vehicle reconnaissance target medical point instruction. The unmanned aerial vehicle determines a route planning and a satellite communication link according to the response message, and when it arrives at the target medical point instruction, locks a safe landing point vertically, and drops the robot dog to the target medical point. The robot dog conducts reconnaissance on the target medical point, enters the medical institution, establishes video communication with medical personnel, and sends second reconnaissance data containing images.

[0007] In one possible implementation, the unmanned aerial vehicle is a vertical take-off and landing fixed-wing unmanned aerial vehicle, the unmanned aerial vehicle has a remote control mounting and dismounting device at the belly, and the robot dog is clamped below the unmanned aerial vehicle through the mounting and dismounting device. When the mounting and dismounting device receives a remote control signal, the robot dog is separated from the unmanned aerial vehicle.

[0008] In a possible implementation, the PTOP communication manner of the UAV receives the second investigation data and forwards the second investigation data through the communication link.

[0009] In a possible implementation, the discovering the target medical point according to the first investigation data comprises: extracting a plurality of states of the medical point through the first investigation data, wherein each state corresponds to an index item; determining a first probability value representing a probability that the medical point becomes a qualified medical point according to a plurality of state probabilities, a probability of the qualified medical point, and a plurality of first conditional probabilities, wherein the first conditional probability is a probability that the qualified medical point has a target state; selecting the target medical point from the plurality of medical points according to the plurality of first probability values.

[0010] In a possible implementation, the determining the first probability value representing the probability that the medical point becomes the qualified medical point according to the plurality of state probabilities, the probability of the qualified medical point, and the plurality of first conditional probabilities comprises: determining the first probability value representing the probability that the medical point becomes the qualified medical point according to a first formula, the plurality of state probabilities, the probability of the qualified medical point, and the plurality of first conditional probabilities, wherein the first formula is:

[0011] wherein, is the i th state, is the first probability value, is the probability of the qualified medical point, is the probability that the qualified medical point has the i th state, is the probability that the medical point has the i th state.

[0012] In a possible implementation, the determining the communication link according to the response message comprises: obtaining a plurality of response messages; for each response message, determining a transmission-reception time difference according to a time stamp of the response message and a sending time of first investigation data corresponding to the response message; determining transmission stability of the communication link according to the plurality of transmission-reception time differences; determining the communication link and a communication strategy according to the transmission stability.

[0013] In a possible implementation, the determining the transmission stability of the communication link according to the plurality of transmission-reception time differences comprises: ​​​The transmission stability of the communication link is determined based on the second formula and multiple transmit / receive time differences, wherein the second formula is:

[0014] In the formula, This represents the average time difference between transmission and reception. This represents the total number of multiple transmit / receive time differences. For the first One time difference between sending and receiving, This represents the standard deviation of the transmission and reception time difference.

[0015] In one possible implementation, determining the communication link and communication strategy based on the transmission stability includes: If the average transmit and receive time difference is higher than the first time difference threshold, then fix the current communication link; If the average transmit / receive time difference is between the first time difference threshold and the second time difference threshold, and the standard deviation of the transmit / receive time difference is less than the standard deviation threshold, then the current communication link is fixed, wherein the second time difference threshold is less than the first time difference threshold. If the average transmit / receive time difference is between the first time difference threshold and the second time difference threshold, the standard deviation of the transmit / receive time difference is greater than or equal to the standard deviation threshold, and the data compression rate is less than the compression rate threshold, then the data compression rate is adjusted, and the obtained first reconnaissance data is compressed and sent according to the data compression rate. Otherwise, the communication link is switched.

[0016] In one possible implementation, compressing the obtained first reconnaissance data according to the data compression ratio includes: The first reconnaissance data is constructed into the first data block; Multiply the data compression ratio by the number of rows in the first data block, and use the product as the number of rows in the first data block; Multiply the data compression rate by the number of columns in the first data block, and use the product as the number of columns in the first data block; The first data block is compressed into a compressed data block with a first number of rows and a first number of columns according to the third formula, wherein the third formula is:

[0017] In the formula, For the compressed data block Line number Column elements, This represents the total number of rows in the first data block. This represents the total number of columns in the first data block. For the first data block Line number Column elements, It is a natural constant. is the imaginary unit, is the ratio of the circumference of a circle to its diameter.

[0018] In one possible implementation, the UAV receives control instructions from the ground command platform and forwards them to the robot dog, which conducts reconnaissance according to the control instructions.

[0019] Compared with the prior art, the embodiment of the present application has the following beneficial effects: The embodiment of the present application discloses an air-ground integrated emergency rescue system, which comprises a ground command platform, a UAV and a robot dog. The ground command platform plans a disaster reconnaissance route according to disaster information and a plurality of medical points. The UAV carries the robot dog to conduct reconnaissance on a disaster area containing the plurality of medical points according to the disaster reconnaissance route, and returns first reconnaissance data containing images to the ground command platform through a communication link. The ground command platform returns a response message in response to the first reconnaissance data, finds a target medical point according to the first reconnaissance data and issues a target medical point indication. The UAV determines a communication link according to the response message, and vertically lands and drops the robot dog to the target medical point when reaching the target medical point indication. The robot dog conducts reconnaissance on the target medical point, enters a medical institution and establishes video communication with medical staff to send second reconnaissance data containing images. The ground command platform plans a UAV reconnaissance route, the UAV carries the robot dog to conduct reconnaissance on ground medical points based on the route, returns on-site conditions to the ground command platform, selects a feasible medical point from a plurality of medical points according to preliminary reconnaissance conditions, releases the robot dog to conduct in-depth and detailed reconnaissance on the medical point, breaks the traditional mode of only air reconnaissance, initiatively combines the UAV and the robot dog, initiatively creates a new air-ground integrated emergency rescue mode, rapidly develops self-help work in the case that rescue forces cannot arrive in time, greatly improves disaster rescue efficiency, rapidly understands on-site conditions of a disaster area through the air-ground integrated emergency rescue system, and ensures rapid recovery of a medical institution at a disaster site. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a block diagram of the air-ground integrated emergency rescue system provided by the embodiment of the present application; Figure 2This is a schematic diagram of the communication link switching process provided in the embodiments of the present invention. Detailed Implementation

[0022] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0024] The embodiments of the present invention will be described in detail below. This example is implemented based on the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0025] Figure 1 A block diagram of an integrated air-ground emergency rescue system provided for embodiments of the present invention.

[0026] like Figure 1 The diagram shows a block diagram of an integrated air-ground emergency rescue system provided by an embodiment of the present invention, which is described in detail below: An integrated air-ground emergency rescue system includes: a ground command platform, drones, and a robot dog; The ground command platform plans disaster reconnaissance routes based on disaster information and multiple medical points; The drone, equipped with the robot dog, conducts reconnaissance of the disaster-stricken area containing the multiple medical points according to the disaster reconnaissance route, and returns the first reconnaissance data containing images to the ground command platform through the communication link. The ground command platform responds to the first reconnaissance data by returning a response message, and based on the first reconnaissance data, locates the target medical point and issues a target medical point instruction; The drone determines the communication link based on the response message, and deploys the robot dog to the target medical point when it receives the instruction from the target medical point. The robot dog reconnoiters the target medical point and sends second reconnaissance data containing images.

[0027] In some embodiments, the drone is a vertical take-off and landing fixed-wing drone, and the drone has a locking device on its belly. The robot dog is locked to the bottom of the drone through the locking device, and the robot dog is released from the drone when the locking device is activated.

[0028] In some embodiments, the UAV receives the second investigation data and forwards the second investigation data through the communication link.

[0029] In some embodiments, the UAV receives control instructions from the ground command platform and forwards to the robot dog, and the robot dog investigates according to the control instructions.

[0030] Exemplarily, the present application aims to provide a vertical take-off and landing UAV carrying a robot dog and satellite communication equipment, which is not limited by terrain and can quickly pass through complex obstacles such as mountains and rivers, quickly fly to the disaster area in the case of “four breaks”, and open the video communication link between the disaster area and the rear area by using the satellite equipment carried.

[0031] The system of the present application can realize real-time monitoring of the disaster area from all directions and multiple angles by means of a high-definition camera system, and can establish a real-time three-dimensional map according to the returned images, providing decision support for the command center. The robot dog is released to enter the medical institution with less damage, to survey the damage, and the rear experts remotely judge through the real-time picture, guiding the frontline medical staff to establish a temporary treatment station, quickly launching self-help work in the case that rescue forces cannot arrive in time, and greatly improving the efficiency of disaster rescue.

[0032] As shown in Figure 1 The present application constructs an emergency rescue system around the cooperative operation of the ground command platform 101, the UAV 102 and the robot dog 103, realizes efficient investigation and rescue support for the disaster area and medical points through intelligent flight path planning, data transmission and task execution. The system takes “information-driven decision making and collaborative efficiency improvement” as the core, forming a whole-process closed loop covering disaster situation assessment, target positioning and detailed investigation.

[0033] As the “brain” of the system, the ground command platform 101 adopts a distributed architecture, which is composed of a data processing center, a decision terminal and a communication base station.

[0034] The ground command platform 101 accesses meteorological satellite data, earthquake monitoring information and historical medical point distribution map, dynamically generates the optimal investigation route in combination with the severity of the disaster (such as estimating the water area according to the rainfall, the building damage probability and the personnel density). The route contains mandatory investigation points (medical point coordinates) and optional adjustment sections, which can be optimized online according to the data returned by the UAV 102 in real time, such as reducing the height of the medical institution with less appearance damage and hovering near the investigation.

[0035] Based on the analysis result of the first investigation data, a response message (such as communication link switching instruction and investigation focus adjustment notice) is automatically generated, and the target medical point is confirmed by the operator through touch screen and voice interaction.

[0036] The UAV 102 system assumes a dual role of “air transportation + preliminary reconnaissance”, adopts a fixed-wing, rotor multi-modal design, carries high-precision differential GPS, RTK and inertial navigation system, and autonomously flies according to the flight path planned by the ground command platform 101 through a communication link. When receiving the flight path optimization instruction, a new flight path is generated within 3 seconds through a dynamic path re-planning algorithm, ensuring the continuity of the reconnaissance task.

[0037] The UAV 102 integrates visible light cameras, thermal infrared cameras and gas sensors, and can synchronously collect appearance images of medical points, internal heat source distribution and surrounding environmental safety data to form a first reconnaissance data package.

[0038] The robot dog 103, as a “ground fine reconnaissance unit”, adopts a four-legged bionic structure, has a leg with a 3-degree-of-freedom design, can adjust the stride and force according to the ground hardness, and has a passing rate of 90% in complex environments such as medical point ruins. The robot dog 103 head carries a panoramic camera and an infrared thermal imager, and a two-way remote video communication system can penetrate obstacles such as glass and wood to detect the internal personnel status of the medical point and video communicate with the front-line medical staff.

[0039] The robot dog 103 can realize autonomous navigation in a GPS-free environment, automatically detours and marks the risk area when encountering danger (such as unstable floor structure). The built-in small Mesh communication module can communicate through the UAV 102 and the ground command platform 101.

[0040] System cooperative workflow (1) Initialization and flight path planning phase After the ground command platform receives the disaster warning, it automatically imports the medical point distribution data of the disaster area (including coordinates, building area, bed number, etc. Basic information) and fuses real-time meteorological data (such as wind speed, rainfall) to generate initial environmental parameters.

[0041] The operator labels the disaster focus area through the command platform, and the system calls the flight path planning algorithm to generate a reconnaissance flight path containing multiple medical points within 1 minute, with 5-8 reconnaissance waypoints set for each flight path, and the distance between adjacent waypoints is 500-800m.

[0042] The UAV completes the robot dog carrying and equipment self-checking, and the ground command platform sends the initial flight path data to the UAV through the 4G network. After the UAV confirms receipt, it enters the takeoff state.

[0043] (2) Air reconnaissance and target identification phase The UAV takes off according to the planned route, hovers over each medical point for 3-5 minutes to collect visible light, infrared, and laser radar data, and transmits the first investigation data (compressed images and sensor data) back to the emergency command platform in real time through a 4G link.

[0044] The emergency command platform analyzes the received data in real time, and if it finds that a medical point has abnormal conditions such as building damage or personnel gathering, it automatically generates a "focus" label and sends a response message to the UAV.

[0045] When the UAV flies into a signal blind area, it automatically switches to a satellite communication link, and the ground command platform informs the link switching status through a response message to ensure uninterrupted data transmission.

[0046] (Three) Target medical point confirmation and robot dog deployment phase The ground command platform aggregates all the first investigation data of the medical points, selects three high-priority target medical points through a priority model, and the operator manually confirms the final target based on the images. The system generates a target medical point indication (including precise coordinates and landing area description).

[0047] After receiving the target indication, the UAV adjusts the route to fly over the target medical point, identifies the deployment area (flat and obstacle-free) through visual recognition, and feeds back the "ready to land" and "ready to deploy" signals to the ground command platform.

[0048] The ground command platform sends a "deployment permission" instruction, the UAV vertically lands and starts the deployment program, and the robot dog is deployed.

[0049] (Four) Ground fine investigation phase The robot dog automatically unfolds after landing, takes pictures of the surrounding environment with a panoramic camera, and sends a "landing success" signal. The ground command platform sends an investigation task list (such as "check emergency room drug reserves") to the robot dog through the UAV relay.

[0050] The robot dog moves independently inside the medical point according to the task list, and immediately sends an emergency data package if it finds trapped personnel or important medical supplies.

[0051] The robot dog establishes a video link with frontline medical staff to understand the damage to the institution and medical equipment, personnel casualties, drug reserves, and whether the medical institution has the conditions to carry out emergency rescue.

[0052] The UAV hovers over the medical point, serving as a communication relay between the robot dog and the ground command platform, while continuously monitoring changes in the surrounding environment. If an aftershock, fire, or other emergency occurs, it immediately sends a warning signal to the robot dog and the ground command platform.

[0053] (V) Task completion and data aggregation phase After the robot dog completes all the investigation tasks, it returns to the launch point to wait for recovery. The ground command platform generates a disaster data report based on the second investigation data, including key information such as personnel casualty estimates, facility damage levels, and available medical resources.

[0054] The unmanned aerial vehicle descends, captures the robot dog through visual positioning, recovers it, and sends a "task completion" signal to the ground command platform after confirming the fixation.

[0055] The unmanned aerial vehicle returns to the base along the return route. The ground command platform archives all data from this task to provide decision-making basis for subsequent rescue force deployment.

[0056] In some embodiments, the discovering, according to the first investigation data, a target medical point comprises: extracting, through the first investigation data, a plurality of states of the medical point, wherein each state corresponds to an index item; determining, according to a plurality of state probabilities, a probability of a qualified medical point, and a plurality of first conditional probabilities, a first probability value representing a probability that the medical point becomes the qualified medical point, wherein the first conditional probability is a probability that the qualified medical point has a target state; selecting, according to a plurality of first probability values, the target medical point from the plurality of medical points.

[0057] In some embodiments, the determining, according to a plurality of state probabilities, a probability of a qualified medical point, and a plurality of first conditional probabilities, a first probability value representing a probability that the medical point becomes the qualified medical point comprises: determining, according to a first formula, a plurality of state probabilities, a probability of a qualified medical point, and a plurality of first conditional probabilities, a first probability value representing a probability that the medical point becomes the qualified medical point, wherein the first formula is:

[0058] wherein, is the i-th state, is the first probability value, is the probability of the qualified medical point, is the probability that the qualified medical point has the i-th state, is the probability that the medical point has the i-th state.

[0059] ​​​Exemplarily, in the ground command platform, unmanned aerial vehicle and robot dog cooperative rescue system, accurate extraction of medical point state from the first investigation data and scientific calculation of its qualified probability are the core link of target medical point selection. Through the combination of quantitative analysis and probability model, the intelligent conversion from "data collection" to "decision output" is realized, which provides the basis for the accurate deployment of rescue resources.

[0060] Based on the first investigation data (visible light, infrared, laser radar, multispectral image, gas sensor data, three-dimensional terrain model, etc.) returned by the unmanned aerial vehicle, multiple core state indicators are extracted to form the "health degree" evaluation dimension of the medical point: building structure integrity, life signal intensity, life signal intensity, external passage unobstructed, power supply state, medical identification integrity, surrounding secondary disaster risk, and reachability score.

[0061] Using the Bayesian probability framework, the probability that the medical point becomes a qualified medical point (the first probability value) is calculated by combining prior knowledge and real-time data, and the formula is as follows:

[0062] In the formula, is the th state, is the first probability value, is the probability of a qualified medical point, is the probability that a qualified medical point has the th state, is the probability that the medical point appears the th state Through historical disaster case data, the state probability distribution of qualified medical points is established.

[0063] Probability calculation example, the state of a medical point is: building intact (S1), life signal medium (S2), gas safe (S3), passage limited (S4), partial power failure (S5), identification complete (S6), low risk (S7), and medium reachability (S8), then: P= 0.35 × (0.85×0.30×0.90×0.15×0.20×0.80×0.75×0.40) ÷ multiple first probability values = 0.62 (i.e. 62%).

[0064] After the unmanned aerial vehicle completes the investigation of a single medical point, it automatically sends the state indicator data to the ground command platform. The command platform starts batch probability calculation once every 5 medical point first investigation data is received.

[0065] Through the mechanism, the system can mine the potential value of the medical point from the first investigation data, and the accuracy rate of selecting the target medical point is improved to more than 85%, the efficiency is improved by 3 times compared with the traditional manual screening, and it is ensured that the limited rescue resources are preferentially invested in the medical point with the highest value.

[0066] As shown in Figure 2 some embodiments, determining the communication link according to the response message comprises: Step 201: obtaining a plurality of response messages; Step 202: for each response message, determining a transmission-reception time difference according to the timestamp of the response message and the sending time of the first investigation data corresponding to the response message; Step 203: determining the transmission stability of the communication link according to the plurality of transmission-reception time differences; Step 204: determining the communication link and the communication strategy according to the transmission stability.

[0067] In some embodiments, the transmission stability of the communication link is determined according to the plurality of transmission-reception time differences, comprising: determining the transmission stability of the communication link according to the second formula and the plurality of transmission-reception time differences, wherein the second formula is:

[0068] wherein, is the mean of the transmission-reception time difference, is the total number of the plurality of transmission-reception time differences, is the transmission-reception time difference, is the standard deviation of the transmission-reception time difference.

[0069] In some embodiments, the communication link and the communication strategy are determined according to the transmission stability, comprising: if the mean of the transmission-reception time difference is higher than a first time difference threshold, fixing the current communication link; if the mean of the transmission-reception time difference is between the first time difference threshold and a second time difference threshold, and the standard deviation of the transmission-reception time difference is less than a standard deviation threshold, fixing the current communication link, wherein the second time difference threshold is less than the first time difference threshold; if the mean of the transmission-reception time difference is between the first time difference threshold and the second time difference threshold, the standard deviation of the transmission-reception time difference is greater than or equal to the standard deviation threshold, and the data compression rate is less than a compression rate threshold, adjusting the data compression rate, and compressing and sending the obtained first investigation data according to the data compression rate; otherwise, switching the communication link.

[0070] In some embodiments, the first investigation data is compressed according to the data compression rate, comprising:​ constructing the first investigation data as a first data block; multiplying the data compression rate and the number of rows of the first data block, and taking the product as a first number of rows; multiplying the data compression rate and the number of columns of the first data block, and taking the product as a first number of columns; compressing the first data block into a compressed data block with the first number of rows and the first number of columns according to a second formula, wherein the second formula is:

[0071] wherein, is an element of the compressed data block in the i-th row and the j-th column, is an element of the first data block in the i-th row and the j-th column, is an element of the first data block in the i-th row and the j-th column, is a total number of rows of the first data block, is a total number of columns of the first data block, is an element of the first data block in the i-th row and the j-th column, is an element of the first data block in the i-th row and the j-th column, is an element of the first data block in the i-th row and the j-th column, is a natural constant, is an imaginary unit, is a constant of pi.

[0072] Exemplarily, in a rescue system of a UAV carrying a robot dog, the stability of the communication link directly affects the transmission efficiency of the investigation data and the reliability of the instruction execution. By analyzing the time difference between the response message and the first investigation data, a quantitative transmission stability evaluation model can be established to provide data support for communication link selection and strategy adjustment, and to ensure that “data is not lost and instructions are not interrupted” in complex disaster environments.

[0073] Both the ground command platform and the UAV use a Beidou timing module to ensure that the timestamp accuracy is synchronized to the millisecond level (error <1 ms). When the first investigation data is sent, the UAV automatically adds a sending timestamp (T1); when the ground command platform generates a response message, it adds a receiving data timestamp (T2) and a response sending timestamp (T3) to form a complete time chain. The time difference calculation rule: the time difference Δt corresponding to a single response message is defined as the difference between the response message timestamp (T3) and the first investigation data sending timestamp (T1), that is, Δt = T3 - T1. The time difference includes data transmission time and ground processing time (≤500 ms, recorded separately through system logs), and needs to be stripped of non-transmission factor interference through an algorithm.

[0074] The transmission stability of the communication link is determined according to the second formula and a plurality of time differences, wherein the second formula is:

[0075] In the formula, This represents the average time difference between transmission and reception. This represents the total number of multiple transmit / receive time differences. For the first One time difference between sending and receiving, This represents the standard deviation of the transmission and reception time difference.

[0076] Based on the mean and standard deviation of the transmit / receive time difference, this invention categorizes the transmission stability of the link into several cases: If the average transmit / receive time difference is higher than the first time difference threshold, then the current communication link is fixed, meaning the current communication link meets the data transmission requirements.

[0077] If the average transmit / receive time difference is between the first time difference threshold and the second time difference threshold, and the standard deviation of the transmit / receive time difference is less than the standard deviation threshold, then the current communication link is fixed. In this case, although the data transmission speed is not very fast, the data transmission speed is very stable, the delay is small, and the data transmission needs can be met.

[0078] If the average transmit / receive time difference is between the first time difference threshold and the second time difference threshold, the standard deviation of the transmit / receive time difference is greater than or equal to the standard deviation threshold, and the data compression ratio is less than the compression ratio threshold, then the data compression ratio is adjusted, and the obtained first reconnaissance data is compressed and sent according to the data compression ratio. In other words, the transmission speed is unstable, but there is still room for optimization in data compression. At this time, the transmission delay will be optimized by using data compression.

[0079] If the above conditions are not met, switch the communication link.

[0080] Data compression primarily targets audio and video data, which is organized into data blocks for compression. The compression ratio is actually adjustable within a certain range. Specifically, the number of rows and columns in the compressed data blocks is adjusted according to the data compression ratio. After adjustment, the third formula is applied to compress the data:

[0081] In the formula, For the compressed data block Line 1 Column elements, This represents the total number of rows in the first data block. This represents the total number of columns in the first data block. For the first data block Line 1 Column elements, It is a natural constant. The imaginary unit, Pi is the mathematical constant of a circle.

[0082] The embodiment of the air-ground integrated emergency rescue system comprises a ground command platform, a UAV and a robot dog. The ground command platform plans a disaster investigation route according to disaster information and a plurality of medical points. The UAV carries the robot dog to investigate a disaster area containing the plurality of medical points according to the disaster investigation route, enters a medical institution to establish video communication with medical staff and returns first investigation data containing images to the ground command platform through a communication link. The ground command platform returns a response message in response to the first investigation data, finds a target medical point according to the first investigation data and issues a target medical point instruction. The UAV determines a communication link according to the response message and releases the robot dog to the target medical point when the target medical point instruction is received. The robot dog investigates the target medical point, enters the medical institution to establish video communication with the medical staff and sends second investigation data containing images. The ground command platform plans a UAV investigation route, the UAV carries the robot dog to investigate ground medical points based on the route, returns on-site conditions to the ground command platform, the ground command platform selects a feasible medical point from a plurality of medical points according to preliminary investigation conditions, releases the robot dog to conduct in-depth and detailed investigation of the medical point on site, quickly understands on-site conditions of a disaster area through the air-ground integrated emergency rescue system and ensures rapid recovery of a medical institution on site.

[0083] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0084] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than 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 they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An integrated air-ground emergency rescue system, characterized in that, include: Ground command platform, drones, and robot dogs; The ground command platform plans disaster reconnaissance routes based on disaster information and multiple medical points; The drone, equipped with the robot dog, conducts reconnaissance of the disaster-stricken area containing the multiple medical points according to the disaster reconnaissance route, and returns the first reconnaissance data containing images to the ground command platform through the communication link. The ground command platform responds to the first reconnaissance data by returning a response message, and based on the first reconnaissance data, locates the target medical point and issues a target medical point instruction; The drone determines the communication link based on the response message, and deploys the robot dog to the target medical point when it receives the instruction from the target medical point. The robot dog reconnoiters the target medical point and sends second reconnaissance data containing images.

2. The air-ground integrated emergency rescue system according to claim 1, characterized in that, The drone is a vertical take-off and landing fixed-wing drone. The drone has a locking device on its belly, and the robot dog is locked to the bottom of the drone through the locking device. When the locking device is activated, the robot dog is released from the drone.

3. The air-ground integrated emergency rescue system according to claim 1, characterized in that, The drone receives the second reconnaissance data and forwards the second reconnaissance data through the communication link.

4. The air-ground integrated emergency rescue system according to claim 1, characterized in that, The discovery of the target medical point based on the first reconnaissance data includes: Based on the first reconnaissance data, multiple states of the medical point are extracted, where each state corresponds to an indicator item; Based on multiple state probabilities, the probability of a qualified medical point, and multiple first conditional probabilities, a first probability value representing the probability of a medical point becoming a qualified medical point is determined, wherein the first conditional probability is the probability that a qualified medical point has the target state. The target medical point is selected from multiple medical points based on multiple first probability values.

5. The air-ground integrated emergency rescue system according to claim 4, characterized in that, The step of determining the first probability value representing the probability of a medical point becoming a qualified medical point based on multiple state probabilities, the probability of a qualified medical point, and multiple first conditional probabilities includes: Based on the first formula, multiple state probabilities, the probability of a qualified medical point, and multiple first conditional probabilities, a first probability value representing the probability of a medical point becoming a qualified medical point is determined, wherein the first formula is: In the formula, For the first One state, The first probability value, The probability of being a qualified medical point For qualified medical points to have the first The probability of each state. The first medical point appeared The probability of each state.

6. The air-ground integrated emergency rescue system according to claim 1, characterized in that, The step of determining the communication link based on the response message includes: Retrieve multiple response messages; For each response message, the transmit / receive time difference is determined based on the timestamp of the response message and the sending time of the first reconnaissance data corresponding to the response message; The transmission stability of the communication link is determined based on multiple transmit and receive time differences; The communication link and communication strategy are determined based on the transmission stability.

7. The air-ground integrated emergency rescue system according to claim 6, characterized in that, The method of determining the transmission stability of a communication link based on multiple transmit and receive time differences includes: The transmission stability of the communication link is determined based on the second formula and multiple transmit / receive time differences, wherein the second formula is: In the formula, This represents the average time difference between transmission and reception. This represents the total number of multiple transmit / receive time differences. For the first One time difference between sending and receiving, This represents the standard deviation of the transmission and reception time difference.

8. The air-ground integrated emergency rescue system according to claim 7, characterized in that, The step of determining the communication link and communication strategy based on the transmission stability includes: If the average transmit and receive time difference is higher than the first time difference threshold, then fix the current communication link; If the average transmit / receive time difference is between the first time difference threshold and the second time difference threshold, and the standard deviation of the transmit / receive time difference is less than the standard deviation threshold, then the current communication link is fixed, wherein the second time difference threshold is less than the first time difference threshold. If the average transmit / receive time difference is between the first time difference threshold and the second time difference threshold, the standard deviation of the transmit / receive time difference is greater than or equal to the standard deviation threshold, and the data compression rate is less than the compression rate threshold, then the data compression rate is adjusted, and the obtained first reconnaissance data is compressed and sent according to the data compression rate. Otherwise, the communication link is switched.

9. The air-ground integrated emergency rescue system according to claim 8, characterized in that, The compression of the obtained first reconnaissance data according to the data compression ratio includes: The first reconnaissance data is constructed into the first data block; Multiply the data compression ratio by the number of rows in the first data block, and use the product as the number of rows in the first data block; Multiply the data compression rate by the number of columns in the first data block, and use the product as the number of columns in the first data block; The first data block is compressed into a compressed data block with a first number of rows and a first number of columns according to the third formula, wherein the third formula is: In the formula, For the compressed data block Line 1 Column elements, This represents the total number of rows in the first data block. This represents the total number of columns in the first data block. For the first data block Line 1 Column elements, It is a natural constant. The imaginary unit, Pi is the mathematical constant of a circle.

10. The integrated air-ground emergency rescue system according to any one of claims 1-9, characterized in that, The drone receives control commands from the ground command platform and forwards them to the robot dog, which then performs reconnaissance based on the control commands.

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