Unmanned aerial vehicle-mounted odor sensor search and rescue system and method thereof

Abstract

This invention discloses a search and rescue system and method for unmanned aerial vehicles (UAVs) equipped with odor sensors, relating to the field of gas detection technology. The system includes the following steps: installing and fixing the UAV-equipped odor sensor search and rescue device in a mountainous search and rescue area; establishing a power connection; setting the antenna orientation and air inlet layout; creating an installation list based on terrain undulations and wind direction distribution; and generating a UAV operating time reference. This invention achieves stable airflow and humidity balance through highly sensitive odor collection and stable flow and humidity control, ensuring continuous and accurate odor signal detection. Simultaneously, by combining the dynamic correlation between odor concentration and spatial location, the ground terminal generates trajectory adjustment commands to control the UAV to correct its flight attitude and sampling path in real time, forming a continuous odor tracking mechanism. This enables rapid target location and efficient search and rescue in complex mountainous environments.

Description

Technical Field

[0001] This invention relates to the field of gas detection technology, specifically to a search and rescue system and method for unmanned aerial vehicles (UAVs) equipped with odor sensors. Background Technology

[0002] In the search and rescue of missing persons in mountainous areas, current methods primarily rely on manual search and dog sniffing. While manual search is flexible, it suffers from slow response times and limited coverage in complex terrain and densely vegetated mountainous environments, and is prone to omissions due to obstructed visibility or physical limitations. Dogs play a crucial role in search and rescue thanks to their keen sense of smell, but their working time is limited by physical stamina, and the accuracy of scent recognition is easily affected by environmental airflow and odor dilution, making it difficult to achieve efficient and precise searches in large areas and complex terrain. These issues result in the efficiency of finding and rescuing missing persons failing to meet actual needs, especially during the critical rescue window, where the limitations of traditional methods become even more pronounced.

[0003] In recent years, drone technology and intelligent sensing systems have been widely used in emergency rescue, particularly demonstrating significant value in the search for missing persons in mountainous areas. Drones can be equipped with high-definition cameras, infrared thermal imagers, radar, audio equipment, and various types of intelligent sensors, enabling rapid surveys of large areas of forest, covering rugged terrain and densely vegetated areas inaccessible to human personnel. This effectively improves search efficiency and significantly shortens response time, providing new technological means for the discovery and rescue of missing persons. However, in densely vegetated or complex mountainous environments, sensors such as cameras and infrared thermal imagers are easily obstructed by trees, shrubs, and other obstacles. Radar and audio equipment may also be affected by terrain reflections and environmental noise, making it difficult to detect some targets and posing a certain risk of missed detection. Therefore, how to further improve the detection capabilities of drone intelligent sensing systems in complex mountainous environments, overcome the limitations of existing detection technologies, and achieve efficient and accurate searches for missing persons remains a critical issue that urgently needs to be addressed.

[0004] The existing technology has the following shortcomings: Against this backdrop, odor search technology has become a research hotspot in the field of life detection in recent years. Human secretions, respiration, sweat, blood, and urine release a variety of characteristic volatile organic compounds (VOCs), including acids, amines, aldehydes, ketones, and sulfides. These gases have strong penetrating power and can diffuse in environments obscured by vegetation or obstacles, aiding in the effective search and location of targets in complex environments. In particular, the decomposition of victims releases large amounts of malodorous and pungent gases such as sulfides and amines. Using drones equipped with odor sensors to identify these characteristic gases can enable target location and search. Odor search technology, as an effective supplement to existing search methods, can significantly improve the efficiency of searching for missing persons in complex terrain and densely vegetated areas. However, currently, there are no mature drone-mounted odor sensor equipment and products applied to traditional mountain and forest missing persons searches. To address this technological gap, this patent proposes a system for equipping drones with odor sensors, aiming to solve the problem of effective detection and location of the odor of missing persons in complex mountainous and forest environments, further improve search and rescue efficiency and intelligence, and provide innovative technical support for the rapid discovery and rescue of missing persons in mountainous and forest environments.

[0005] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a search and rescue system and method for drones equipped with odor sensors, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a search and rescue method for a drone equipped with an odor sensor, comprising the following steps: S001, in the mountain and forest search and rescue area, complete the installation and fixation of the drone equipped with the odor sensor search and rescue device, establish power connection, set the antenna orientation and air inlet layout, establish an installation list based on terrain undulation and wind direction distribution, and generate the drone operation time reference for a unified coordinate reference for subsequent odor sampling and location calibration; S002, based on the running time reference, starts the air pump, flow stabilizer and humidity regulator, continuously adjusts the intake rate and humidity balance to form a stable clean airflow, and records the airflow parameters to establish constant input conditions to ensure stable odor concentration detection; S003, under stable clean airflow conditions, uses an odor sensor to detect the concentration of sulfide gas and amine gas, uses a positioning device to synchronously record latitude, longitude and altitude information, and generates an odor point set and offset scale by corresponding the detection data and spatial coordinate data, thus constructing a data system that associates odor concentration with spatial location. S004: Utilize the ground terminal to receive odor point sets and offset scale data, generate an odor concentration distribution map and calculate the odor concentration gradient direction, combine the UAV flight attitude parameters to generate a trajectory adjustment command, and feed the trajectory adjustment command back to the control terminal to update the UAV cruise path and sampling interval benchmark. S005 controls the UAV to perform dynamic adjustments based on flight path adjustment instructions and sampling interval benchmarks. During the cruise, it introduces a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle. Combined with real-time wind direction data, it corrects the air intake angle and flight altitude to form a continuous odor sampling path, thereby achieving continuous tracking and precise positioning of odor signals.

[0008] Preferably, step S001 includes: Environmental surveys were conducted in the mountainous and forested areas where drones were to carry out search and rescue missions. Based on the terrain undulations, vegetation density and airflow distribution, the take-off and landing points and hovering areas of the drones were determined. The anti-vibration structure brackets were used to fix the drones to the mounting points through multi-point mounting slots, so that the air intake direction was consistent with the wind direction. After installation and fixation are completed, a power connection system is established. The input end receives DC power through the main power supply interface of the UAV, and the output end provides constant voltage and current to the control circuit, sensing components and auxiliary equipment through a graded voltage regulation circuit. At the same time, signal lines and antenna guiding paths are laid out and the main radiation direction is kept consistent with the flight direction. Based on wind direction information, the air intake layout and airflow path optimization are completed. The air intake path includes the air intake pipe, the flow stabilizing cavity and the filter unit in sequence. The axis of the flow stabilizing cavity is kept parallel to the longitudinal axis of the UAV to ensure stable airflow. A time reference is established using the UAV system clock to unify the timing of the odor sensing device, positioning unit, and data acquisition unit. Satellite positioning is used to continuously record latitude, longitude, and altitude to generate static reference coordinates for subsequent odor sampling and location calibration.

[0009] Preferably, step S002 includes: The air pumps are started sequentially according to the running time reference, so that the air sample is evenly drawn into the sampling channel from the air inlet, and the instantaneous airflow impact is reduced by the porous flow guiding structure of the buffer chamber, so that the gas entering the flow stabilization device forms a preliminary stable channel. The air sample formed by the initial airflow enters the flow stabilization device, which uses the rectifier unit structure to redistribute the gas velocity and direction, reduce airflow vortices and maintain a constant flow rate. At the same time, it is linked with the time reference to adjust the target flow rate value so that the flow rate change is synchronized with the sampling time. After the air sample is stabilized, it is introduced into the humidity control device. The humidity is adjusted bidirectionally by the moisture absorption layer and the evaporation layer to keep the gas humidity constant. The air is then filtered and purified through multiple layers to remove suspended dust particles and vegetation debris to form a clean airflow. It records time-series data of airflow speed, humidity, temperature and pressure based on the operating time reference, and automatically adjusts the air pump output frequency and humidity regulation rate when the airflow speed or humidity deviates from the set value to keep the airflow input conditions constant.

[0010] Preferably, the flow stabilizing device in the airflow channel is equipped with sequentially distributed rectification units. The channel wall of the rectification unit is made of a low-friction material, which keeps the gas at a uniform speed during the flow process and reduces gas adhesion on the channel surface. The flow stabilizing device is continuously linked with the operating time reference during operation and maintains the gas flow rate stability by periodically adjusting the target flow rate value, thereby achieving a constant output of gas pressure and velocity before odor sampling.

[0011] Preferably, step S003 includes: The detection channel of the odor detection device is activated under a stable clean airflow input, so that the sensing unit enters the working preparation state under the operating time reference, and the outlet of the stable airflow is aligned with the inlet of the detection channel to ensure uniform distribution of gas samples. Under steady-state continuous airflow input conditions, the concentration of sulfide gas and amine gas in air samples is detected by an odor detection device. The sensor element outputs an electrical signal amplitude that is proportional to the odor concentration, and the detection environment is kept stable through temperature compensation and gas buffer structure. While collecting odor signals, the positioning device records latitude, longitude and altitude information to keep the odor concentration data and spatial location data synchronized in time, forming a one-to-one spatial coordinate relationship. Odor concentration data is correlated with spatial location information to generate odor point sets, and offset distance and direction are calculated based on reference coordinates to form an offset scale, thus constructing a data system that associates odor concentration with spatial location.

[0012] Preferably, when generating the odor point set and offset scale, the odor concentration data and spatial location information are sequentially arranged using the running time reference as an index, so that each odor point forms a closed correspondence with latitude, longitude and altitude information, and the odor signal distribution trend in space is reflected by the offset scale, thereby realizing the synchronous correlation between odor concentration changes and spatial orientation, which is used to determine the direction of odor source and assist the UAV in performing target positioning.

[0013] Preferably, step S004 includes: During the drone's cruise, the ground terminal receives the odor point set and offset scale data in real time, and performs time alignment based on the running time base. The odor concentration data, latitude and longitude, altitude and offset scale are cached and stored sequentially. Using the received and stored odor point set and offset scale data, the odor concentration values ​​are mapped to spatial coordinates to generate a three-dimensional odor concentration distribution map, and the spatial distribution of odor concentration is formed with the coordinate reference as a reference. After the odor concentration distribution map is generated, the concentration change relationship between odor points is analyzed to determine the direction of the odor concentration gradient. Spatial correction is then performed by combining the pitch angle, roll angle and yaw angle attitude parameters of the UAV to ensure that the direction of the odor concentration gradient is consistent with the flight direction of the UAV. Based on the direction of the odor concentration gradient and the attitude parameters of the UAV, a trajectory adjustment command is generated and fed back to the control terminal via a wireless data link to update the UAV's cruise path and sampling interval reference.

[0014] Preferably, when generating a flight path adjustment command, the ground terminal determines the UAV's flight path to be adjusted along the direction of increasing odor concentration based on the odor concentration distribution trend, and dynamically adjusts the sampling interval according to the spatial density between odor points, so that the UAV maintains high-frequency sampling in the odor concentration change area and performs low-frequency sampling in the odor concentration flat area, so as to achieve continuous tracking of odor signals and adaptive path update.

[0015] Preferably, step S005 includes: According to the flight path adjustment command, a sampling airflow inlet is arranged on the opposite side of the UAV's forward direction. A low-pressure intake zone is formed through the reverse airflow sampling window, so that the air sample enters the collection channel along a stable streamline to obtain a constant airflow input. Based on reverse airflow sampling, the intake rate and humidity regulation frequency are periodically adjusted by a steady-humidity breathing rhythm to keep the air sample at a constant humidity and maintain a laminar flow state before entering the sensing area. After the steady-humid breathing rhythm is stabilized, a buffer loop is formed on the airflow path using a delay compensation coil, so that the gas is moderately retained during transmission to ensure that the odor signal response time is consistent with the flight sampling time. While performing time-delay compensation, the air intake angle and flight altitude of the drone are adjusted in conjunction with real-time wind direction data to keep the air intake direction parallel to the main airflow direction. Based on the odor concentration distribution, a continuous odor sampling path is formed to achieve odor signal tracking and spatial positioning.

[0016] A search and rescue system for unmanned aerial vehicles (UAVs) equipped with odor sensors includes an operational baseline establishment module, an airflow steady-state control module, an odor detection and spatial data generation module, a data analysis and trajectory feedback module, and a dynamic sampling and positioning module. The operational baseline establishment module completes the installation and fixation of the drone-mounted odor sensor search and rescue device in the mountain and forest search and rescue area, establishes the power connection, sets the antenna orientation and air inlet layout, establishes an installation list based on terrain undulations and wind direction distribution, and generates a drone operation time baseline for unified coordinate reference for subsequent odor sampling and location calibration. The airflow steady-state control module starts the air pump, flow stabilizer and humidity regulator based on the running time reference, continuously adjusts the intake rate and humidity balance to form a stable clean airflow, and records the airflow parameters to establish constant input conditions to ensure stable odor concentration detection. The odor detection and spatial data generation module uses odor sensors to detect the concentration of sulfide and amine gases under stable clean airflow conditions, and uses a positioning device to simultaneously record latitude, longitude and altitude information. The detection data and spatial coordinate data are matched to generate odor point sets and offset scales, and a data system that associates odor concentration with spatial location is constructed. The data analysis and trajectory feedback module uses the ground terminal to receive odor point sets and offset scale data, generates an odor concentration distribution map and calculates the odor concentration gradient direction, and combines the UAV flight attitude parameters to generate trajectory adjustment commands, which are then fed back to the control terminal to update the UAV cruise path and sampling interval benchmark. The dynamic sampling and positioning module controls the UAV to perform dynamic adjustments based on the flight path adjustment instructions and sampling interval benchmarks. During the cruise, it introduces a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle. Combined with real-time wind direction data, it corrects the air intake angle and flight altitude to form a continuous odor sampling path, thereby achieving continuous tracking and precise positioning of odor signals.

[0017] The technical effects and advantages provided by the present invention in the above technical solution are as follows: This invention introduces a highly sensitive odor collection device and a stable flow and humidity control structure onto a UAV platform, ensuring a stable odor signal input even in complex mountainous environments. An air pump, flow stabilizer, and humidity regulator work together to continuously adjust the intake rate and humidity balance, ensuring that the air sample maintains a constant flow rate and humidity before entering the sensing area. This prevents odor detection results from being affected by wind direction fluctuations, airflow disturbances, and humidity changes. This method effectively improves the continuity and accuracy of odor concentration detection, enabling UAVs to reliably identify characteristic gases such as sulfides and amines in complex terrain conditions, providing a technical guarantee for the reliable capture of vital odor signals.

[0018] This invention establishes a dynamically adjustable odor tracking mechanism by synchronously linking odor concentration with spatial location during data acquisition and flight control. The ground terminal generates flight path adjustment commands based on the odor concentration distribution map and concentration gradient direction, controlling the UAV to correct its cruise path and air intake angle in real time, achieving continuous odor signal tracking. Through the synergistic effect of a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle, the UAV maintains stable airflow and a consistent sampling rhythm during flight, enabling rapid identification of areas with abnormal odor concentrations, precise target location, and improved life detection efficiency in forest search and rescue missions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1 This is a flowchart of a search and rescue method for a drone equipped with an odor sensor, according to the present invention.

[0021] Figure 2 This is a schematic diagram of a search and rescue system for a drone equipped with an odor sensor, according to the present invention. Detailed Implementation

[0022] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art.

[0023] This invention provides, for example Figure 1 The method for search and rescue using a drone equipped with an odor sensor, as shown, includes the following steps: S001, in the mountain and forest search and rescue area, complete the installation and fixation of the drone equipped with the odor sensor search and rescue device, establish power connection, set the antenna orientation and air inlet layout, establish an installation list based on terrain undulation and wind direction distribution, and generate the drone operation time reference for a unified coordinate reference for subsequent odor sampling and location calibration; To ensure the stable operation and consistent data collection of the odor sensor search and rescue device mounted on a drone in the complex mountainous and forested environment, the entire installation and operational baseline establishment process should be completed under the premise of uniform environmental parameters, fixed installation attitude, and full consideration of wind direction characteristics. The specific implementation steps are as follows: During the installation and preparation phase, a field survey of the mountainous area where the UAV will perform search and rescue missions should be conducted. Suitable take-off and landing points and hovering areas for the UAV should be determined based on terrain undulations, vegetation density, and airflow distribution. The mounting bracket for the odor collection device on the UAV adopts a vibration-resistant structure design, achieving precise alignment with the UAV's mounting points through multi-point mounting slots. During installation, ensure the mounting interface is completely flush with the UAV chassis structure, and apply even force using anti-torque fasteners to prevent device displacement due to flight vibrations. To address wind variations and uneven slopes in the mountainous environment, the installation angle should be adjusted according to the terrain slope to ensure the air inlet of the odor collection device aligns with the ground wind direction, thus obtaining a stable sampling airflow. During this process, the installation angle, coordinate position, and surrounding obstacle distribution information should be recorded simultaneously to provide initial environmental parameters for subsequent operational baseline calculations.

[0024] After the device is secured, a complete power connection system should be established to ensure a stable power supply for the onboard odor sensor during flight. The power connection uses a dual-layer voltage regulation structure. The input receives DC power through the UAV's main power interface, while the output provides constant voltage and current to the control circuit, sensing components, and auxiliary equipment through a graded voltage regulation circuit. Simultaneously with power connection, signal lines and antenna guidance paths must be established to ensure synchronized transmission of odor collection signals and positioning information. To prevent oxidation of wire connectors and signal attenuation caused by the high humidity of the mountainous environment, all connection points are covered with a moisture-proof shielding layer. Wires are kept at a fixed spacing and fixed sequentially to the outside of the UAV chassis according to the wiring list. Power lines and signal lines should be laid independently to prevent mutual interference. After wiring is completed, check the antenna orientation to ensure that the main radiation direction of the antenna is consistent with the UAV's flight direction, providing a continuous and stable signal transmission path during flight.

[0025] After power and signal connections are established, the air inlet layout and airflow path optimization should be performed to ensure the representativeness of the air samples and the efficiency of odor transmission. The air inlet layout should be adjusted based on previously recorded wind direction information, ensuring the inlet forms an angle of less than 15 degrees with the prevailing wind direction to facilitate the smooth entry of odor molecules into the collection channel. The airflow path consists of the air inlet pipe, the flow stabilizing chamber, and the filter unit in sequence. During installation, the central axis of the flow stabilizing chamber should be parallel to the longitudinal axis of the drone to avoid eddies caused by airflow disturbances. The outer edge of the air inlet is equipped with a dustproof ring and a hydrophobic layer, which can effectively block large particles and water vapor in environments with dense vegetation or high humidity, ensuring the cleanliness of the gas entering the sensing area. After installation, the airtightness between the airflow channel and the sampling chamber must be confirmed to maintain stable pressure and flow rate of the air sample during collection. The distance between the air inlet and the odor sensing element should be calibrated according to the drone model and airflow characteristics to achieve uniformity and controllability of sampling delay in subsequent testing.

[0026] After installation and airflow path layout are completed, a UAV operating time reference and coordinate reference system should be established for subsequent odor sampling and location calibration. The operating time reference is established using the UAV's system clock as the initial reference. The internal timings of the odor sensing device, positioning unit, and data acquisition unit are unified to the same time source through the control terminal, forming a unified timestamp system. To ensure spatial coordinate consistency, several static position points are continuously recorded during the device startup phase using a satellite positioning device. The average latitude, longitude, and altitude parameters are calculated to generate static reference coordinates. These coordinates serve as the reference zero point for subsequent flight paths. During odor sampling data recording, each odor concentration value is relative to this coordinate for displacement marking. At this point, the operating time reference and coordinate reference together constitute a complete positioning system, ensuring that the collected odor data, air humidity data, and UAV spatial attitude data remain spatiotemporally synchronized. After the operating time reference is established, all installation data, location data, and deployment parameters should be uniformly written into the control unit's initialization storage area to form an environmental reference template for subsequent cruise sampling. This template enables data alignment when the UAV flies in different areas, giving odor detection results from different time periods and areas a unified spatial meaning. The completion of the entire process marks the end of the installation and operational preparation of the UAV odor collection device in the mountainous forest environment, establishing a stable operating benchmark and laying the foundation for subsequent flow control, odor detection, data transmission, and positioning analysis.

[0027] S002, based on the running time reference, starts the air pump, flow stabilizer and humidity regulator, continuously adjusts the intake rate and humidity balance to form a stable clean airflow, and records the airflow parameters to establish constant input conditions to ensure stable odor concentration detection; After the operating timeline is established, to ensure the flow stability and humidity balance of the air sample during odor collection, and to maintain constant physical parameters of the gas sample before it reaches the sensing unit, the air pump, flow stabilizer, and humidity regulator should be started sequentially using the operating timeline as the control core, and the intake rate and humidity balance should be continuously adjusted during operation. The specific implementation steps are as follows: During the initial airflow initiation and stabilization phase, the air pumps should be activated sequentially via the control unit according to the previously established operating timeline, ensuring that air samples are uniformly drawn into the sampling channel from the inlet. After the air pumps are activated, an initial airflow channel is formed. At this stage, it is crucial to ensure that the air pump's intake rate is synchronized with the wind speed in the external environment of the UAV. The air pump's operating frequency is synchronously activated and controlled according to the timeline, ensuring that the sampling airflow flow rate remains consistent with the time axis throughout the entire operating cycle, thereby avoiding interference from initial air pressure fluctuations on the sensor unit's detection results. To ensure uniform airflow within the channel, a buffer chamber is installed at the air pump outlet. This buffer chamber uses a porous guide structure to mitigate instantaneous airflow impact, resulting in a more uniform velocity distribution of the gas entering the stabilization device. In this phase, the airflow initially establishes a stable channel, laying the foundation for subsequent flow stabilization and humidity balancing. Simultaneously, the operating timeline ensures that the time nodes for airflow formation in each stage remain consistent, thereby achieving consistency between data acquisition and fluid control.

[0028] During the establishment and balancing phase of the flow stabilization channel, the air sample, formed by the initial airflow, enters the flow stabilization device. The device employs a sequentially distributed rectifying unit structure, redistributing the velocity and direction of the passing air across multiple small-section channels, eliminating turbulence and reducing the formation of local airflow vortices. The internal walls of the flow stabilizer are made of low-friction materials to minimize the interaction between the gas and the channel surfaces, ensuring the gas passes through the entire channel at a uniform velocity. Within the flow stabilization channel, the gas velocity is controlled by the delivery speed of the upstream air pump, while the flow stabilizer fine-tunes and equalizes the velocity. To prevent velocity deviations caused by external wind fluctuations or changes in UAV attitude, the flow stabilizer is linked to a time reference during operation, resetting the target velocity value at fixed time intervals to ensure that flow rate changes are synchronized with sampling time. Through this process, the gas flow transitions from an initial unstable state to a constant flow state, with velocity variations controlled within a very small range. This achieves velocity equalization and pressure stabilization of the gas sample before collection at a physical level, providing an airflow basis for accurate odor detection.

[0029] In the humidity regulation and gas purification stage, the stabilized gas sample enters the humidity regulation device. Due to the frequent humidity changes in the mountain forest environment and the presence of large amounts of water vapor and fine particles in the air, humidity regulation plays a crucial role in maintaining the accuracy of odor detection. The humidity regulation device contains a bidirectional moisture absorption and release unit that adjusts the air humidity in real time according to the sampling stage defined by the time reference, ensuring that the gas entering the sensing unit maintains a constant humidity state. The regulation process is based on airflow temperature, pressure, and humidity data, achieving air humidity balance through the interaction of the adsorption layer and the evaporation layer. When the air humidity is below the target value, the evaporation layer increases the humidity by evaporating trace amounts of moisture; when the air humidity is above the target value, the moisture absorption layer quickly absorbs excess moisture, ensuring that the output humidity remains within the set range. Simultaneously, during humidity regulation, the gas sample passes through multiple filtration and purification layers to remove suspended dust particles, pollen, and vegetation debris, forming a clean airflow. Through continuous humidity balancing and purification, the air sample received by the sensing unit remains physically consistent, thus ensuring comparability of odor concentrations under different terrain and climatic conditions.

[0030] During the dynamic recording of airflow parameters and the maintenance of constant input conditions, the operating time reference should be the core, and parameters such as airflow velocity, humidity, temperature, and pressure should be recorded in a time series. A time mapping relationship for airflow parameters is established through the recording process, ensuring that each time point corresponds to specific airflow state data, thereby achieving consistency of input conditions in subsequent data analysis. Airflow parameter recording adopts a synchronous acquisition method, meaning that recording occurs simultaneously during the air pump operation cycle, the steady-flow channel balancing cycle, and the humidity adjustment cycle, ensuring that the physical state at each stage is consistent with the time reference. The recorded data is continuously stored in the storage unit and updated in real time when the UAV performs odor detection tasks. To maintain the constancy of input conditions, the airflow channel is continuously monitored and finely adjusted during flight. When the airflow rate deviates from the set value or the humidity change exceeds the control range, the air pump output frequency and humidity adjustment rate are automatically adjusted according to the time reference to bring the output airflow back to the target state.

[0031] S003, under stable clean airflow conditions, uses an odor sensor to detect the concentration of sulfide gas and amine gas, uses a positioning device to synchronously record latitude, longitude and altitude information, and generates an odor point set and offset scale by corresponding the detection data and spatial coordinate data, thus constructing a data system that associates odor concentration with spatial location. To detect the concentrations of sulfide and amine gases in the target area's air while maintaining a stable, clean airflow, and to correlate the detection results with spatial location information to form a spatially correlated odor point set and offset scale, the detection and synchronous recording process should be carried out under constant airflow input conditions. The specific implementation steps are as follows: During the initialization and operational setup phase of the odor detection device, each detection channel should be activated under a stable, clean airflow input to prepare the sensing units for operation. The odor detection device contains multiple highly sensitive sensing elements designed for different gas types. The sulfide gas detection element exhibits high response characteristics to sulfur-containing compounds such as hydrogen sulfide and dimethyl disulfide, while the amine gas detection element has characteristic response curves to nitrogen-containing compounds such as methylamine, ethylamine, and cadaverine. To ensure synchronous detection by all sensing elements under the same airflow conditions, the outlet of the stable airflow should be aligned with the inlet of each gas detection channel, ensuring that gas samples entering the detection chamber are evenly distributed to different detection channels within the same time period. At this point, the odor detection device initializes its detection time parameters according to a unified operating time reference, maintaining a correspondence between the response time, sampling interval, and airflow velocity for each sensing channel. This operation allows the detection device to perform multiple gas concentration samplings under the same airflow conditions and time reference, avoiding response errors caused by airflow fluctuations or time shifts, thus providing a unified starting point for accurate odor concentration data acquisition.

[0032] During the odor signal acquisition and concentration conversion stage, odor detection devices should be used to detect sulfide and amine gases in air samples in real time under a steady-state airflow input. After contact with the airflow, the sensing element's surface undergoes chemical adsorption or redox reactions with the target gas molecules, causing changes in the output electrical signal. To ensure a stable correlation between the output signal and odor concentration, continuous sampling should be performed under continuous airflow. Each set of sampling data, referenced to the operating time, forms equally spaced concentration records within the same time interval. The sensing element remains synchronized with the control unit during operation, ensuring that the odor concentration signal is converted into a quantifiable electrical signal amplitude in real time. To prevent external temperature and humidity changes from interfering with signal stability, the detection chamber employs temperature compensation and gas buffering designs, ensuring that the gas sample entering the sensing area has a stable temperature and humidity state before reaching the detection surface. Through these methods, the detection device can continuously output signal amplitudes proportional to the concentration of sulfide and amine gases in the air, thus forming a continuous odor concentration change curve, providing reliable input for subsequent data and spatial coordinate correspondence.

[0033] During the spatial positioning information synchronization recording phase, the UAV's spatial position information should be recorded in real time using a positioning device while odor signals are being collected. The positioning device acquires latitude, longitude, and altitude data through a satellite signal receiving module and synchronizes this data with the operating time reference, ensuring that each set of odor concentration samples corresponds to a unique spatial coordinate point. Simultaneously with position information acquisition, the positioning device performs angle correction on the UAV's flight attitude to eliminate coordinate deviations caused by terrain undulations or wind direction changes. Latitude, longitude, and altitude information are updated in real time in the form of high-precision differential signals, ensuring the accuracy of the UAV's spatial position at each time point during its movement. To maintain consistency between odor detection data and spatial information, the time references of the positioning device and the odor detection device are mutually bound, ensuring that their recording processes run at the same time period, with data acquisition time points completely corresponding. In this way, each concentration data obtained from odor detection forms a one-to-one correspondence with the corresponding spatial longitude, latitude, and altitude information, ensuring accurate projection of the data into the spatial coordinate system.

[0034] In the stage of generating odor point sets and forming offset scales by corresponding odor data and spatial coordinate data, the detected odor concentration data and spatial location information should be combined and processed. Each set of odor concentration data and its corresponding latitude, longitude, and altitude coordinates constitute an odor point. All odor points are arranged sequentially in time to form a temporally continuous odor point set. To better describe the spatial distribution of odor concentration, the offset distance and direction of each odor point relative to the reference coordinates should be calculated, and this offset information should be recorded as an offset scale. The offset scale reflects the distribution trend of the odor signal in three-dimensional space, and combined with the odor point set, the correlation between odor concentration and spatial location can be constructed. In this process, both the odor point set and the offset scale are indexed by the operating time reference, so that each odor concentration value, spatial location, and time node form a closed correspondence. Through this correlated data system, the spatial orientation of the odor source can be determined based on the odor concentration change trend in subsequent analysis, providing a basis for odor tracking and target localization of UAVs in complex mountainous forest environments.

[0035] S004: Utilize the ground terminal to receive odor point sets and offset scale data, generate an odor concentration distribution map and calculate the odor concentration gradient direction, combine the UAV flight attitude parameters to generate a trajectory adjustment command, and feed the trajectory adjustment command back to the control terminal to update the UAV cruise path and sampling interval benchmark. After the odor concentration data and spatial location information of the air sample are correlated to generate odor point sets and offset scales, in order to achieve the visualization of the odor signal in space and the dynamic correction of the UAV's flight path, the complete process of data reception, odor concentration distribution map generation, odor concentration gradient direction calculation, trajectory adjustment command generation, and trajectory adjustment command feedback to the control terminal should be completed at the ground terminal. The specific implementation steps are as follows: During the reception and storage phase of odor point set and offset scale data, it is essential to ensure that the ground terminal can receive odor concentration and spatial location information from the odor collection device in real time during the continuous flight of the UAV. The UAV continuously transmits odor point set and offset scale data via wireless data link during its cruise, and the ground terminal receives all data using a unified time reference. To ensure the continuity of data transmission, the azimuth of the receiving antenna is consistent with the UAV's flight direction, and the antenna employs a directional design to reduce environmental reflection interference. During reception, the ground terminal caches the real-time received odor concentration data along with the corresponding latitude, longitude, altitude, and offset scale in chronological order and writes them sequentially into the data storage area. Each set of odor data is accompanied by a timestamp to ensure that the data reception time sequence is synchronized with the UAV's flight time. To avoid uneven data intervals caused by airflow disturbances or communication delays, the ground terminal performs time alignment of the received data based on the operating time reference, ensuring that the spatiotemporal relationship of all odor points remains complete and consistent during storage, providing continuous spatial samples for the subsequent generation of odor concentration distribution maps.

[0036] In the generation and spatial mapping stage of the odor concentration distribution map, the received and stored odor point set and offset scale data should be used to spatially map the odor concentration values ​​with their corresponding latitude, longitude, and altitude coordinates, thereby forming a three-dimensional odor concentration distribution map. The ground terminal, based on the spatial coordinates of the odor points, superimposes the odor concentration values ​​at different locations in chronological order to form a continuous concentration field. To ensure the correspondence between the concentration field and the real space, the previously established coordinate benchmark is used as a reference during the generation process, ensuring that the positional data of each odor point is presented in the same spatial reference system. The odor concentration distribution map represents odor intensity differences using color or isopleths, forming a visualized spatial distribution graphic. The generation process of the distribution map simultaneously records the changing trends of the odor concentration gradient in various directions, providing a basis for subsequent trajectory adjustments. During this process, the ground terminal continuously receives new odor point data and constantly updates the concentration distribution map, enabling the graphic to dynamically reflect the real-time changes in the odor distribution in the sampling area during the UAV's cruise, thus achieving a dynamic spatial presentation of the odor signal.

[0037] In the stage of calculating the odor concentration gradient direction and coupling it with attitude parameters, the concentration change relationship between each odor point should be analyzed based on the generated odor concentration distribution map to determine the direction of the odor concentration gradient. The odor concentration gradient direction reflects the spatial trend of increasing odor concentration and represents the possible direction of the odor source. To ensure the accuracy of the direction determination, the odor concentration gradient direction should be spatially corrected in conjunction with the UAV's flight attitude parameters. During the cruise process, the UAV's attitude parameters, such as pitch angle, roll angle, and yaw angle, constantly change, which affect the relative distribution of odor concentration points in space. When calculating the concentration gradient direction, the ground terminal incorporates the UAV's attitude parameters into the spatial coordinate correction model, ensuring that the concentration gradient direction is consistent with the UAV's current orientation in three-dimensional space. In this way, the odor concentration gradient direction not only reflects the spatial trend of concentration change but also corresponds to the actual flight state of the UAV, providing directional basis and spatial reference for the generation of subsequent trajectory adjustment commands. Based on this, the concentration gradient direction and the UAV's attitude parameters form coupled data, describing the distribution tendency of the odor signal in the UAV's motion direction, enabling the ground terminal to accurately determine the flight direction and attitude angle that the UAV should adjust.

[0038] During the generation and execution phase of trajectory adjustment commands, specific trajectory adjustment commands should be generated based on the coupled data of odor concentration gradient direction and UAV attitude parameters. These commands include corrections to the UAV's cruise path and updates to the sampling interval baseline. The ground terminal determines that the UAV should adjust its flight path along the direction of increasing odor concentration based on the concentration distribution trend and concentration gradient direction. Simultaneously, it adjusts the sampling interval based on the spatial density between odor points, increasing sampling density in areas of significant odor concentration change and appropriately increasing the sampling interval in areas of relatively stable odor concentration change. The generated trajectory adjustment commands are output in a unified data format and transmitted in real-time to the UAV control terminal via a wireless data link. Upon receiving the trajectory adjustment commands, the control terminal updates the UAV's flight parameters and sampling rhythm according to the command content, enabling the UAV to automatically execute new trajectory planning and sampling strategies in the next phase of cruise. Through continuous command feedback and path updates, the UAV can dynamically adjust its flight direction and sampling density, maintaining the continuity and targeting of odor signal collection, thereby achieving continuous tracking of the odor source.

[0039] S005 controls the UAV to perform dynamic adjustments based on the flight path adjustment command and sampling interval benchmark. During the cruise, it introduces a reverse airflow sampling window, a stable humidity breathing rhythm and a delay compensation circle. Combined with real-time wind direction data, it corrects the air intake angle and flight altitude to form a continuous odor sampling path, thereby achieving continuous tracking and precise positioning of odor signals. After the flight path adjustment command and sampling interval benchmark are determined, in order to enable the UAV to continuously track and accurately locate odor signals in complex mountainous and forest environments, the odor sampling path, air intake attitude, and flight altitude should be dynamically adjusted during flight control. The specific steps are as follows: During the introduction of the reverse airflow sampling window and the establishment of a stable airflow capture environment, the sampling airflow inlet should be arranged on the opposite side of the UAV's forward direction, according to the flight direction information in the flight path adjustment command. This ensures that the odor collection device can avoid interference from the UAV's propulsion airflow on the target gas. The arrangement of the reverse airflow sampling window is determined based on the UAV's flight attitude and wind direction information, ensuring that the air intake direction forms a certain angle with the main airflow direction. This creates a low-pressure intake zone during flight, prompting the air sample to enter the collection channel along a stable streamline. This reverse airflow structure effectively reduces the disturbance generated by the UAV propeller downwash airflow, allowing the air sample to maintain a natural diffusion state before entering the sampling channel. During reverse sampling, the windward area of ​​the airflow inlet should be matched with the airflow pressure distribution to ensure that the sampling rate is coordinated with the external airflow velocity. To prevent high humidity or vegetation debris from affecting airflow, an airflow guide ring is provided at the outer edge of the sampling port. The geometry of the guide ring disperses some of the external turbulence, forming a uniform and stable airflow surface. By introducing a reverse airflow sampling window, the UAV can continuously collect air samples in the reverse direction during flight, ensuring that the odor signal is not affected by the propulsion airflow disturbance, and providing a constant airflow input for subsequent humidity control and odor detection.

[0040] During the phase of synchronously executing a steady-state humidity breathing rhythm to maintain sampling humidity balance, the intake rate and internal humidity regulation frequency should be periodically adjusted according to the changing patterns of external air humidity, based on reverse airflow sampling, to ensure that the air sample maintains a constant humidity level before entering the sensing area. The steady-state humidity breathing rhythm refers to simulating the rhythmic changes in airflow during biological respiration through a periodic airflow inhalation and slow release process to achieve self-balancing humidity regulation. This process is initiated after the sampling airflow is formed and is completed collaboratively by the air pump and humidity regulation unit. The air pump adjusts the inhalation rate within a fixed period based on the operating time reference, creating alternating high-pressure and low-pressure phases in the air sample intake channel. The humidity regulation unit synchronously adjusts the moisture absorption and release processes according to the airflow conditions. When the external humidity is high, the active material of the moisture-absorbing layer absorbs excess moisture, preventing moisture from entering the sensing cavity and causing signal deviation; when the external humidity is low, the moisture-releasing layer releases the stored moisture, allowing the air humidity to rise back to the set range. Through the dynamic control of the steady-state humidity breathing rhythm, the air humidity within the sensing cavity is kept constant, thereby improving the consistency of odor concentration detection. This process is continuously linked with the reverse airflow sampling window. The airflow remains in a laminar state under the action of the breathing rhythm, avoiding sample disturbance caused by uneven airflow and ensuring that the air characteristics are stable and controllable during subsequent delay compensation and attitude correction.

[0041] In the stage of coordinating odor signal response time using a delay compensation ring, the gas sample entering the sensing area should be matched in time with the response delay of the sensing element after the steady-state breathing rhythm has stabilized. Due to the high flight speed of the drone, it takes a certain amount of time for the air sample to enter the sensing area from the collection port, and the sensing element also has a response delay to gas molecules. Therefore, a buffer loop needs to be introduced into the airflow path through the delay compensation ring, allowing the gas to be appropriately retained in the physical space as it flows through the loop, thereby achieving consistency between the odor signal response time and the sampling time of the flight path. The interior of the delay compensation ring adopts a smooth curved surface structure, maintaining continuous airflow within the loop. The length and curvature of the loop are determined based on the flight speed and airflow pressure, ensuring that the sampled air has constant velocity and pressure characteristics when entering the sensing area. The existence of the delay compensation ring creates a controllable time interval between air sample collection and detection, thus ensuring that the detection output accurately corresponds to the timestamp of the drone's current position. In this way, it is possible to ensure that the odor concentration data and the flight path coordinates are synchronously correlated in time, avoiding spatial offset caused by airflow transmission delay. This process works in conjunction with the steady-humidity breathing rhythm to keep the gas entering the compensation loop stable in terms of humidity, pressure, and flow rate, providing a high-precision input basis for the real-time wind direction correction stage.

[0042] During the stage of correcting the air intake angle and flight altitude to form a continuous sampling path by combining real-time wind direction data, while maintaining stable operation with delay compensation, environmental wind direction and speed data should be received in real time to dynamically adjust the UAV's air intake attitude and flight altitude. Wind direction data is collected in real time through an airborne airflow sensor. The ground terminal combines the wind direction information with the UAV's current position and odor concentration distribution trend to calculate the angle between the current sampling path and the main airflow direction. When the angle exceeds the set range, the UAV adjusts its attitude through the control terminal to make the air intake direction parallel to the airflow direction again, ensuring that the air sample collection direction is always aligned with the odor propagation path. While correcting the airflow direction, the flight altitude is adjusted according to wind speed changes, allowing the UAV to stay longer in areas with high odor concentration and appropriately increase the flight altitude in areas with weak odor concentration to expand the airflow sampling range. The entire correction process is based on the flight path adjustment command, with airflow data output from the delay compensation circle as feedback, and a continuous odor sampling path is formed through attitude angle and altitude control. The drone achieves stable tracking of odor signals in a continuous sampling path. When the odor concentration increases locally, the flight path automatically shifts towards the concentration gradient, so that the odor collection area gradually approaches the range of the odor source, thereby achieving continuous capture and spatial positioning of odor signals.

[0043] This invention introduces a highly sensitive odor collection device and a stable flow and humidity control structure onto a UAV platform, ensuring a stable odor signal input even in complex mountainous environments. An air pump, flow stabilizer, and humidity regulator work together to continuously adjust the intake rate and humidity balance, ensuring that the air sample maintains a constant flow rate and humidity before entering the sensing area. This prevents odor detection results from being affected by wind direction fluctuations, airflow disturbances, and humidity changes. This method effectively improves the continuity and accuracy of odor concentration detection, enabling UAVs to reliably identify characteristic gases such as sulfides and amines in complex terrain conditions, providing a technical guarantee for the reliable capture of vital odor signals.

[0044] This invention establishes a dynamically adjustable odor tracking mechanism by synchronously linking odor concentration with spatial location during data acquisition and flight control. The ground terminal generates flight path adjustment commands based on the odor concentration distribution map and concentration gradient direction, controlling the UAV to correct its cruise path and air intake angle in real time, achieving continuous odor signal tracking. Through the synergistic effect of a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle, the UAV maintains stable airflow and a consistent sampling rhythm during flight, enabling rapid identification of areas with abnormal odor concentrations, precise target location, and improved life detection efficiency in forest search and rescue missions.

[0045] This invention provides, for example Figure 2 The image shows a search and rescue system for a drone equipped with an odor sensor, including an operational baseline establishment module, an airflow steady-state control module, an odor detection and spatial data generation module, a data analysis and trajectory feedback module, and a dynamic sampling and positioning module. The operational baseline establishment module completes the installation and fixation of the drone-mounted odor sensor search and rescue device in the mountain and forest search and rescue area, establishes the power connection, sets the antenna orientation and air inlet layout, establishes an installation list based on terrain undulations and wind direction distribution, and generates a drone operation time baseline for unified coordinate reference for subsequent odor sampling and location calibration. The airflow steady-state control module starts the air pump, flow stabilizer and humidity regulator based on the running time reference, continuously adjusts the intake rate and humidity balance to form a stable clean airflow, and records the airflow parameters to establish constant input conditions to ensure stable odor concentration detection. The odor detection and spatial data generation module uses odor sensors to detect the concentration of sulfide and amine gases under stable clean airflow conditions, and uses a positioning device to simultaneously record latitude, longitude and altitude information. The detection data and spatial coordinate data are matched to generate odor point sets and offset scales, and a data system that associates odor concentration with spatial location is constructed. The data analysis and trajectory feedback module uses the ground terminal to receive odor point sets and offset scale data, generates an odor concentration distribution map and calculates the odor concentration gradient direction, and combines the UAV flight attitude parameters to generate trajectory adjustment commands, which are then fed back to the control terminal to update the UAV cruise path and sampling interval benchmark. The dynamic sampling and positioning module controls the UAV to perform dynamic adjustments based on the flight path adjustment instructions and sampling interval benchmarks. During the cruise, it introduces a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle. Combined with real-time wind direction data, it corrects the air intake angle and flight altitude to form a continuous odor sampling path, thereby achieving continuous tracking and precise positioning of odor signals.

[0046] The present invention provides a search and rescue method for drones equipped with odor sensors, which is implemented by the above-mentioned search and rescue system for drones equipped with odor sensors. For details of the specific method and process of the search and rescue system for drones equipped with odor sensors, please refer to the above-mentioned embodiment of the search and rescue method for drones equipped with odor sensors, which will not be repeated here.

[0047] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A search and rescue method for drones equipped with odor sensors, characterized in that, Includes the following steps: S001, in the mountain and forest search and rescue area, complete the installation and fixation of the drone equipped with the odor sensor search and rescue device, establish power connection, set the antenna orientation and air inlet layout, establish an installation list based on terrain undulation and wind direction distribution, and generate drone operation time benchmark; S002, based on the running time reference, starts the air pump, flow stabilizer and humidity regulator, continuously adjusts the intake air rate and humidity balance to form a stable clean airflow, and records the airflow parameters; S003, under stable clean airflow conditions, uses an odor sensor to detect the concentration of sulfide gas and amine gas, uses a positioning device to synchronously record latitude, longitude and altitude information, and generates an odor point set and offset scale by corresponding the detection data and spatial coordinate data, thus constructing a data system that associates odor concentration with spatial location. S004: Utilize the ground terminal to receive odor point sets and offset scale data, generate an odor concentration distribution map and calculate the odor concentration gradient direction, combine the UAV flight attitude parameters to generate a trajectory adjustment command, and feed the trajectory adjustment command back to the control terminal to update the UAV cruise path and sampling interval benchmark. S005 controls the UAV to perform dynamic adjustments based on the flight path adjustment instructions and sampling interval benchmarks. During the cruise, it introduces a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle. Combined with real-time wind direction data, it corrects the air intake angle and flight altitude to form a continuous odor sampling path.

2. The method for search and rescue using an unmanned aerial vehicle equipped with an odor sensor according to claim 1, characterized in that, Step S001 includes: Environmental surveys were conducted in the mountainous and forested areas where drones were to carry out search and rescue missions. Based on the terrain undulations, vegetation density and airflow distribution, the take-off and landing points and hovering areas of the drones were determined. The anti-vibration structure brackets were used to fix the drones to the mounting points through multi-point mounting slots, so that the air intake direction was consistent with the wind direction. After installation and fixation are completed, a power connection system is established. The input end receives DC power through the main power supply interface of the UAV, and the output end provides constant voltage and current to the control circuit, sensing components and auxiliary equipment through a graded voltage regulation circuit. At the same time, signal lines and antenna guiding paths are laid out and the main radiation direction is kept consistent with the flight direction. Based on wind direction information, the air intake layout and airflow path optimization are completed. The air intake path includes the air intake pipe, the flow stabilizing cavity and the filter unit in sequence. The axis of the flow stabilizing cavity is kept parallel to the longitudinal axis of the UAV to ensure stable airflow. The operating time reference is established with the UAV system clock as a reference, the timing of the odor sensing device, positioning unit and data acquisition unit is unified, and the latitude, longitude and altitude are continuously recorded by satellite positioning to generate static reference coordinates.

3. A search and rescue method for a drone equipped with an odor sensor according to claim 2, characterized in that, Step S002 includes: The air pumps are started sequentially according to the running time reference, so that the air sample is evenly drawn into the sampling channel from the air inlet, and the instantaneous airflow impact is reduced by the porous flow guiding structure of the buffer chamber, so that the gas entering the flow stabilization device forms a preliminary stable channel. The air sample formed by the initial airflow enters the flow stabilization device, which uses the rectifier unit structure to redistribute the gas velocity and direction, reduce airflow vortices and maintain a constant flow rate. At the same time, it is linked with the time reference to adjust the target flow rate value so that the flow rate change is synchronized with the sampling time. After the air sample is stabilized, it is introduced into the humidity control device. The humidity is adjusted bidirectionally by the moisture absorption layer and the evaporation layer to keep the gas humidity constant. The air is then filtered and purified through multiple layers to remove suspended dust particles and vegetation debris to form a clean airflow. It records time-series data of airflow speed, humidity, temperature and pressure based on the operating time reference, and automatically adjusts the air pump output frequency and humidity regulation rate when the airflow speed or humidity deviates from the set value.

4. A search and rescue method for a drone equipped with an odor sensor according to claim 3, characterized in that, The flow stabilizing device in the airflow channel is equipped with sequentially distributed rectification units. The channel wall of the rectification unit is made of low-friction material, which keeps the gas velocity uniform during the flow process and reduces gas adhesion on the channel surface. During operation, the flow stabilizing device is continuously linked with the operating time reference and maintains the gas flow velocity stability by periodically adjusting the target flow velocity value.

5. A search and rescue method for a drone equipped with an odor sensor according to claim 3, characterized in that, Step S003 includes: The detection channel of the odor detection device is activated under a stable clean airflow input, so that the sensing unit enters the working preparation state under the operating time reference, and the outlet of the stable airflow is aligned with the inlet of the detection channel to ensure uniform distribution of gas samples. Under steady-state continuous airflow input conditions, the concentration of sulfide gas and amine gas in air samples is detected by an odor detection device. The sensor element outputs an electrical signal amplitude that is proportional to the odor concentration, and the detection environment is kept stable through temperature compensation and gas buffer structure. While collecting odor signals, latitude, longitude and altitude information are recorded using a positioning device to keep the odor concentration data and spatial location data synchronized in time, forming a one-to-one spatial coordinate relationship. Odor concentration data is correlated with spatial location information to generate odor point sets, and offset distance and direction are calculated based on reference coordinates to form an offset scale, thus constructing a data system that associates odor concentration with spatial location.

6. A search and rescue method for a drone equipped with an odor sensor according to claim 5, characterized in that, When generating the odor point set and offset scale, the odor concentration data and spatial location information are sequentially arranged using the running time base as an index, so that each odor point forms a closed correspondence with latitude, longitude and altitude information, and the odor signal distribution trend in space is reflected by the offset scale, thereby realizing the synchronous correlation between odor concentration changes and spatial orientation.

7. A search and rescue method for a drone equipped with an odor sensor according to claim 5, characterized in that, Step S004 includes: During the drone's cruise, the ground terminal receives the odor point set and offset scale data in real time, and performs time alignment based on the running time base. The odor concentration data, latitude and longitude, altitude and offset scale are cached and stored sequentially. Using the received and stored odor point set and offset scale data, the odor concentration values ​​are mapped to spatial coordinates to generate a three-dimensional odor concentration distribution map, and the spatial distribution of odor concentration is formed with the coordinate reference as a reference. After the odor concentration distribution map is generated, the concentration change relationship between odor points is analyzed to determine the direction of the odor concentration gradient. Spatial correction is then performed by combining the pitch angle, roll angle and yaw angle attitude parameters of the UAV to ensure that the direction of the odor concentration gradient is consistent with the flight direction of the UAV. Based on the direction of the odor concentration gradient and the attitude parameters of the UAV, a trajectory adjustment command is generated and fed back to the control terminal via a wireless data link to update the UAV's cruise path and sampling interval reference.

8. A search and rescue method for a drone equipped with an odor sensor according to claim 7, characterized in that, When generating a flight path adjustment command, the ground terminal determines the UAV's flight path to be adjusted along the direction of increasing odor concentration based on the odor concentration distribution trend, and dynamically adjusts the sampling interval according to the spatial density between odor points, so that the UAV maintains high-frequency sampling in areas of changing odor concentration and performs low-frequency sampling in areas of flat odor concentration.

9. A search and rescue method for a drone equipped with an odor sensor according to claim 7, characterized in that, Step S005 includes: According to the flight path adjustment command, a sampling airflow inlet is arranged on the opposite side of the UAV's forward direction. A low-pressure intake zone is formed through the reverse airflow sampling window, so that the air sample enters the collection channel along a stable streamline to obtain a constant airflow input. Based on reverse airflow sampling, the intake rate and humidity regulation frequency are periodically adjusted by a steady-humidity breathing rhythm to keep the air sample at a constant humidity and maintain a laminar flow state before entering the sensing area. After the steady-humid breathing rhythm is stabilized, a buffer loop is formed on the airflow path using a delay compensation coil, so that the gas is moderately retained during transmission to ensure that the odor signal response time is consistent with the flight sampling time. While performing delay compensation, the air intake angle and flight altitude of the drone are adjusted in conjunction with real-time wind direction data to keep the air intake direction parallel to the main airflow direction, and a continuous odor sampling path is formed based on the odor concentration distribution.

10. A drone-mounted odor sensor search and rescue system, used to implement the drone-mounted odor sensor search and rescue method according to any one of claims 1-9, characterized in that, It includes a baseline establishment module, an airflow steady-state control module, an odor detection and spatial data generation module, a data analysis and trajectory feedback module, and a dynamic sampling and positioning module: The operational baseline establishment module completes the installation and fixation of the drone-mounted odor sensor search and rescue device in the mountain and forest search and rescue area, establishes power connection, sets antenna orientation and air inlet layout, establishes an installation list based on terrain undulation and wind direction distribution, and generates drone operation time baseline. The airflow steady-state control module starts the air pump, flow stabilizer and humidity regulator based on the running time reference, continuously adjusts the intake air rate and humidity balance to form a stable clean airflow, and records the airflow parameters. The odor detection and spatial data generation module uses odor sensors to detect the concentration of sulfide and amine gases under stable clean airflow conditions, and uses a positioning device to simultaneously record latitude, longitude and altitude information. The detection data and spatial coordinate data are matched to generate odor point sets and offset scales, and a data system that associates odor concentration with spatial location is constructed. The data analysis and trajectory feedback module uses the ground terminal to receive odor point sets and offset scale data, generates an odor concentration distribution map and calculates the odor concentration gradient direction, and combines the UAV flight attitude parameters to generate trajectory adjustment commands, which are then fed back to the control terminal to update the UAV cruise path and sampling interval benchmark. The dynamic sampling and positioning module controls the UAV to perform dynamic adjustments based on the flight path adjustment instructions and sampling interval benchmarks. During the cruise, it introduces a reverse airflow sampling window, a stable humidity breathing rhythm, and a delay compensation circle. Combined with real-time wind direction data, it corrects the air intake angle and flight altitude to form a continuous odor sampling path.

Images