Unmanned aerial vehicle swarm integration system for emergency / rescue

Abstract

The unmanned aerial vehicle cluster integration system for emergency / rescue provided in the embodiments of the present disclosure comprises a shelter provided with a plurality of storage positions for storing emergency / rescue unmanned aerial vehicles, the shelter is provided with at least one exit; at least one monitoring component is in communication connection with the emergency / rescue unmanned aerial vehicles, and is used for monitoring the readiness state information of the emergency / rescue unmanned aerial vehicles in the corresponding storage positions; and a master control device is in communication connection with the monitoring component. The centralized storage and orderly management of the emergency / rescue unmanned aerial vehicles are realized through the shelter with multiple storage positions, the readiness state information of the unmanned aerial vehicles is collected in real time based on the monitoring component, the target emergency / rescue unmanned aerial vehicle is quickly matched based on the task instruction in cooperation with the master control device, the driving-off route and time of each unmanned aerial vehicle are planned through the scheduling instruction, the congestion and collision of the unmanned aerial vehicles are avoided, the task response time is shortened, and the emergency / rescue efficiency is improved.

Description

Technical Field

[0001] This disclosure relates to the field of emergency / rescue drone technology, and more particularly to drone swarm integration systems for emergency / rescue. Background Technology

[0002] In the modern emergency / rescue field, emergency / rescue drones, with their advantages of maneuverability, wide field of vision, and ability to operate deep into dangerous areas, have been widely used in scenarios such as fire reconnaissance, fire monitoring, material delivery, and firefighting assistance, becoming key equipment for improving emergency / rescue efficiency and reducing the risk of casualties among rescue personnel. As emergency / rescue missions become increasingly complex and diverse, a single rescue mission often requires multiple emergency / rescue drones to work collaboratively to achieve simultaneous monitoring of different areas and multi-point firefighting.

[0003] Currently, emergency / rescue drones are mostly stored in a decentralized or simplified centralized manner, lacking dedicated container and storage management structures, making it difficult to systematically store and maintain multiple drones. Furthermore, existing systems lack real-time and accurate monitoring methods for the readiness status of each drone (such as battery level, equipment integrity, and load status). The main control device cannot quickly grasp the availability status of each drone, resulting in a significant time commitment to checking drone status after receiving emergency / rescue mission instructions, making it difficult to quickly match equipment suitable for the type of emergency / rescue mission.

[0004] Furthermore, in scenarios involving the coordinated deployment of multiple drones, existing dispatching methods often only issue deployment commands without coordinating the drones' departure routes and times. Due to the limited space inside the shelter and the fixed number of exits, multiple drones simultaneously and haphazardly departing can easily lead to collisions and congestion, delaying the overall deployment time. The lack of route guidance may also cause drones to detour or stray from exits, further reducing rescue response efficiency. These issues make it difficult for existing emergency / rescue drone systems to quickly form a coordinated rescue force in the face of sudden fires, affecting the timeliness and effectiveness of firefighting and rescue efforts, and failing to fully realize the core value of drones in emergency / rescue operations. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this disclosure is to provide an integrated unmanned aerial vehicle (UAV) swarm system for emergency response / rescue, thereby solving the problems in the related technologies.

[0006] The first aspect of this disclosure provides an integrated system for an emergency / rescue drone swarm, wherein the drone system includes:

[0007] The modular shelter is equipped with multiple compartments for storing emergency / rescue drones, and the shelter has at least one exit.

[0008] At least one monitoring component is communicatively connected to the emergency / rescue drone and is used to monitor the readiness status information of the emergency / rescue drone in the corresponding compartment.

[0009] A main control device is communicatively connected to the monitoring component. The main control device is configured to respond to emergency / rescue mission instructions, match multiple target emergency / rescue drones matching the emergency / rescue mission type within the container based on the readiness status information, and send corresponding dispatch instructions to each target emergency / rescue drone. The emergency / rescue mission type includes application scenario type and action type. The application scenario type includes at least one of urban, water, forest, mountain, and open sea conditions. The action type includes firefighting, patrol, early warning, emergency response, and rescue. The target emergency / rescue drone carries work equipment matching the emergency / rescue mission type. The dispatch instructions include the departure route or departure time from the corresponding compartment of the target emergency / rescue drone to the exit.

[0010] In an embodiment of the first aspect, the main control device is further configured to determine whether a collision event exists based on the departure path and departure time of each target emergency / rescue drone; if so, determine the departure priority among the target emergency / rescue drones with the collision event according to the urgency of the target operation event under their responsibility; adjust the departure path and / or departure time of the target emergency / rescue drone with the lower departure priority so that the target emergency / rescue drone with the higher departure priority can leave first, thereby eliminating the collision event.

[0011] In the first aspect of the embodiment, when the target operation events are the same target operation events, the target emergency / rescue drone with the shorter travel time corresponding to the departure path is the target emergency / rescue drone with higher departure priority;

[0012] And / or, when the target operation event is different target operation events, the target emergency / rescue drone pointed to by the target operation event with higher operation urgency is the target emergency / rescue drone with higher departure priority; the operation urgency is determined based on at least one of the following: operation type, whether personnel are trapped, and whether hazardous materials are involved.

[0013] In an embodiment of the first aspect, the main control device further responds to the homing request sent by the emergency / rescue drone, matches a bay that meets the battery power limit in the device status information of all emergency / rescue drones to be homed, and generates an entry route from the exit to the corresponding bay; wherein the entry route enables all emergency / rescue drones to be homed to form an avoidance relationship.

[0014] In an embodiment of the first aspect, the modular container includes at least one upper-level compartment and at least one lower-level compartment;

[0015] The upper and lower compartments are arranged to overlap vertically, and at least a portion of the upper compartment covers the departure route of the lower compartment in the horizontal projection.

[0016] The modular shelter also includes a drive unit connected to the upper compartment and configured to drive the upper compartment or the platform carrying the compartment to move along a preset avoidance trajectory to make way for the departure route of emergency / rescue drones in the lower compartment.

[0017] In an embodiment of the first aspect, the modular container includes at least one upper-level compartment and at least one lower-level compartment;

[0018] The upper and lower compartments are horizontally staggered, causing the departure routes of emergency / rescue drones in the lower compartment to be misaligned with those in the upper compartment; and / or,

[0019] The modular shelter is equipped with multiple exit areas, and each exit area is independent of the others, so that the departure routes of the emergency / rescue drones in the corresponding compartments are separated from each other.

[0020] In an embodiment of the first aspect, the monitoring component includes:

[0021] An in-situ monitoring sensor is installed within the compartment and can cover the parking location of the emergency / rescue drone, for detecting the parking status of the emergency / rescue drone within the compartment;

[0022] A status acquisition device, communicatively connected to the emergency / rescue drone, is used to collect the equipment status information of the emergency / rescue drone; the equipment status information includes at least battery power, fire extinguishing agent remaining amount, and fire extinguishing agent type.

[0023] The ready state information is determined by at least the parking state and the device state information.

[0024] In the embodiments of the first aspect, the matching of multiple target emergency / rescue drones that satisfy the emergency / rescue mission type includes at least one of the following:

[0025] 1) Based on the type of fire source represented in the emergency / rescue mission instruction, select an emergency / rescue drone within the storage space that has a fire extinguishing agent type that corresponds to the type of fire source;

[0026] 2) Match the number of emergency / rescue drones corresponding to the fire size as indicated in the emergency / rescue mission instructions.

[0027] In the first aspect of the embodiment, a remote control system is also included, which is connected to the emergency / rescue drone for communication operations and is configured to adjust the fire extinguishing area and / or fire extinguishing sequence of the corresponding emergency / rescue drone based on the real-time fire information and equipment status information collected by the emergency / rescue drone.

[0028] In an embodiment of the first aspect, the remote control system is also communicatively connected to the main control device and is configured to send emergency dispatch information to the main control device in response to a fault alarm message from the emergency / rescue drone, so that the main control device controls the emergency / rescue drone in the shelter to replace the corresponding faulty emergency / rescue drone.

[0029] The beneficial effects of this disclosure are: the centralized storage and orderly management of emergency / rescue drones are achieved through a modular cabin with multiple compartments, and the readiness status information of drones is collected in real time based on monitoring components. In conjunction with the main control device, the target emergency / rescue drones are quickly matched based on mission instructions. Furthermore, the departure routes and times of each drone are planned through scheduling instructions, avoiding congestion and collisions during drone deployment, shortening mission response time and improving emergency / rescue efficiency. Attached Figure Description

[0030] Figure 1 A schematic diagram of the specific structure of an unmanned aerial vehicle system according to one embodiment of the present disclosure is shown.

[0031] Figure 2 A schematic diagram of the structure of an unmanned aerial vehicle system according to yet another embodiment of this disclosure is shown.

[0032] Figure 3 A schematic diagram of the structure of a monitoring component in one embodiment of this disclosure is shown.

[0033] Figure 4 A schematic diagram of a container structure with staggered compartments is shown in one embodiment of this disclosure.

[0034] Figure 5 A schematic diagram of a container structure with vertically arranged compartments is shown in one embodiment of this disclosure.

[0035] Figure 6 This invention illustrates a specific implementation of a platform that translates and contracts in the horizontal direction in one embodiment of the present disclosure.

[0036] Figure 7 This invention illustrates a specific implementation of platform flipping in another embodiment of the present disclosure.

[0037] Figure 8 A schematic diagram of the structure of an unmanned aerial vehicle system according to another embodiment of this disclosure is shown. Detailed Implementation

[0038] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the information disclosed herein. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this disclosure can be modified or changed according to different viewpoints and application modules without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0039] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art to which this disclosure pertains can readily implement it. This disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0040] In this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic represented in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in any one or a group of embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples represented in this disclosure, as well as the features of those different embodiments or examples.

[0041] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this disclosure, "a set" means two or more, unless otherwise explicitly specified.

[0042] For the purpose of clarity, devices unrelated to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0043] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0044] While the terms first, second, etc., are used in some examples herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, modules, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, modules, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0045] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this disclosure. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in this specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0046] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the message of the present disclosure, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0047] When multiple emergency / rescue drones (200) are deployed in the same hangar or shelter (100), upon receiving an emergency / rescue mission instruction, if multiple drones meeting firefighting requirements need to be dispatched simultaneously, the limited number of exits and confined internal passageways of shelter (100) can lead to path conflicts, queue congestion, or even mechanical interference if each drone independently departs based on independent instructions. This could result in some drones being unable to take off on time, and in severe cases, could even cause equipment damage.

[0048] To address the aforementioned issues, one embodiment of this disclosure provides an integrated unmanned aerial vehicle (UAV) swarm system for emergency response / rescue.

[0049] The emergency / rescue drone 200 disclosed herein includes emergency / rescue mission types such as application scenario types and user needs. In actual use, it can be flexibly combined and dynamically configured according to specific disaster events, environmental conditions and mission objectives.

[0050] As an example, the application scenarios of the emergency / rescue drone 200 in this disclosure include at least one of the following: urban areas, water areas, forests, mountains, and open seas.

[0051] As an example, the operational types of the emergency / rescue drone 200 in this disclosure include: firefighting, patrol, early warning, emergency response, and rescue; the target emergency / rescue drone carries work equipment that matches the type of emergency / rescue mission.

[0052] Taking earthquakes as an example, before an earthquake occurs, 200 emergency / rescue drones, designated for early warning or patrol missions, can conduct routine aerial inspections of earthquake-prone areas (such as areas surrounding fault zones and densely populated urban areas with old buildings). The corresponding equipment includes seismic wave sensors and surface deformation monitoring devices, capable of collecting and analyzing microseismic signals and geological activity data in real time. Once the seismic wave intensity reaches a preset warning threshold, the command center can immediately issue a warning notification to public terminals via emergency communication links, buying valuable time for personnel evacuation, shutdown of critical facilities, and pre-positioning of emergency forces, effectively reducing potential casualties and secondary disaster risks.

[0053] Furthermore, after an earthquake, the system switches to rescue or emergency operation mode, dispatching 200 emergency / rescue drones matched to the mission type to the disaster area. For example, in areas with collapsed buildings, the 200 emergency / rescue drones equipped with thermal imaging cameras, life detection radars, and laser rangefinders can scan the rubble to locate trapped individuals. Simultaneously, drones equipped with lights, loudspeakers, and laser designators can provide nighttime illumination, voice guidance and reassurance, and target location marking, improving the efficiency and safety of ground rescue teams. In addition, some of the 200 emergency / rescue drones can also serve as aerial communication relay nodes, restoring local communication capabilities in the disaster area and ensuring smooth command and dispatch.

[0054] Especially for urban earthquake scenarios, the emergency / rescue drone 200 disclosed in this publication has greater applicability. Urban environments are characterized by dense buildings, easily congested roads, and highly concentrated populations, making it difficult for traditional ground rescue forces to quickly reach the core disaster area. However, the emergency / rescue drone 200, with its vertical take-off and landing, flexible movement, and aerial perspective, can overcome traffic disruptions at the first opportunity to enter "isolated" areas to perform reconnaissance and support missions, achieving efficient coverage through multi-drone collaboration and layered / zonal operations, truly realizing a closed-loop urban earthquake emergency response system of "early warning, rapid response, and accurate rescue."

[0055] Taking floods as an example, after a flood occurs, ground transportation is often severely restricted due to road flooding, bridge damage, or mudslide blockage, making it difficult for traditional rescue forces to quickly reach the disaster area.

[0056] Therefore, the emergency / rescue drone 200 disclosed herein can perform critical tasks such as searching for and rescuing people who have fallen into the water, life detection, emergency communication relay, delivery of life-saving equipment, and distribution of food and medicine. The emergency / rescue drone 200, which performs rescue operations on water, has advantages such as vertical takeoff and landing, long endurance, and high maneuverability. It can quickly reach waters that are difficult for humans to access (such as rapids, deep pools, floodplains, or the open sea). Equipped with thermal imaging cameras, millimeter-wave radar, or AI visual recognition systems, it can search for trapped personnel on the surface or in shallow water areas in real time. Once a target is detected, it can accurately airdrop self-inflatable lifebuoys, buoyancy ropes, or emergency kits, and provide reassurance and guidance via an onboard loudspeaker. In some preferred embodiments, the emergency / rescue drone 200 can also automatically follow the person in the water, maintain illumination and positioning, and provide precise coordinates for subsequent surface robots or rescue boats.

[0057] Taking fire as an example, the emergency / rescue drone 200 in this disclosure can be configured as fire fighting, patrol, early warning or emergency action type according to the type of fire (such as urban building fire, forest fire, industrial area deflagration, etc.) and mission stage, so as to realize the full cycle response from early fire monitoring to fire fighting support and post-disaster assessment.

[0058] Before or in the early stages of a fire, patrol / early warning drones equipped with multispectral imagers, infrared thermal cameras, and smoke recognition systems can conduct routine aerial inspections of high-risk areas (such as old urban areas, forest edges, and chemical industrial parks). Once abnormal temperature rises, open flames, or smoke signals are detected, the system can immediately trigger an early warning and transmit the fire location coordinates, fire development trends, and surrounding environmental information back to the command center in real time, gaining a critical window of opportunity for early detection and suppression of fires.

[0059] After a fire breaks out, firefighting drones are quickly deployed for firefighting operations. For example, in urban high-rise building fires, high floors that are difficult to reach with traditional ladders can be precisely suppressed from the air by drones equipped with high-pressure water mist sprayers, fire extinguishing bombs, or dry powder delivery modules. In forest or mountain fires, multiple drones can be quickly deployed from a mobile firefighting system to form a swarm firefighting formation, collaboratively delivering fire retardants, creating firebreaks, or cooperating with ground teams to suppress the fire line. Some models also feature high-temperature resistance and smoke resistance designs, enabling stable flight in dense smoke environments and continuous provision of fire situational awareness.

[0060] Meanwhile, emergency drones can perform auxiliary support tasks: supporting nighttime firefighting efforts with powerful illumination, guiding personnel evacuation using loudspeakers, or acting as aerial communication relay nodes to restore communication links in disaster areas. In the post-disaster phase, drones can also perform 3D modeling and hotspot scanning to detect reignition hazards and assist in damage assessment and accident investigation.

[0061] Taking the pandemic as an example, the emergency / rescue drones 200 disclosed in this publication are used for patrol, early warning, emergency response, or material delivery.

[0062] In the early stages of an epidemic or during the control phase of high-risk areas, emergency / rescue drones equipped with high-definition cameras, thermal imaging, and behavior recognition modules can conduct aerial inspections of key locations such as communities, transportation hubs, and quarantine sites. They can automatically identify abnormal behaviors such as people gathering, not wearing masks, and unauthorized entry and exit, and remotely persuade people through onboard loudspeakers, reducing the risk of cross-infection from manual inspections.

[0063] During the peak of the pandemic, emergency / supply delivery drones can undertake unmanned delivery tasks of medical supplies. For example, they can accurately deliver nucleic acid test kits, antigen rapid screening kits, medicines, protective equipment, and daily necessities to locked-down communities, makeshift hospitals, or remote towns, with no contact and high efficiency, effectively alleviating the pressure on ground logistics and reducing the risk of infection spread. Some drones can also integrate cold chain transportation modules to ensure the safe transfer of temperature-sensitive materials such as vaccines and biological samples.

[0064] In addition, early warning drones can be equipped with environmental sensors to sample and analyze airborne particles and disinfectant concentrations in key areas to help assess the effectiveness of disinfection; while drones equipped with broadcasting and information display systems can be used for policy dissemination, popularization of epidemic prevention knowledge, and emergency notification, thereby improving public cooperation.

[0065] This application does not limit the application scenarios of the emergency / rescue drone 201. The firefighting mentioned below is only an example. In actual application, the emergency / rescue drone 201 can be used in the above-mentioned application scenarios to perform the above-mentioned action types.

[0066] Figure 1 A schematic diagram illustrating the specific structure of an unmanned aerial vehicle (UAV) system according to an embodiment of this disclosure is shown. Wherein, Figure 1 In the embodiment, the dashed box represents the selected target emergency / rescue drone 201.

[0067] The unmanned aerial vehicle system includes: a container 100, at least one monitoring component 300, and a main control device 400.

[0068] exist Figure 1 In this embodiment, the modular shelter 100 is provided with multiple compartments for storing emergency / rescue drones 200, and the modular shelter 100 is provided with at least one exit.

[0069] The shelter 100 contains multiple independent compartments, each configured to accommodate one emergency / rescue drone 200. These compartments can be isolated or semi-isolated to facilitate charging, maintenance, and status monitoring of the emergency / rescue drones 200. The shelter 100 also has at least one exit for the emergency / rescue drones 200 to exit the shelter and take off to perform their missions. In some embodiments, when the number of exits is limited (e.g., only one main exit) and multiple emergency / rescue drones 200 need to be deployed simultaneously, the coordination and scheduling of the departure sequence, path, or time of the emergency / rescue drones 200 requires higher standards.

[0070] In some optional embodiments, the container 100 can be implemented as a fixed structure or a mobile structure. The fixed container 100 can be fixed to the UAV deployment base. The mobile container 100 can be integrated into vehicles or containers for easy transport and deployment to temporary mission areas such as the vicinity of forest fires, large event sites, and disaster accident sites. Regardless of whether a fixed or mobile implementation is adopted, the container 100 has multiple storage compartments for emergency / rescue UAVs 200 and at least one exit for the UAVs to depart, and supports communication connections with the monitoring component 300 and the main control device 400 to realize the collaborative scheduling function described in this application.

[0071] exist Figure 1 In this embodiment, the monitoring component 300 is communicatively connected to the emergency / rescue drone 200 and is used to monitor the readiness status information of the emergency / rescue drone 200 in the corresponding compartment.

[0072] Specifically, the monitoring component 300 can be installed inside or outside the container 100, as long as it can establish a communication connection with the emergency / rescue drone 200 in the corresponding compartment and obtain its readiness status information.

[0073] As an example, when the monitoring component 300 is located inside the cabin 100, it can be directly installed on the side wall, top, or base of the cabin, close to the communication interface or sensor area of ​​the emergency / rescue drone 200.

[0074] Figure 2 A schematic diagram of the structure of an unmanned aerial vehicle system according to yet another embodiment of this disclosure is shown.

[0075] Among them, the Figure 2 This is only intended to demonstrate one implementation of the aforementioned unmanned aerial vehicle system. Figure 2The unmanned aerial vehicle (UAV) system further includes a power generation device 510 and an energy storage device 520 that works in conjunction with the power generation device 510. The power generation device 510 can provide continuous power to the emergency / rescue UAV 200, monitoring components 300, main control device 400, and other power-consuming units within the shelter 100 in scenarios without external power grid access (such as in the field, disaster sites, or mobile deployment). The energy storage device 520 (e.g., lithium battery packs, supercapacitors, etc.) stores the electrical energy generated by the power generation device 510 and provides backup power in case of sudden load increases or power generation interruptions, thereby ensuring the system's power supply in emergency situations.

[0076] As an example, when the monitoring component 300 is installed outside the shelter 100, it can be referred to Figure 2 The illustrated embodiment: At least one wireless transmission device 600 is provided on the outside of the shelter 100, and the wireless transmission device 600 is communicatively connected to the external monitoring component 300.

[0077] Regardless of whether it is arranged internally or externally, the monitoring component 300 is configured to continuously or periodically monitor the readiness status information of its corresponding emergency / rescue drone 200, including but not limited to battery power, fire extinguishing load status, communication status and mechanical structure integrity, so as to ensure that the main control device 400 can make scheduling decisions based on accurate and real-time status data.

[0078] Furthermore, in Figure 2 In the embodiment shown, the main control device 400 can be deployed inside the shelter 100, for example, integrated into the control compartment of the shelter 100, to facilitate communication with the monitoring component 300 and the emergency / rescue drone 200, and to reduce the impact of external interference on the control signal.

[0079] In some optional embodiments, the main control device 400 may also be deployed outside the shelter 100, for example, in a remote command center, emergency communication vehicle, or cloud server platform 111, and establish a connection with the monitoring component 300 and emergency / rescue drone 200 inside the shelter 100 through a wired or wireless communication network to realize remote monitoring and dispatch functions.

[0080] This application does not restrict the specific deployment location of the main control device 400, as long as it can maintain an effective communication connection with each monitoring component 300 and has the functions of responding to emergency / rescue mission instructions, obtaining readiness status information, matching the target emergency / rescue drone 201, and generating and issuing dispatch instructions.

[0081] exist Figure 2In this embodiment, the modular shelter 100 can be equipped with multiple exits depending on the number of compartments. If only one exit is provided, the compartments can be connected. However, if only one exit is provided, it is necessary to plan the departure route or departure time for the target emergency / rescue drone 201.

[0082] Figure 3 A schematic diagram of the structure of the monitoring component 300 in one embodiment of the present disclosure is shown.

[0083] In some embodiments, the monitoring component 300 includes a status acquisition device 310.

[0084] The target emergency / rescue drone 200 carries work equipment that matches the type of emergency / rescue mission.

[0085] Taking fire protection as an example, the status acquisition device 310 is communicatively connected to the emergency / rescue drone 200 and is used to collect the equipment status information of the emergency / rescue drone 200; the equipment status information includes at least the battery level, the remaining fire extinguishing agent, and the type of fire extinguishing agent.

[0086] Specifically, the battery charge level is used to assess the endurance of the emergency / rescue drone 200 to ensure it can complete its mission of traveling to and from the fire scene; the remaining extinguishing agent level reflects whether the current extinguishing agent is sufficient to avoid extinguishing failure due to insufficient dosage; the extinguishing agent type, such as dry powder, water-based foam, ultrafine dry powder, gaseous extinguishing agent, etc., is used to match different fire scenarios, such as electrical fires, oil fires, solid material fires, etc., to ensure that the dispatched emergency / rescue drone 200 is compatible with the mission requirements.

[0087] Taking emergency response as an example, the status acquisition device 310 can collect not only the battery power mentioned above, but also the status information of emergency-related work equipment, such as the remaining amount of emergency supplies and the power of emergency work equipment.

[0088] Taking rescue as an example, the status acquisition device 310 can also be used to collect the remaining amount of medicine, the power of the rescue device, etc.; these will not be listed one by one below.

[0089] In order to transmit the data collected by the status acquisition device 310 to the outside, the status acquisition device 310 can obtain the above information from the airborne sensors or flight control system of the emergency / rescue drone 200 through a wired interface or wireless communication module such as Bluetooth or Wi-Fi, and transmit the collected data to the main control device 400.

[0090] In some embodiments, the monitoring component 300 may further include an in-situ monitoring sensor 320 in addition to the aforementioned status acquisition device 310. The in-situ monitoring sensor 320 is disposed inside the compartment and configured to cover a predetermined parking location of the emergency / rescue drone 200, for real-time detection of the parking status of the emergency / rescue drone 200 within the compartment.

[0091] The in-situ monitoring sensor 320 includes, but is not limited to, infrared beam sensors, photoelectric switches, pressure sensors, image recognition cameras, or RFID readers. When the emergency / rescue drone 200 is correctly parked in its designated space and in a stable parking posture, the in-situ monitoring sensor 320 outputs a detection signal indicating that it is in place; if the drone is not in its designated space, deviates from its parking area, or is in a maintenance / removal state, it outputs a detection signal indicating that it is not in place.

[0092] The readiness status information is determined jointly by the parking status and the equipment status information. For example, even if an emergency / rescue drone 200 has sufficient power and a complete payload, if it is not properly parked in its designated space (e.g., under maintenance or not yet returned to its designated space), the main control device 400 should not consider it a usable resource. Conversely, a drone is only considered "ready" and can only participate in mission scheduling when it is both "in place" and "in normal equipment status".

[0093] exist Figure 1 In this embodiment, the main control device 400 is communicatively connected to the monitoring component 300; wherein, the main control device 400 is configured to, in response to an emergency / rescue mission instruction, match multiple target emergency / rescue drones 201 that meet the emergency / rescue mission type in the container 100 according to the readiness status information, and send a corresponding scheduling instruction to each target emergency / rescue drone 201; wherein, the scheduling instruction includes the departure route or departure time from the corresponding compartment of the target emergency / rescue drone 201 to the exit.

[0094] Taking firefighting as an example, the matching of multiple target emergency / rescue drones 201 that meet the emergency / rescue mission type includes at least one of the following:

[0095] 1) Based on the type of fire source represented in the emergency / rescue mission instruction, select an emergency / rescue drone 200 in the warehouse whose fire extinguishing agent type meets the corresponding type of fire source.

[0096] For example, when the mission command indicates that the fire source is electrical equipment, the main control unit 400 prioritizes selecting an emergency / rescue drone 200 equipped with dry powder or clean gas extinguishing agents; if the fire source is oil or flammable liquid, it selects an emergency / rescue drone 200 equipped with foam or special chemical extinguishing agents; for ordinary solid material combustion, water-based or multi-functional composite emergency / rescue fire-fighting drones can be deployed. By matching the type of extinguishing agent with the characteristics of the fire source, the fire-fighting effectiveness is maximized and the spread of the fire or equipment damage due to misuse of agents is avoided.

[0097] 2) Match the number of emergency / rescue drones 200 corresponding to the fire size as indicated in the emergency / rescue mission instruction.

[0098] The size of the fire can be characterized by parameters such as fire area, heat radiation intensity, smoke concentration, and spread rate in the mission instructions. The main control unit 400 determines the number of drones to be deployed based on the size of the fire: for example, 1-2 drones are deployed for small fires, 3-5 drones for medium fires, and 6 or more drones for large or rapidly spreading fires, thus avoiding waste of resources and preventing fire control failure due to insufficient manpower.

[0099] Based on the above task requirements and readiness information, the main control device 400 selects multiple target emergency / rescue drones 201 that meet the requirements of the current firefighting mission from all the emergency / rescue drones 200 stored in the shelter 100. For example, priority is given to emergency / rescue drones 200 that match the type of extinguishing agent and the type of fire, have sufficient remaining power to cover the round-trip flight and hovering operations, and are physically located near the exit or have unobstructed paths. If the task requirements are high, multiple drones of the same type or complementary types can be dispatched simultaneously for collaborative operations.

[0100] After identifying the target emergency / rescue drones 201, the main control device 400, in conjunction with the layout diagram inside the container 100 (including compartment numbers, passageway directions, turning points, obstacle areas, and exit locations) and the exit's passage capacity, generates corresponding dispatch instructions for each target emergency / rescue drone 201. The dispatch instructions at least include: a departure route, clearly indicating which passageways and turning points the drone will take from its compartment to reach the exit; and a departure time, for example, allowing the drone closest to the exit to start after t seconds, the next closest after t+3 seconds, and so on, to avoid congestion. In some preferred embodiments, the dispatch instructions may include both the departure route and the departure time.

[0101] Finally, the main control unit 400 sends dispatch instructions to each target emergency / rescue drone 201. Upon receiving the instructions, the target emergency / rescue drone 201 autonomously departs from its designated location according to the specified route and / or time, takes off in an orderly manner through the exit, and flies to the fire scene to carry out firefighting missions. This effectively solves the dispatch conflict and response delay problem caused by the restricted exit of the target emergency / rescue drone 201.

[0102] Figure 4 A schematic diagram of a modular container 100 with staggered compartment configuration is shown in one embodiment of this disclosure.

[0103] Figure 2 What is being shown is a compact modular cabin. Figure 4 The demonstrated modular shelter has sufficient space inside and few exits, thus requiring the planning of the departure path for the emergency / rescue drone 200, and the space inside the shelter is sufficient to plan the departure path.

[0104] exist Figure 4 In this embodiment, the modular cabin 100 includes at least one upper-level compartment and at least one lower-level compartment.

[0105] The upper and lower compartments are staggered horizontally, so that the departure routes of the emergency / rescue drones 200 in the lower compartment are misaligned with those of the emergency / rescue drones 200 in the upper compartment.

[0106] Specifically, the upper-level compartment is offset longitudinally or laterally along the container 100 to one side of the lower-level compartment, for example, in Figure 4 In this layout, the upper-level compartments are offset to the left of the passageway, while the lower-level compartments are offset to the right. Due to this staggered arrangement, when 200 emergency / rescue drones in both the upper and lower compartments simultaneously respond to dispatch commands and depart, their planned departure paths will not completely overlap. This physical path misalignment effectively avoids head-on collisions, lateral scraping, or queuing congestion among multiple drones in narrow passageways.

[0107] Furthermore, in conjunction with the dispatch instructions generated by the main control device 400 (including departure route and / or departure time), for example, the main control device 400 can prioritize the departure of the target emergency / rescue drone 201 in the upper forward position, while simultaneously dispatching the target emergency / rescue drone 201 in the lower rear position to start later and follow along an interference-free path, so as to achieve efficient, orderly and conflict-free synchronous deployment of multiple drones.

[0108] Optionally, the container 100 is provided with multiple exit areas, and each exit area is independent of the others, so that the departure routes of the target emergency / rescue drones 201 in the corresponding compartments are separated from each other.

[0109] Specifically, the multiple exit areas can be arranged at intervals along the side walls, ends, or top of the shelter 100. Each exit is used by one or more specific compartment groups within the shelter 100 (e.g., divided by area, floor, or mission type), ensuring that the paths of target emergency / rescue drones 201 assigned to different exits are isolated and do not intersect during their entire journey from exiting the compartment to takeoff. For example, the left exit area is for dry powder fire extinguishing agent emergency / rescue drones 200, and the right exit area is for water-based emergency / rescue drones 200. Alternatively, emergency / rescue drones 200 in the upper compartments can use the top exit, and emergency / rescue drones 200 in the lower compartments can use the bottom exit.

[0110] In some embodiments, the four side walls of the shelter 100 are configured as openable or deployable structures in the front, rear, left, and right directions, enabling the shelter 100 to be omnidirectionally open in an emergency. In some preferred embodiments, each side of the shelter 100 can be configured as an electrically operated sliding door, a roller shutter door, or a quick-detachable panel, which opens synchronously or as needed after receiving an opening command from the main control device 400, thereby forming multiple unobstructed takeoff channels in the horizontal direction. Through the omnidirectional open design, in some emergency situations, the emergency / rescue drones 200 stored in the shelter 100 can autonomously select the optimal takeoff direction according to mission requirements, wind conditions, fire location, or dispatch strategy, and take off directly from any side without having to detour or pass through internal channels, effectively avoiding response delays caused by structural obstruction, exit congestion, or circuitous paths.

[0111] Figure 5 A schematic diagram of a container 100 with vertically arranged compartments is shown in one embodiment of this disclosure.

[0112] Figure 5 and Figure 4 Similarly, all the modular units shown are those with sufficient internal space for departure route planning. Figure 5 In this embodiment, the modular cabin 100 includes at least one upper-level compartment and at least one lower-level compartment;

[0113] The upper and lower storage compartments are arranged to overlap vertically, and at least a portion of the upper storage compartments covers the departure route of the lower storage compartments in a horizontal projection.

[0114] Specifically, the upper compartment is located directly above or partially above the lower compartment, and its bottom structure (such as the compartment floor, support frame, or drone parking platform 111) extends in the horizontal projection plane to the area above the lower drone departure channel. For example, when an emergency / rescue drone 200 in the lower compartment travels straight along the bottom main channel towards the exit of the shelter 100, the space above its path is covered by the cantilevered portion of the upper compartment. While this structural design helps improve the utilization rate of the interior space of the shelter 100, it may introduce potential operational interference risks in scenarios where multiple emergency / rescue drones 200 are simultaneously dispatched: for example, if an upper-level drone may have a spatial conflict with a drone departing below. To address the aforementioned issues, the main control device 400, while planning the departure route of the lower-level drone, assesses whether the upper-level compartment is occupied or whether it is adjustable (e.g., drone take-off or landing, door opening) to adjust the departure sequence of the upper and lower level target emergency / rescue drones 201: for example, prioritizing allowing the lower-level drone to complete its departure before triggering the start-up process of the upper-level drone.

[0115] Optionally, the container 100 further includes a drive device connected to the upper compartment and configured to drive the upper compartment or the platform 111 carrying the compartment to move along a preset avoidance trajectory to make way for the departure route of the target emergency / rescue drone 201 in the lower compartment.

[0116] Specifically, in such Figure 5 In the vertically overlapping bay layout shown, since the upper bay partially or completely covers the departure path of the lower-level drone in the horizontal projection, there may be a risk of spatial interference if the target emergency / rescue drones 201 on both the upper and lower layers need to be deployed simultaneously. The drive device in this embodiment includes, but is not limited to, electric push rods, guide rail slides, and rotating arm mechanisms, which are mechanically connected to the upper bay or its support platform 111. When the main control device 400 detects that the target emergency / rescue drone 201 in the lower bay is about to start its departure, and its path is within the projection obstruction area of ​​the upper bay, the main control device 400 sends an avoidance command to the drive device, triggering the upper bay to move along a preset avoidance trajectory.

[0117] Figure 6 This illustration demonstrates a specific implementation of a drive device driving a platform 111 to retract in a horizontal direction according to one embodiment of this disclosure. If the retraction is horizontal, the platform 111 can be implemented as a folding plate or a mechanical structure similar to an automatic awning.

[0118] exist Figure 6In this embodiment, the modular shelter 100 includes at least one upper compartment and at least one lower compartment, wherein the upper compartment is disposed on a movable platform 111. The drive device is mechanically connected to the platform 111 and is configured to drive the platform 111 to move along a preset horizontal direction (labeled as direction a).

[0119] Specifically, when the main control device 400 detects that the target emergency / rescue drone 201 in the lower compartment is about to start and leave, and its path is within the projection obstruction area of ​​the upper compartment, the main control device 400 sends an avoidance command to the drive device. The drive device starts immediately after the target emergency / rescue drone 201 in the upper compartment leaves, pushing the platform 111 carrying the upper compartment to move inward (i.e., in the direction shown by direction a) along the pre-laid guide rails or chutes until it is completely removed from the coverage area of ​​the lower drone's departure route, so that the upper compartment temporarily retreats to the reserved empty area inside the container 100, thereby providing passage space for the lower drone.

[0120] After the emergency / rescue drone 200 in the lower compartment stops, the drive unit restarts, resetting platform 111 and the upper compartment above it to their initial positions.

[0121] Figure 7 This invention illustrates a specific implementation of a drive device driving platform 111 to flip and rise in another embodiment of the present disclosure. In this embodiment, the container 100 also includes at least one upper compartment and at least one lower compartment, but employs a different avoidance mechanism: the platform 111 carrying the upper compartment is flipped and raised upwards in a vertical direction (labeled as direction b).

[0122] Specifically, when the main control device 400 receives a notification that the lower-level drone is about to leave and determines that the existence of the upper-level compartment may obstruct its path, the drive device starts to work. Using components such as hinges, hydraulic rods or electric push rods, the platform 111 carrying the upper-level compartment is rotated around the fixed axis in direction b, gradually raising it to a safe height in the upper space, thereby avoiding the passage below and clearing an unobstructed departure path for the lower-level drone.

[0123] In some optional embodiments, when the compartments within the shelter 100 are arranged in an overlapping manner and the platform 111 carrying the compartments is immovable, the main control device 400 is further configured to determine whether a collision event exists based on the departure paths and departure times of each target emergency / rescue drone 201; if so, determine the departure priority among the target emergency / rescue drones 201 with the collision event according to the urgency of the target operation event under their responsibility; adjust the departure paths and / or departure times of the target emergency / rescue drones 201 with lower departure priority, so that the target emergency / rescue drones 201 with higher departure priority can leave first, thereby eliminating the collision event.

[0124] Specifically, after generating the initial scheduling instructions, the main control device 400 performs conflict simulation based on the departure paths and departure times of each target emergency / rescue drone 201 to determine whether there are potential collision events, including but not limited to: spatial interference between the upper-level target emergency / rescue drone 201 during its vertical start-up and the target emergency / rescue drone 201 traveling below, multiple drones queuing and congesting at a shared exit, or timing overlap at path intersections. The collision event can also be determined based on the takeoff time sent by the target emergency / rescue drone 201 after takeoff. For example, if the target emergency / rescue drone 201 takes off t seconds later than its scheduled takeoff time, it may affect the target emergency / rescue drone 210 that was scheduled to take off later, resulting in a collision.

[0125] If a collision risk is detected, the main control device 400 will adjust the priority of the drones involved based on the urgency of the target operation event handled by each target emergency / rescue drone 201 (e.g., the fire level in the mission instruction, whether personnel are trapped, etc.) and determine their departure priority.

[0126] Subsequently, the main control device 400 dynamically adjusts the scheduling scheme for the departure of the low-priority target emergency / rescue drone 201: it can replan its departure path (e.g., guide it to detour through an alternate channel, delay its entry into the main road, or switch to a suboptimal exit). In some embodiments, its departure time can also be postponed (e.g., insert waiting intervals, staggered start-up), so as not to interrupt the operation of the high-priority target emergency / rescue drone 201.

[0127] Optionally, when the target operation events are the same target operation events, the target emergency / rescue drone 201 with a relatively shorter departure time corresponding to the departure path is the target emergency / rescue drone 201 with a higher departure priority.

[0128] Specifically, under the same fire situation, although all target emergency / rescue drones 201 meet the basic matching conditions such as extinguishing agent type, battery power, and readiness status, the time required for them to leave their current location and reach the exit of the shelter 100 (i.e., travel time) may differ due to their different locations within the shelter. The main control device 400 calculates the estimated travel time required for each target emergency / rescue drone 201 to complete its departure action based on the internal map and path planning results of the shelter 100. For target emergency / rescue drones 201 with shorter travel paths, smoother passages, fewer turns, or closer proximity to the exit, their travel time is usually shorter.

[0129] Based on this, the main control device 400 prioritizes the departure of the target emergency / rescue drone 201, which has a shorter travel time, because the target emergency / rescue drone 201 can not only complete the cabin departure phase faster, but also take off and arrive at the fire site earlier.

[0130] If the original conflict is eliminated after the high-priority target emergency / rescue drone 201 departs, the remaining target emergency / rescue drones 201 can be dispatched in sequence according to the original plan or the slightly adjusted time / path; if the conflict still exists, the main control device 400 will sort them level by level until there is no conflict in the scheduling plan of all target emergency / rescue drones 201.

[0131] Optionally, when the target operation event is different target operation events, the target emergency / rescue drone 201 pointed to by the target operation event with higher urgency is the target emergency / rescue drone 201 with higher departure priority.

[0132] Specifically, the urgency of the operation is determined based on at least one of the following: the type of action, whether personnel are trapped, and whether hazardous materials are involved. The presence of trapped personnel indicates a fire with a significantly higher urgency level than a fire in an uninhabited area. Fires with rapid spread, high heat release rates, or those already in the flashover stage require priority response to prevent further damage. If the fire is located in a chemical plant, gas station, laboratory, or storage area, posing a risk of explosion, toxic gas leakage, or a chain reaction, its priority should be significantly increased.

[0133] After receiving multiple concurrent emergency / rescue mission instructions, the main control device 400 first analyzes the urgency of each target operation event and assigns a corresponding urgency level to each mission (e.g., divided into four levels: "extremely high," "high," "medium," and "low"). Subsequently, when scheduling multiple target emergency / rescue drones 201, if there are potential conflicts in their departure paths or times, priority is given to ensuring that the target emergency / rescue drone 201 corresponding to the higher urgency level mission departs first. For example, a target emergency / rescue drone 201 heading to a high-rise residential building where people are trapped will have a higher departure priority than another target emergency / rescue drone 201 heading to an open-air garbage fire site where no one is present, even if the latter has a shorter path.

[0134] For emergency / rescue drones 201 with lower departure priority, the main control device 400 can dynamically adjust their departure path (such as guiding them to an alternate exit or detouring) or postpone their departure time (such as inserting them into a waiting queue) to ensure that emergency / rescue drones 201 with higher priority can complete their deployment first.

[0135] Optionally, the main control device 400 also responds to the return request sent by the emergency / rescue drone 200, matches the battery power limit in the equipment status information of all emergency / rescue drones 200 to be returned to the location, and generates the entry route from the exit to the corresponding location; wherein the entry route enables all emergency / rescue drones 200 to be returned to the location to form an avoidance relationship.

[0136] Specifically, when one or more emergency / rescue drones 200 complete their firefighting mission and return to the vicinity of the shelter 100, they will send a return request containing their current equipment status information (such as remaining battery power) to the main control device 400. The main control device 400, based on the equipment status information, matches a suitable bay from the available bays within the shelter 100 that meets its power limitations and other conditions (such as the size of the emergency / rescue drone 200 and its charging interface type), and generates an entry route from the exit of the shelter 100 to that bay. It is worth noting that even during the return phase, coordinated planning of entry routes for multiple drones returning simultaneously is still necessary. This is because the internal passageways of the shelter 100 typically have limited space and turning radii, and may employ a multi-level or densely packed bay layout. If multiple drones enter haphazardly, they are highly likely to experience head-on collisions, side scrapes, or queue blockages at passageway intersections, the lifting platform 111, or in front of the exit door. This not only delays the return time but may also lead to the risk of a drone crashing due to low battery power being forced to hover. Therefore, when generating the entry route, the main control device 400 will comprehensively consider the position, battery status, target location, and path of each drone waiting to return, and actively establish avoidance relationships. For example, it can do so by allocating different channels, setting staggered entry times, or giving priority to drones with extremely low battery levels.

[0137] Figure 8 A schematic diagram of the structure of an unmanned aerial vehicle system according to another embodiment of this disclosure is shown.

[0138] Optionally, the unmanned aerial vehicle (UAV) system further includes a remote control system 700 and an emergency / rescue UAV 200 that is connected to the operation. The system is configured to adjust the fire extinguishing area and / or fire extinguishing sequence of the corresponding emergency / rescue UAV 200 based on the real-time fire information and equipment status information collected by the emergency / rescue UAV 200.

[0139] Specifically, after arriving at the fire scene, the emergency / rescue drone 200 can continuously collect real-time data about the fire scene through its onboard cameras, infrared thermal imagers, gas sensors, and other sensing devices. This data includes, but is not limited to, flame temperature distribution, smoke diffusion direction, identification of burning material type, surrounding environmental obstacles, and equipment status information such as its remaining battery power, extinguishing agent reserves, and spraying status. This data is wirelessly transmitted back to the remote control system 700 in real time.

[0140] The remote control system 700 can reallocate tasks to the emergency / rescue drones 200 based on the aforementioned information. For example, if an emergency / rescue drone 200 was originally scheduled to cover area A, but discovers a new flashover point in area B during flight and no other emergency / rescue drones 200 are operating, its firefighting area can be reallocated to area B. Similarly, when multiple emergency / rescue drones 200 are operating collaboratively, if one drone is unable to complete its original task due to a sudden drop in power or depletion of extinguishing agent, the remote control system 700 can immediately adjust the firefighting order of the other emergency / rescue drones 200, prioritizing those in good condition to extinguish fires in severely affected areas, or directing nearby emergency / rescue drones 200 to take over. Furthermore, in complex fire scenes, the remote control system 700 can also predict the fire spread path based on heat map trends and pre-position emergency / rescue drones 200 in high-risk areas for preventative spraying.

[0141] Alternatively, please refer to Figure 8 In this embodiment, the remote control system 700 is also communicatively connected to the main control device 400 and is configured to send emergency dispatch information to the main control device 400 in response to a fault alarm message from the emergency / rescue drone 200, so that the main control device 400 controls the emergency / rescue drone 200 in the shelter 100 to replace the corresponding faulty emergency / rescue drone 200.

[0142] Specifically, when an emergency / rescue drone 200 performing a firefighting mission issues a fault alarm due to a power system malfunction, communication interruption, fire extinguishing agent spraying failure, navigation inaccuracy, or other component failure, the alarm information will be uploaded to the remote control system 700 in real time. After determining that the drone can no longer effectively perform its mission, the remote control system 700 immediately generates emergency dispatch information including the fault location, the original mission area, the fire situation, and the remaining operational requirements, and sends it to the main control device 400 inside the shelter 100.

[0143] Upon receiving the emergency dispatch information, the main control unit 400 quickly selects one or more suitable backup drones (e.g., matching fire extinguishing agent type, sufficient power, and route reachable) from the ready emergency / rescue drones 200 in the shelter 100, and replans their departure routes and takeoff sequences to ensure they take off as quickly as possible and reach the firefighting area originally assigned to the malfunctioning drone. Simultaneously, the main control unit 400 can also provide the remote control system 700 with the identification of the newly dispatched drone and its estimated arrival time.

[0144] Meanwhile, based on the equipment status information transmitted back by the faulty drone, the main control unit 400 matches it with a return bay that meets the return restriction conditions from the available bays. For example, it prioritizes allocating bays that are close to the exit, have a short entry path, or are located on the bottom or side to reduce the risk of returning the drone when it is low on power or damaged.

[0145] Subsequently, the main control unit 400 plans a safe route for the malfunctioning drone from the exit of the container 100 to its assigned bay, and coordinates with other drones that are returning to their positions or waiting in order to ensure that their return process is conflict-free through path avoidance or staggered timing. Once the malfunctioning drone successfully parks in the designated bay, the system can also automatically trigger the in-bay maintenance interface (such as power failure protection, status lock, or fault marking) to prevent it from being called by mistake.

[0146] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the protection scope of this disclosure.

Claims

1. A drone swarm integration system for emergency / rescue, characterized in that, The unmanned aerial vehicle system includes: The modular shelter is equipped with multiple compartments for storing emergency / rescue drones, and the shelter has at least one exit. At least one monitoring component is communicatively connected to the emergency / rescue drone and is used to monitor the readiness status information of the emergency / rescue drone in the corresponding compartment. A main control device is communicatively connected to the monitoring component. The main control device is configured to respond to emergency / rescue mission instructions, match multiple target emergency / rescue drones matching the emergency / rescue mission type within the container based on the readiness status information, and send corresponding dispatch instructions to each target emergency / rescue drone. The emergency / rescue mission type includes application scenario type and action type. The application scenario type includes at least one of urban, water, forest, mountain, and open sea conditions. The action type includes firefighting, patrol, early warning, emergency response, and rescue. The target emergency / rescue drone carries work equipment matching the emergency / rescue mission type. The dispatch instructions include the departure route or departure time from the corresponding compartment of the target emergency / rescue drone to the exit.

2. The unmanned aerial vehicle system according to claim 1, characterized in that, The main control device is also used to determine whether a collision event has occurred based on the departure path and departure time of each target emergency / rescue drone; If a collision occurs, determine the departure priority among the target emergency / rescue drones based on the urgency of the target operation event; adjust the departure path and / or departure time of the target emergency / rescue drones with lower departure priority so that the target emergency / rescue drones with higher departure priority can leave first, thereby eliminating the collision event.

3. The unmanned aerial vehicle system according to claim 2, characterized in that, When the target operation events are the same, the target emergency / rescue drone with the shorter travel time corresponding to the departure path is the target emergency / rescue drone with higher departure priority; And / or, when the target operation event is different target operation events, the target emergency / rescue drone pointed to by the target operation event with higher operation urgency is the target emergency / rescue drone with higher departure priority; the operation urgency is determined based on at least one of the following: operation type, whether personnel are trapped, and whether hazardous materials are involved.

4. The unmanned aerial vehicle system according to claim 1, characterized in that, The main control device also responds to the return request sent by the emergency / rescue drone, matches the battery power limit in the equipment status information of all emergency / rescue drones waiting to return to the location with a location that meets the limit, and generates an entry route from the exit to the corresponding location; wherein the entry route enables all emergency / rescue drones waiting to return to the location to form an avoidance relationship.

5. The unmanned aerial vehicle system according to claim 1, characterized in that, The modular cabin includes at least one upper-level compartment and at least one lower-level compartment; The upper and lower compartments are arranged to overlap vertically, and at least a portion of the upper compartment covers the departure route of the lower compartment in the horizontal projection. The modular shelter also includes a drive unit connected to the upper compartment and configured to drive the upper compartment or the platform carrying the compartment to move along a preset avoidance trajectory to make way for the departure route of emergency / rescue drones in the lower compartment.

6. The unmanned aerial vehicle system according to claim 1, characterized in that, The modular cabin includes at least one upper-level compartment and at least one lower-level compartment; The upper and lower compartments are horizontally staggered, causing the departure routes of emergency / rescue drones in the lower compartment to be misaligned with those in the upper compartment; and / or, The modular shelter is equipped with multiple exit areas, and each exit area is independent of the others, so that the departure routes of the emergency / rescue drones in the corresponding compartments are separated from each other.

7. The unmanned aerial vehicle system according to claim 1, characterized in that, The monitoring components include: An in-situ monitoring sensor is installed within the compartment and can cover the parking location of the emergency / rescue drone, for detecting the parking status of the emergency / rescue drone within the compartment; A status acquisition device, communicatively connected to the emergency / rescue drone, is used to collect the equipment status information of the emergency / rescue drone; the equipment status information includes at least battery power, fire extinguishing agent remaining amount, and fire extinguishing agent type. The ready state information is determined by at least the parking state and the device state information.

8. The unmanned aerial vehicle system according to claim 1, characterized in that, The matching of multiple target emergency / rescue drones that meet the emergency / rescue mission type includes at least one of the following: 1) Based on the type of fire source represented in the emergency / rescue mission instruction, select an emergency / rescue drone within the storage space that has a fire extinguishing agent type that corresponds to the type of fire source; 2) Match the number of emergency / rescue drones corresponding to the fire size as indicated in the emergency / rescue mission instructions.

9. The unmanned aerial vehicle system according to claim 1, characterized in that, It also includes a remote control system and an emergency / rescue drone that is connected to the operation, configured to adjust the fire extinguishing area and / or fire extinguishing sequence of the corresponding emergency / rescue drone based on the real-time fire information and equipment status information collected by the emergency / rescue drone.

10. The unmanned aerial vehicle system according to claim 9, characterized in that, The remote control system is also communicatively connected to the main control device and is configured to send emergency dispatch information to the main control device in response to the fault alarm information of the emergency / rescue drone, so that the main control device can control the emergency / rescue drone in the container to replace the corresponding faulty emergency / rescue drone.

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