An unmanned aerial vehicle emergency rescue task scheduling method based on multi-machine cooperative control

Abstract

The application discloses a kind of unmanned plane emergency rescue task scheduling methods based on multi-machine cooperative control, it is related to unmanned plane rescue scheduling technical field, including: acquisition rescue cooperative data, cooperative situation calibration is carried out to rescue cooperative data, generates emergency rescue cooperative situation chart;Based on emergency rescue cooperative situation chart, according to the position of rescue object and disposition precedence relationship string connection search, review and rescue operation, deduct the search range that has been completed and along the remaining area outer edge demarcate uncompleted search boundary, generate rescue task undertaking chain;According to rescue task undertaking chain, the operation requirement of each task section is matched with the task undertaking continuity of available capacity of unmanned plane, excludes the unmanned plane that cannot safely arrive, and generates multi-machine cooperative scheduling queue according to the flight order and control window of task urgency degree configuration, the present application improves the continuity and reliability of multi-machine emergency rescue task change.

Description

Technical Field

[0001] This invention relates to the field of UAV rescue scheduling technology, and in particular to a UAV emergency rescue mission scheduling method based on multi-UAV collaborative control. Background Technology

[0002] With the development of disaster perception, wireless communication and autonomous flight methods, UAVs have gradually expanded from single-aircraft reconnaissance to multi-aircraft collaborative search, target verification, material delivery and on-site rescue. Existing methods usually establish task allocation relationships based on disaster area maps, the location of rescue targets, UAV payload capacity and remaining range, and adjust flight order and operation area through centralized scheduling or rolling replanning. At the same time, they use track monitoring, link quality detection and return threshold judgment to maintain mission execution, so that UAV scheduling evolves from static task assignment to process control oriented towards the entire rescue process.

[0003] In scenarios where the disaster area is constantly changing, communication is significantly blocked, and the drone's endurance is dynamically decreasing, existing process control typically reallocates unfinished tasks after the executing drone deviates from its flight path, communication quality deteriorates, or the remaining range is insufficient. The replacement drone then independently enters the work area according to the updated task coordinates. Since the reallocation is mainly based on the task status and position status at discrete moments, it is difficult to close the gap between the unfinished search boundary, the progress of the preceding operation, the communication handover conditions, and the handover sequence of the old and new drones in the same handover relationship. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a UAV emergency rescue mission scheduling method based on multi-machine collaborative control, which solves the problem of difficulty in maintaining the continuity of multi-machine mission switching during dynamic rescue processes.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides a method for scheduling UAV emergency rescue missions based on multi-UAV collaborative control, comprising: collecting rescue coordination data; performing collaborative situation calibration on the rescue coordination data to generate an emergency rescue coordination situation map; based on the emergency rescue coordination situation map, sequentially connecting search, verification, and rescue operations according to the location and priority of the rescue targets; deducting the completed search area and delineating the incomplete search boundary along the outer edge of the remaining area to generate a rescue mission succession chain; and matching the operational requirements of each mission segment with the available capabilities of the UAVs according to the rescue mission succession chain to ensure mission continuity, excluding UAVs that cannot safely reach the target area, and... Configure flight sequence and control window according to mission urgency, and generate a multi-aircraft collaborative scheduling queue; monitor mission progress and flight deviation based on the multi-aircraft collaborative scheduling queue and encapsulate incomplete boundaries to obtain mission acceptance status packets; select a replacement drone based on the mission acceptance status packets, establish a stable communication relationship first, then determine the handover position and timing, and generate a communication lead handover plan; according to the communication lead handover plan, control the in-situ drone to maintain operational status, control the replacement drone to enter the handover position along the predetermined trajectory, transfer mission control after confirming no mission omissions or duplicate operations, adjust the subsequent flight sequence, and generate rescue dispatch instructions.

[0007] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the emergency rescue collaborative situation map is obtained by associating the rescue collaborative status elements in the rescue collaborative data, correcting the collection sequence of various rescue collaborative data with the rescue mission start time, converting the position coordinates in the rescue collaborative data to a unified spatial reference, correcting the collaborative consistency of collaborative data anomalies, obtaining rescue collaborative calibration data, and mapping the rescue collaborative calibration data to the disaster area base map.

[0008] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the step of connecting search, verification, and rescue operations in sequence according to the location and priority of the rescued object based on the emergency rescue collaborative situation map, deducting the completed search range, and delineating the uncompleted search boundary along the outer edge of the remaining area, specifically includes the following steps: Based on the emergency rescue coordination situation map, determine the rescue operation location corresponding to each rescue target, and associate each rescue operation location according to the order of handling after the search is completed and the verification is completed, and generate a task anchor point undertaking sequence. Based on the task anchor point sequence, adjacent task anchor points are connected sequentially along the safe passage range, and task segments are divided according to the change position of the rescue operation location to generate a rescue operation connection path. The completed search area is deducted from the rescue operation connection path, and the remaining search areas that are adjacent to each other are continuously merged and closed along the outer edge of the remaining area to generate the incomplete search boundary.

[0009] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the rescue mission succession chain is obtained by eliminating task segments that fall into the completed search range in the rescue operation connection path based on the incomplete search boundary, continuing the task segments that are cut off by the incomplete search boundary to the corresponding rescue operation position, and sequentially connecting the search task segment, the verification task segment, and the rescue task segment.

[0010] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the specific steps of matching the operational requirements of each mission segment with the available capabilities of the UAVs according to the rescue mission succession chain, and excluding UAVs that cannot safely reach the destination, are as follows: Based on the rescue mission acceptance chain, determine the mission acceptance elements corresponding to each mission segment along the mission acceptance direction, and associate the continuous operation conditions of the current mission segment with the subsequent mission segment to generate a mission acceptance constraint table. Based on the task acceptance constraint table, the current location of each UAV is connected to the corresponding task entry point via a safe route. The UAV acceptance conditions of the UAV are verified, and UAVs that cannot be safely reached are excluded, generating a safe reachable candidate table.

[0011] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-aircraft cooperative control described in this invention, the specific steps for configuring flight order and control window according to mission urgency and generating a multi-aircraft cooperative scheduling queue are as follows: Based on the safe reachable candidate table, the available capabilities of each candidate UAV are continuously matched with the task acceptance constraints of the current task segment and the subsequent task segment, and the acceptance order of the candidate UAVs is determined according to the acceptance matching status, generating a continuous acceptance matching table. Based on the continuous assignment matching table, the urgency of tasks is determined according to the assignment time limit of each task segment and the waiting status of the rescued object. The flight order and control window of the corresponding UAVs are configured in sequence, and candidate UAVs are replaced for tasks with overlapping control windows to generate a multi-UAV collaborative scheduling queue.

[0012] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine cooperative control described in this invention, the specific steps of monitoring mission progress and flight deviation and encapsulating incomplete boundaries based on the multi-machine cooperative scheduling queue to obtain the mission acceptance status packet are as follows: Based on the multi-drone collaborative scheduling queue, the task completion position and real-time flight position of each UAV are compared with the planned advancement position and planned flight path of the corresponding task segment in the same period of advancement trajectory to determine the task advancement lag position and flight deviation position, and generate the task advancement deviation record. Based on the mission progress deviation record, the mission segments that have experienced progress delays are identified as mission segments to be taken over. The remaining missions are tracked along the rescue mission takeover chain from the last effective operation position, and the incomplete search boundary is closed. The incomplete search boundary and the corresponding mission takeover conditions are encapsulated to obtain the mission takeover status package.

[0013] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the steps of selecting a replacement UAV based on the mission acceptance status packet, establishing a stable communication relationship first, determining the handover location and timing, and generating a communication lead handover scheme are as follows: Based on the task acceptance status package, verify the safe arrival status, remaining operational capabilities and communication coverage overlap status of each candidate drone, exclude drones that cannot enter the communication overlap area within the acceptance time limit, and determine the replacement drone from the retained candidate drones to generate a replacement drone matching table. According to the replacement drone matching table, the replacement drone is controlled to first enter the communication overlap area corresponding to the original drone, establish a stable communication relationship and complete the transmission and verification of the task acceptance status packet. Then, based on the communication overlap range and the direction of subsequent task entry, the handover position and handover sequence are determined, and a communication lead handover scheme is generated.

[0014] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the steps of controlling the in-situ UAV to maintain its operational status according to the communication lead-in succession scheme, controlling the replacement UAV to enter the handover position along a predetermined flight path, transferring mission control after confirming no mission omissions or duplicate operations, and adjusting the subsequent flight sequence are as follows: Based on the communication lead-in handover scheme, the in-situ UAV is controlled to maintain its current operating status, the replacement UAV is controlled to enter the handover position along the predetermined flight path, and the first effective operating position of the replacement UAV is spatiotemporally matched with the last effective operating position of the in-situ UAV to generate an overlapping operation alignment table. Based on the overlapping task alignment table, the consistency of the incomplete search boundaries and valid target status within the common coverage area of ​​the new and old UAVs is verified, the missing task locations and duplicate task locations are identified, and overlapping task verification records are generated. Based on the overlapping task verification records, the control of the replacement drone is used to supplement the missing locations of the verification task and avoid the locations of repeated operations. The location where the search boundary closure is not completed and the effective target status is consistent and the task progress is continuous is determined as the effective handover point. At the effective handover point, the task acceptance status package is confirmed and the task control is transferred. The takeover drone is controlled to take over the remaining tasks, and the in-situ drone is controlled to leave the overlapping operation area along the exit track, generating a task handover closed state.

[0015] As a preferred embodiment of the UAV emergency rescue mission scheduling method based on multi-machine collaborative control described in this invention, the rescue scheduling instruction is obtained by adjusting the flight order and control window of subsequent UAVs according to the actual takeover time of the UAV based on the mission handover closed state, keeping the flight order before the effective handover point unchanged.

[0016] The beneficial effects of this invention are as follows: By monitoring task progress and flight deviation based on multi-aircraft collaborative scheduling queues, a task acceptance status package is formed by encapsulating the incomplete boundary and acceptance conditions. Based on this, a replacement UAV is selected. After establishing a stable communication relationship, the handover position and timing are determined. Then, the old and new UAVs are controlled to complete overlap verification and task handover. Communication confirmation before handover, operation closure during handover, and flight arrangement update after handover are completed. This enables the task process control to continuously advance along the incomplete boundary, reduces the risk of task omission and duplicate operation, and improves the continuity and reliability of multi-aircraft emergency rescue task handover. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a method for scheduling UAV emergency rescue missions based on multi-machine collaborative control.

[0019] Figure 2 A flowchart illustrating the formation of the rescue mission's support chain.

[0020] Figure 3 This is a flowchart for multi-machine collaborative scheduling and communication lead connection.

[0021] Figure 4 This is a flowchart for overlapping verification and task handover closure.

[0022] Figure 5 A comparison chart of task handover success rates under different packet loss rates.

[0023] Figure 6 The image shows the mission omission rate and a magnified comparison of different flight deviation distances. Detailed Implementation

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0027] Reference Figures 1-6 This is one embodiment of the present invention, which provides a method for scheduling UAV emergency rescue missions based on multi-machine cooperative control, including the following steps: S1. Collect rescue coordination data, perform coordination situation calibration on the rescue coordination data, and generate an emergency rescue coordination situation map.

[0028] It should be noted that the rescue coordination data includes basic mission information, disaster area information, rescue target information, UAV operation information, and mission coordination information. Specifically, it includes mission identifier and time, area boundaries and access conditions, location and status of rescue targets, UAV location and operational capabilities, mission progress and communication status, which are used to support the generation of emergency rescue coordination situation map and subsequent coordination and dispatch.

[0029] S1.1 Correspondingly associate the rescue coordination status elements in the rescue coordination data, correct the collection time sequence of each rescue coordination data according to the rescue mission start time, convert the location coordinates in the rescue coordination data to a unified spatial reference, and perform coordination consistency correction on the coordination data anomalies, obtain rescue coordination calibration data, map the rescue coordination calibration data to the disaster area base map, and generate an emergency rescue coordination situation map.

[0030] It should be explained that, according to the rescue mission identifier, rescue target identifier, and drone identifier, the rescue coordination status elements in the rescue coordination data are associated with the same mission, the same target, and the same drone; the rescue mission start time is used as a unified timing starting point, and the rescue coordination status elements are rearranged according to the interval between the data collection time and the rescue mission start time, and the timing misalignment is corrected according to the succession order of adjacent states; the position coordinates are converted according to the spatial reference of the disaster area base map, and timing jumps, position offsets, and state conflicts are identified through the continuity of previous and subsequent positions, the succession relationship of mission status, and the communication coverage relationship, and coordination consistency correction is completed using adjacent valid states to obtain rescue coordination calibration data; according to the location of the rescue target, the location of the drone, and the location of the rescue operation, the rescue coordination calibration data is mapped to the disaster area base map item by item to generate an emergency rescue coordination situation map.

[0031] It should also be noted that the base map of the disaster area is derived from pre-disaster basic geographic data, post-disaster UAV aerial survey images, and on-site survey information. It is formed after coordinate unification, boundary correction, and obstacle location verification. The base map of the disaster area is used to carry the boundaries of the disaster area, the safe passage range, the location of obstacles, the location of rescue objects, and the location of UAVs. It provides a unified spatial benchmark for the spatial mapping of rescue coordination data, the determination of rescue operation locations, and the connection of subsequent task paths, thereby improving the accuracy of the rescue situation expression and the reliability of task connection.

[0032] S2. Based on the emergency rescue collaborative situation map, search, verification and rescue operations are linked according to the location of the rescued object and the order of handling. The completed search range is deducted and the boundary of the uncompleted search is delineated along the outer edge of the remaining area to generate a rescue mission succession chain.

[0033] S2.1. Based on the emergency rescue coordination situation map, determine the rescue operation location corresponding to each rescue target, and associate each rescue operation location according to the order of handling after the search is completed and the verification is completed, and generate a task anchor point undertaking sequence.

[0034] It should be explained that, based on the emergency rescue coordination situation map, the location of each rescue object is matched with the rescue coordination status element according to the rescue object identifier. Landing points capable of completing search, verification, and rescue operations are determined along the safe passage range centered on the rescue object location, excluding landing points in obstacle areas or those with impassable pathways. The corresponding rescue operation positions for each rescue object are then determined. Following the sequential relationship of completing search operations, then verification operations, and finally rescue operations for the same rescue object, a succession order is set for each rescue operation position, with the completion status of the previous rescue operation position serving as the entry condition for the next. Furthermore, the rescue operation positions corresponding to different rescue objects are arranged according to the spatial continuity between the rescue object's waiting status and the rescue operation positions. Rescue operation positions with continuous succession relationships are connected sequentially to generate a task anchor point succession sequence.

[0035] S2.2 Based on the task anchor point sequence, connect adjacent task anchor points sequentially along the safe passage range, and divide the task segments according to the change position of the rescue operation location to generate the rescue operation connection path.

[0036] It should be noted that, based on the task anchor point succession sequence, adjacent task anchor points are determined one by one according to the arrangement order of the task anchor points. Starting from the current task anchor point and ending at the subsequent task anchor point, the connection is extended to the subsequent task anchor point along the continuously passable area within the safe passage range. When encountering obstacles, no-fly zones, or passage interruption points, the connection is bypassed along the edge of the safe passage range and reconnected to the subsequent task anchor point.

[0037] After connecting adjacent task anchor points, check the locations where the rescue target changes, the search operation is converted to a verification operation, the verification operation is converted to a rescue operation, and the direction of travel changes during the connection process. Determine the corresponding locations as the conversion locations of the rescue operation locations. Using the conversion locations of each rescue operation location as the boundary, the continuous connection part is sequentially divided, and the divided task segments are connected in sequence according to the task anchor point acceptance sequence to generate the rescue operation connection path.

[0038] S2.3. Subtract the completed search range from the rescue operation connection path, merge the adjacent remaining search ranges continuously and close the tracking along the outer edge of the remaining area to generate the incomplete search boundary.

[0039] It should be noted that, based on the search task segment corresponding to the rescue operation connection path, and according to the UAV's position, flight altitude, flight attitude, and effective field of view of the payload, the effective operation track during the search operation is projected hourly onto a unified spatial reference to form the sensor coverage contour corresponding to each acquisition moment; based on the effective image acquisition status, the visibility status of the coverage area, and the target recognition completion status or the no-target confirmation status, the effective search determination of each sensor coverage contour is performed, and only the sensor coverage contours that have completed the effective search determination are included in the search completion content, and the sensor coverage contours that have spatial overlap or continuous edges are spatially merged to form the completed search range.

[0040] The rescue operation path is checked segment by segment according to the spatial boundary of the completed search area. Path segments that fall entirely within the completed search area are deducted, and the path is truncated at the point where the task segment crosses the boundary of the completed search area. The path segments not covered by the completed search area and the corresponding areas to be searched are retained to form the remaining search area. Based on the adjacency condition of connected edges and continuous safe passage range, the remaining search areas that meet the adjacency condition are continuously merged along the spatial continuity direction to form continuous remaining areas. For the remaining search areas that are not connected to each other, independent continuous remaining areas are formed. Starting from the starting position of the outer edge of each continuous remaining area, the outer edge turning points are connected sequentially according to a fixed tracking direction until the corresponding starting position is returned, forming one or more closed boundary sequences. The boundary point coordinates, boundary point order, corresponding task segment, search status, and update time are written in each closed boundary sequence. Multiple closed boundary sequences are arranged according to the task acceptance order in the rescue task acceptance chain. It is checked whether each closed boundary sequence completely surrounds the corresponding remaining search area and has not been re-included into the completed search area. Closure corrections are made for boundary breaks, sequence misconnections, and overlapping areas to generate incomplete search boundaries.

[0041] S2.4. Based on the incomplete search boundary, the task segments that fall into the completed search range in the rescue operation connection path are removed, and the task segments that are cut off by the incomplete search boundary are continued to the corresponding rescue operation position. The search task segment, the verification task segment and the rescue task segment are connected in sequence to generate a rescue task connection chain.

[0042] It should be noted that, based on the incomplete search boundary, the spatial overlap between the rescue operation connection path and the completed search area is compared segment by segment. Task segments that fall completely into the completed search area are directly eliminated, and some task segments that enter the completed search area are truncated at the junction with the incomplete search boundary, while task segments located inside the incomplete search boundary are retained.

[0043] Based on the task type and the location of the rescued object corresponding to the cut-off position, extend the retained task segment along the shortest continuous passage direction within the safe passage range until it connects to the corresponding rescue operation position; after the task segment is connected, connect the search task segment, the verification task segment, and the rescue task segment in sequence according to the order of handling the same rescued object, which is to first perform the search operation, then the verification operation, and finally the rescue operation. Check the continuity between the end position and the start position of adjacent task segments, correct the position disconnection and the sequence misconnection, and generate a rescue task succession chain.

[0044] It should also be noted that the rescue mission handover chain is used to sequentially connect the search mission segment, the verification mission segment, and the rescue mission segment according to the location of the rescued object and the order of handling. It also uses the incomplete search boundary to exclude the scope of completed operations, providing a continuous basis for mission segment allocation, UAV capability matching, and mission handover, reducing duplicate searches, mission omissions, and operational interruptions, and improving the execution continuity and scheduling accuracy of multi-aircraft collaborative rescue.

[0045] S3. Based on the rescue mission succession chain, match the operational requirements of each mission segment with the available capabilities of the drones to ensure mission continuity, exclude drones that cannot reach the destination safely, and configure the flight sequence and control window according to the urgency of the mission to generate a multi-drone collaborative scheduling queue.

[0046] S3.1. Based on the rescue mission acceptance chain, determine the mission acceptance elements corresponding to each mission segment along the mission acceptance direction, and associate the continuous operation conditions of the current mission segment with the subsequent mission segment to generate a mission acceptance constraint table.

[0047] It should be noted that, according to the rescue mission succession chain, the mission succession direction is determined segment by segment in the order of search mission segment, verification mission segment, and rescue mission segment. The start position, end position, operation requirements, succession time limit, and entry conditions of each mission segment are merged to form the corresponding mission segment succession elements. The succession time limit is determined based on the status of the rescued object and the mission window period. The status of the rescued object comes from the rescued object information in the emergency rescue coordination situation map. The mission window period comes from the mission start time and the latest completion time registered in the mission basic information in the rescue coordination data. First, the order of handling is determined based on the degree of entrapment of the rescued object, the stability of vital signs, and the degree of environmental threat. Then, the expected operation time of the preceding mission and the expected travel time of the adjacent mission segment are deducted from the latest completion time to obtain the succession time limit of the current mission segment. Among them, the expected operation time of the preceding mission is determined based on the operation requirements and corresponding standard operation time of the preceding mission segment, and the expected travel time of the adjacent mission segment is determined based on the safe travel path length and preset flight speed between the adjacent mission segments.

[0048] Align the end position of the current task segment with the start position of the subsequent task segment along the task acceptance direction. Determine the passage continuation requirements based on the position connection status. Determine the operation conversion requirements based on the completion status of the current task segment and the entry conditions of the subsequent task segment. Determine the capacity continuity requirements and time connection requirements based on the operation requirements and acceptance time limits of the preceding and following task segments, thus forming the continuous operation conditions between the current task segment and the subsequent task segment. Then, associate the task segment acceptance elements with the continuous operation conditions according to the order of the task segments. Mark the acceptance position restrictions for positions that are disconnected, have incomplete status, cannot continue capacity, or cannot be connected time limits, and generate a task acceptance constraint table.

[0049] It should also be noted that the flight speed is set based on the flight capability, payload status, and current flight status in the UAV's operational information, combined with the safe passage conditions, obstacle distribution, and route turning degree in the disaster area information. The smaller value between the upper limit of the UAV's sustainable flight speed and the upper limit of the corresponding safe speed for the route is taken, and a safety margin is reserved for deceleration and obstacle avoidance. The flight speed is used to calculate the estimated passage time of adjacent mission segments, determine whether the UAV can reach the mission entrance within the acceptance time limit, and configure the control window, thereby reducing arrival delays and route conflicts caused by overestimation of speed, and improving the accuracy of mission connection and the reliability of flight arrangements.

[0050] S3.2. Based on the task acceptance constraint table, connect the current position of each UAV with the corresponding task entry point to establish a safe route, verify the UAV acceptance conditions, exclude UAVs that cannot be safely reached, and generate a safe reachable candidate table.

[0051] It should be noted that, according to the task acceptance constraint table, the corresponding task entry is determined according to the acceptance order of each task segment. Taking the current position of each UAV as the starting point and the corresponding task entry as the ending point, the safe route is extended segment by segment along the continuous flight area within the safe passage range. When encountering obstacle areas, no-fly zones, or route-occupied positions, the flight direction is adjusted along the passable edge until the safe route connection between the current position of each UAV and the corresponding task entry is completed.

[0052] Based on the safety route connection verification of each UAV's UAV acceptance conditions, it is determined whether the corresponding UAV can reach the corresponding mission entrance along the safety route within the mission acceptance time limit and meet the subsequent continuous operation requirements. UAVs that cannot complete the safety route connection, cannot arrive on time, or do not meet the continuous operation requirements are excluded. When no candidate UAVs are retained for the corresponding task segment, without changing the obstacle area, no-fly zone, and safe passage conditions, the adjustable range of the task acceptance time limit is checked according to the task window period. If there is an adjustment margin, the task acceptance time limit is extended to the latest time allowed by the task window period, and a safe route connection is re-established. If no candidate UAVs are found after reconnection, the middle position that can fully access the operation area is determined from the safe passage path of the task segment as the adjusted task entry point. The task segment is then divided into segments, and the UAV acceptance conditions are re-verified. If no candidate UAVs are found after re-verification, the corresponding task segment is marked as a task segment with no safe reachable candidates. The allocation of the corresponding task segment is suspended, and the replanning of the task entry point, task acceptance order, and safe route is triggered. UAVs that meet the UAV acceptance conditions, corresponding task segments, safe routes, and task segments with no safe reachable candidates are collected to generate a safe reachable candidate table.

[0053] It should also be noted that the drone acceptance conditions are the restrictions for determining whether a drone can access the corresponding task segment. These include continuous safe flight routes, expected arrival time not exceeding the task acceptance time limit, flight status meeting passage requirements, remaining range covering flight routes and task operations, and operational capabilities meeting the requirements of the current and subsequent task segments. The drone acceptance conditions are used to exclude drones that cannot safely reach the target or cannot operate continuously, narrowing the candidate range, reducing mid-course withdrawals, acceptance delays, and task disconnections after task allocation, and improving the accuracy of the safe reachable candidate list and the reliability of subsequent multi-drone collaborative scheduling.

[0054] S3.3 Based on the safe reachable candidate table, the available capabilities of each candidate UAV are continuously matched with the task acceptance constraints of the current task segment and the subsequent task segment, and the acceptance order of the candidate UAVs is determined according to the acceptance matching status, generating a continuous acceptance matching table.

[0055] It should be noted that, based on the safe reachable candidate table, each candidate UAV is collected according to the corresponding task segment, and the available capabilities of each candidate UAV are matched with the task acceptance constraints of the current task segment and the subsequent task segment item by item. First, it is checked whether the operation type, payload function, endurance and communication support time of the candidate UAV meet the entry conditions, operation requirements and acceptance time limit of the current task segment. Then, the expected endurance, payload working time and communication support time to be consumed in completing the current task segment are deducted from the available capabilities of the candidate UAV to obtain the remaining available capabilities after completing the current task segment. The remaining available capabilities are then compared with the capability requirements of the subsequent task segment item by item.

[0056] When the candidate UAV's operational type and payload capabilities meet the requirements of the subsequent mission segment, and all remaining available capabilities reach 120% of the corresponding capability requirements of the subsequent mission segment, the remaining available capabilities are deemed sufficient. When all remaining available capabilities reach 100% of the corresponding capability requirements of the subsequent mission segment, but at least one remaining available capability is lower than 120% of the corresponding capability requirement, the remaining available capabilities are deemed critically met. When any remaining available capability is lower than 100% of the corresponding capability requirement, the candidate UAV is deemed unable to continuously undertake the subsequent mission segment. The 120% threshold is used to reserve 20% for route detours, temporary obstacle avoidance, and communication waiting capabilities. Candidate drones capable of continuously completing the current and subsequent task segments are identified as complete task recipients, while those capable of only completing the current task segment are identified as single-segment task recipients. Candidate drones that cannot meet the requirements of the current task segment are excluded. Candidate drones are ranked in the following order: complete task recipients take precedence over single-segment task recipients; drones with sufficient remaining available capacity take precedence over those with critical capacity; and drones with shorter expected continuous operation time take precedence over those nearing their task deadline. This determines the task recipient order of the candidate drones and generates a continuous task recipient matching table.

[0057] S3.4. Based on the continuous assignment matching table, determine the urgency order of tasks according to the assignment time limit of each task segment and the waiting status of the rescued object, configure the flight order and control window of the corresponding UAVs in sequence, and replace the candidate UAVs for tasks with overlapping control windows to generate a multi-UAV collaborative scheduling queue.

[0058] It should be noted that, according to the continuous assignment matching table, the assignment time limit of each task segment and the waiting status of the corresponding rescue object are checked segment by segment. Task segments with shorter assignment time limits and more urgent waiting status of rescue objects are arranged first to form a task urgency order.

[0059] Candidate drones with the highest priority in the continuous assignment matching table are selected in order of task urgency. The flight order of the candidate drones is configured according to their arrival order at the corresponding task entry point, and the control window is defined by the expected arrival time, task start time, and task completion time. The control windows are overlapped and verified according to the time sequence. For tasks where the control windows of the same drone overlap or the flight arrangements of adjacent drones conflict, the candidate drones are replaced according to the subsequent assignment order in the continuous assignment matching table, and the flight order and control window are reconfigured until the overlap of control windows and the conflict of flight arrangements are eliminated, and a multi-drone collaborative scheduling queue is generated.

[0060] It should also be noted that the task urgency order is used to determine the order of task execution based on the acceptance time limit of each task segment and the waiting status of the rescued object. This provides a sorting basis for the selection of candidate UAVs, the configuration of flight order, and the division of control windows, avoiding low-urgency tasks from occupying priority execution positions and improving the timeliness of emergency rescue mission response and the rationality of multi-aircraft collaborative scheduling.

[0061] S4. Based on the multi-machine collaborative scheduling queue, monitor the progress of the task and the flight deviation and encapsulate the unfinished boundary, obtain the task acceptance status packet, select the replacement UAV according to the task acceptance status packet, establish a stable communication relationship first, determine the handover position and timing, and generate a communication leader handover scheme.

[0062] S4.1 Based on the multi-drone collaborative scheduling queue, the task completion position and real-time flight position of each UAV are compared with the planned advancement position and planned flight path of the corresponding task segment in the same period to determine the task advancement lag position and flight deviation position, and generate the task advancement deviation record.

[0063] It should be noted that, based on the multi-machine collaborative scheduling queue, the task completion position, real-time flight position, planned advancement position and planned flight path are collected in the same period according to the corresponding UAV, corresponding task segment and control window, and the advancement trajectory comparison relationship is established with the same collection time within the control window.

[0064] According to the mission acceptance direction, calculate the connection distance along the rescue mission acceptance chain between the mission completion position and the planned advancement position at the same data acquisition time. The connection distance corresponding to the planned advancement position being behind the mission completion position is determined as the advancement lag distance. The change status of the advancement lag distance is checked according to the continuous data acquisition time. The position where the advancement lag distance exists continuously and has not been reduced to the allowable range before the end of the corresponding control window is determined as the mission advancement lag position. Real-time flight positions are projected point by point along the planned flight path. The lateral offset, forward and backward heading continuity and safe passage range between the real-time flight position and the planned flight path are checked. The position where the flight position continuously deviates from the planned flight path and has not recovered to the allowable passage range is determined as the flight deviation position. Then, the mission advancement lag position and the flight deviation position are associated according to the corresponding UAV and the corresponding mission segment, and the time of occurrence, duration interval and corresponding control window are marked to generate a mission advancement deviation record.

[0065] It should also be noted that the allowable range is the larger of 5% of the current task segment path length and twice the upper limit of the UAV position acquisition error. The current task segment path length comes from the rescue mission handover chain, and the upper limit of the UAV position acquisition error comes from the positioning accuracy registered in the UAV operation information. If the advance lag distance before the end of the control window is still greater than the allowable range, the corresponding position is determined as the mission advance lag position, thereby eliminating misjudgments caused by positioning fluctuations and short-term speed changes, and timely identifying continuous lags that will affect the subsequent mission handover.

[0066] The expression for calculating the connection distance along the rescue mission connection chain between the mission completion position and the planned advancement position at the same data acquisition time is: ; in, For the time of data collection The corresponding propulsion lag distance; For the collection of rescue coordination data; For the time of data collection The corresponding planned progress position; For the time of data collection The corresponding task completion location; This refers to the sequence number of the task segment in the rescue mission handover chain corresponding to the planned progress location; This refers to the task segment number corresponding to the task completion location in the rescue task assignment chain. The first in the rescue mission contingency chain The path length of a complete task segment; For the first The length of the path along the segment from the starting position to the planned advancement position; For the first The length of the path along the segment from the starting position to the completion position of each task segment.

[0067] The advance lag distance is obtained by calculating the cumulative path coordinate difference between the planned advance position and the task completion position on the rescue mission handover chain at the same data acquisition time. When the planned advance position leads the task completion position, the corresponding cumulative path coordinate difference is determined as the advance lag distance. The data acquisition time comes from the position acquisition time of the corresponding UAV in the rescue coordination data and is aligned with the same cycle through the advance trajectory comparison relationship. The planned advance position comes from the position that the corresponding task segment should reach at the current data acquisition time in the multi-aircraft coordinated scheduling queue. The task completion position comes from the foremost position of the corresponding UAV that has completed its operation at the current data acquisition time. The task segment sequence number corresponding to the planned advance position is determined by projecting the planned advance position onto the rescue... The task assignment chain is determined according to the task assignment direction. The task segment number corresponding to the task completion position is determined by projecting the task completion position onto the rescue task assignment chain, also according to the task assignment direction. Each task segment is formed by sequentially connecting the starting position, the route turning position, the obstacle detour position, and the ending position. The path length of each complete task segment is the actual route length obtained by adding the distances between adjacent positions along the connection sequence. The path length along the segment corresponding to the planned advance position is calculated by only adding the route already arranged between the current task segment's starting position and the planned advance position. The path length along the segment corresponding to the task completion position is calculated by only adding the route already completed between the current task segment's starting position and the actual completion position. All three lengths are calculated along the rescue task assignment chain, not using the straight-line distance between two positions.

[0068] It should also be noted that the propulsion trajectory comparison relationship is used to compare the mission completion position with the planned propulsion position and the real-time flight position with the planned flight path under the same control window and the same data acquisition time. This provides a unified basis for identifying the mission propulsion lag position and flight deviation position, avoids position misjudgment caused by inconsistent data acquisition time, and improves the accuracy of mission propulsion monitoring and the reliability of flight deviation identification.

[0069] S4.2. Based on the task progress deviation record, the task segment where the progress is delayed is identified as the task segment to be taken over. The remaining tasks are tracked along the rescue task takeover chain from the last effective operation position and the incomplete search boundary is closed. The incomplete search boundary and the corresponding task takeover conditions are encapsulated to obtain the task takeover status package.

[0070] It should be noted that, based on the mission progress deviation record, the mission completion status is checked item by item according to the drone, mission segment, and control window corresponding to the mission progress lag position. The mission segment that has not progressed to the planned progress position within the control window is identified as the mission segment to be accepted. The continuous effective operation status is checked in reverse along the mission acceptance direction of the mission segment to be accepted, and the position closest to the mission progress lag position and whose completion status remains effective is identified as the last effective operation position. From the last effective operation position, the rescue mission acceptance chain is traced backward segment by segment, deducting the completed mission parts, and the uncompleted mission segments are continuously collected into the remaining missions according to the original acceptance order. With the last effective operation position as the boundary starting point, the boundary turning positions are connected sequentially along the outer edge of the remaining search range until the boundary starting point is returned, completing the closure of the uncompleted search boundary. Then, the uncompleted search boundary is associated with the corresponding mission acceptance conditions according to the entry conditions, operation requirements, acceptance time limit, and continuous operation conditions corresponding to the remaining missions, and encapsulated according to the acceptance order of the mission segments to be accepted to obtain the mission acceptance status package.

[0071] It should also be noted that the mission acceptance status package is used to centrally store the incomplete search boundaries, remaining tasks, and mission acceptance conditions corresponding to the mission segments to be accepted. This provides a unified basis for the selection of replacement drones, the establishment of communication leads, the determination of the handover location, and the continuation of subsequent missions. It avoids omissions in the work area and loss of acceptance conditions during the mission handover process, thereby improving the continuity of drone mission handover and the reliability of rescue dispatch.

[0072] S4.3. Based on the task acceptance status packet, verify the safe arrival status, remaining operational capabilities and communication coverage overlap status of each candidate UAV, exclude UAVs that cannot enter the communication overlap area within the acceptance time limit, and determine the replacement UAV from the retained candidate UAVs to generate a replacement UAV matching table.

[0073] It should be noted that, based on the task acceptance status packet, and according to the acceptance time limit and incomplete search boundary corresponding to the task segment to be accepted, Based on the mission acceptance status packet, according to the acceptance time limit and unfinished search boundary corresponding to the mission segment to be accepted, the feasible route for each candidate UAV to enter the communication overlap area is determined one by one. The estimated entry time is calculated by combining the current position and flight status of each candidate UAV. The feasible route is checked to see if it continuously avoids obstacle positions, no-fly zones and route conflict positions, and the safe arrival status is determined.

[0074] Based on real-time link quality sampling data from various UAVs at different spatial locations within the disaster area, locations with continuous link connections, complete status transmission, and communication latency meeting the requirements for mission acceptance status packet transmission are identified as valid communication locations. The continuity of communication between adjacent valid communication locations is verified in conjunction with obstacle distribution. Spatially contiguous and continuously communicating valid communication locations are merged to form the communication coverage area for each UAV. Based on the mission acceptance conditions corresponding to the remaining tasks, the remaining operational capabilities of each candidate UAV after completing its flight path are aligned with the operational capabilities required for the remaining tasks, eliminating candidate UAVs that cannot continuously complete the remaining tasks. The communication coverage areas of the retained candidate UAVs are spatially overlapped with the original execution UAVs. Continuous spatial areas that simultaneously meet the minimum communication quality conditions of both parties are identified as communication overlap areas. It is verified whether the communication overlap area is located within a feasible flight path and whether the expected entry time is earlier than the acceptance time limit, excluding UAVs that cannot enter the communication overlap area within the acceptance time limit.

[0075] When there is at least one candidate drone, the candidate drones are arranged in order of stable safe arrival status, sufficient remaining operational capacity, and continuous communication coverage overlap. The candidate drone ranked first is determined as the replacement drone. When there are zero candidate drones, without reducing the requirements for safe passage, remaining operational capacity, and minimum communication quality, drones that are not performing urgent tasks and have no route conflicts are retrieved from the multi-drone collaborative scheduling queue within the control window. The candidate range is expanded and re-verified. If there are still no candidate drones after expanding the candidate range, the handover of task control is suspended. The original drone is controlled to maintain task control within the remaining safe capability range. An alarm for insufficient replacement resources is issued, and the task segment to be taken over, the waiting start time, and the replacement drone's waiting mark are written into the replacement drone matching table. Replacement drone matching is restarted after a new drone enters the safe reach range, and a replacement drone matching table is generated.

[0076] S4.4 According to the replacement drone matching table, control the replacement drone to first enter the communication overlap area corresponding to the original performing drone, establish a stable communication relationship and complete the transmission and verification of the task acceptance status packet, and then determine the switching position and switching sequence according to the communication overlap range and the subsequent task entry direction, and generate a communication lead-to-succession scheme.

[0077] It should be noted that, according to the replacement drone matching table, the replacement drone is controlled to enter the communication overlap area corresponding to the original drone along the approved route. The original drone continuously sends communication connection requests to the replacement drone, and the replacement drone returns connection responses one by one. During the continuous communication cycle, the flight status and mission status are exchanged until the communication connection is maintained and the status is transmitted completely, thus establishing a stable communication relationship.

[0078] Based on a stable communication relationship, the original executing UAV transmits the task acceptance status packet in the order of incomplete search boundaries, remaining tasks, and task acceptance conditions. The replacement UAV returns the confirmation of receipt item by item and verifies the transmitted content. Missing or inconsistent content is retransmitted until the transmission and verification of the task acceptance status packet is completed. According to the communication overlap range, positions that can maintain a stable communication relationship and directly access the remaining tasks are selected along the direction of subsequent tasks. Candidate positions close to the edge of the communication overlap range, obstacle positions, and route conflict positions are excluded to determine the handover position. Then, the handover sequence is determined according to the order of the replacement UAV arriving at the handover position, the establishment of a stable communication relationship, the transmission and verification of the task acceptance status packet, and the original executing UAV completing the current operation. The handover position, handover sequence, and corresponding flight schedule are associated to generate a communication lead handover plan.

[0079] It should also be noted that a stable communication relationship is used to ensure that the original UAV and the replacement UAV continuously exchange flight status and mission status before the mission handover, and to completely transmit the mission handover status package. This provides a communication basis for determining the handover location, arranging the handover sequence, and continuing the mission. It avoids the loss of mission information and the disorder of the handover sequence due to communication interruption, and improves the continuity of UAV mission handover and the reliability of rescue dispatch.

[0080] The communication lead handover scheme is used to clarify the flight arrangements for replacing drones entering the communication overlap area, the requirements for establishing stable communication relationships, the order of transmitting mission acceptance status packets, the handover location, and the handover timing. It provides an execution basis for the overlap verification and mission handover between new and old drones, avoids operation interruption caused by entering the handover before the mission information is confirmed, and improves the continuity and reliability of the drone handover process.

[0081] like Figure 5 The figure shows a comparison of task handover success rates under different communication packet loss rates, illustrating the changes in task handover success rates under conditions of gradually increasing communication packet loss rates for the method of this invention, the method of establishing communication after reaching the handover location, and the method of directly handing over without confirming a stable communication relationship. As the communication packet loss rate increases, the task handover success rate of the method of this invention decreases significantly less than the two comparative methods, and remains at a high level. This indicates that by having the replacement UAV first enter the communication overlap area, establish a stable communication relationship, and complete the verification of the task acceptance status packet transmission before determining the handover location and timing, the method can reduce the loss of task information, failure to transfer task control, and disordered handover order. This demonstrates the innovative role of communication-guided handover in ensuring the reliability of task handover under complex communication conditions.

[0082] The method of this invention is as follows: The replacement drone first enters the communication overlap area corresponding to the in-service drone, establishes a stable communication relationship and completes the verification of the task acceptance status packet transmission, then determines the handover position and handover sequence, and then determines the valid handover point through overlapping task verification and completes the transfer of task control, which is used to ensure the integrity of task information, the closure of operation boundaries and the continuous acceptance of remaining tasks.

[0083] The method of establishing communication after reaching the handover position is as follows: The replacement drone first flies to the fixed handover position according to the preset track. Only after reaching the handover position will it establish a communication relationship with the drone in place and transmit the remaining mission information. Communication confirmation and mission information verification both occur near the handover position. Therefore, when communication is blocked, it is easy to prolong the mission waiting time and reduce the mission handover success rate.

[0084] The method of directly switching over without confirming a stable communication relationship: After the replacement drone and the in-service drone establish an initial communication connection, the continuous communication status is not verified, nor is it confirmed whether the task acceptance status packet is completely transmitted, and the task control is directly transferred. When the communication packet loss rate increases, it is easy to have incomplete search boundaries, remaining tasks, or missing task acceptance conditions, which may lead to task switching failure or increased recovery time for subsequent tasks.

[0085] S5. Based on the communication lead-in handover plan, control the in-situ UAV to maintain its operational status, control the replacement UAV to enter the handover position along the predetermined flight path, transfer task control after confirming that there are no missing tasks or duplicate operations, adjust the subsequent flight sequence, and generate rescue dispatch instructions.

[0086] S5.1. Based on the communication lead-in handover scheme, control the in-situ UAV to maintain its current operating status, control the replacement UAV to enter the handover position along the predetermined flight path, and make a spatiotemporal correspondence between the first effective operating position of the replacement UAV and the last effective operating position of the in-situ UAV to generate an overlapping operation alignment table.

[0087] It should be noted that, based on the communication lead-in handover scheme, the handover execution range between the in-service drone and the replacement drone is determined according to the handover location, handover sequence, corresponding flight schedule, and overlapping verification control permissions. Before the formal transfer of mission control, the in-service drone continues to hold the remaining mission control, controlling the in-service drone to continuously complete the work within the unfinished search boundary along the current mission advancement direction, and continuously updating the mission completion location, effective target status, and operation time to form the in-service drone's operational status. At the same time, overlapping verification control permissions are only granted to the replacement drone within the shared coverage area of ​​the old and new drones. The overlapping verification control permissions are used to control the replacement drone to enter the handover location, perform search verification, status check, and location handover confirmation within the shared coverage area, and the replacement drone is not allowed to cross the effective handover point to independently advance the remaining mission, nor does it change the in-service drone's control status over the remaining mission.

[0088] Based on the operational status of the in-situ UAV, the mission completion position that is closest to the handover location and maintains a valid mission completion status is determined as the last valid operational position of the in-situ UAV. The operational time and valid target status corresponding to the last valid operational position are included in the handover positioning content. The replacement UAV is controlled to fly towards the handover location along a predetermined track, and the overlap between the real-time flight position and the predetermined track is checked hourly. For flight positions that deviate from the predetermined track, the flight direction is corrected along the safe passage range until the replacement UAV enters the handover location. After the replacement UAV enters the handover location, according to the overlap verification control authority, search verification, status verification, and position continuation confirmation are carried out within the common coverage area along the incomplete search boundary and the direction of subsequent mission entry. This will form the initial... The location of the valid verification operation content is determined as the first valid operation position of the replacement drone. The operation time and valid target status corresponding to the first valid operation position are included in the handover alignment content. The first valid operation position is only used as the alignment starting point for subsequent task omission verification, duplicate operation verification, and valid handover point determination. It does not mean that the replacement drone has obtained control of the remaining tasks after the valid handover point. The first and last valid operation positions are matched according to the unified spatial reference, and the operation times of both parties are matched according to the handover sequence. The spatial connection distance, operation sequence, unfinished search boundary acceptance status, and valid target status are checked. Content with position disconnection or time sequence misalignment is adjusted to continuous acceptance positions to generate an overlapping operation alignment table.

[0089] S5.2. Based on the overlapping operation alignment table, verify the consistency of the incomplete search boundaries and valid target status within the common coverage area of ​​the new and old UAVs, identify the missing and duplicate operation locations, and generate overlapping task verification records.

[0090] It should be noted that, according to the overlapping operation alignment table, the common coverage area of ​​the old and new drones is determined based on the first valid operation position of the replacement drone and the last valid operation position of the in-service drone. The uncompleted search boundaries within the common coverage area are then divided into continuous verification sections according to spatial location. For each continuous verification section, the operation time, task completion position, and boundary advancement position of the in-service drone and the replacement drone are sequentially checked to verify whether the uncompleted search boundaries are continuously connected. The section not covered between the in-service drone's stop operation position and the replacement drone's start operation position is determined as the task omission position. The in-service drone and the replacement drone... The overlapping sections marked as completed by each drone are identified as repeated operation locations. Then, according to the identification of the rescue target and the effective target status recorded by the on-duty drone and the replacement drone corresponding to the rescue operation location, the location, search status, verification status and rescue status of the effective targets are checked item by item. Effective targets with the same spatial location but inconsistent status are associated with the corresponding missing task location or repeated operation location. The verification contents of each continuous verification section, missing task location, repeated operation location and effective target status are arranged along the advancement direction of the incomplete search boundary, and the corresponding operation time, new and old drones and subsequent processing requirements are marked to generate overlapping task verification records.

[0091] S5.3 Based on the overlapping task verification records, control the replacement UAV to supplement the missing locations of the verification task and avoid the repeated operation locations. The location where the search boundary closure is not completed and the effective target status is consistent and the task progress is continuous is determined as the effective handover point.

[0092] It should be noted that, based on the overlapping task verification records, the task omission positions and repeated operation positions are arranged according to the direction of advancement of the incomplete search boundary. The replacement drone is controlled to enter the task omission positions in sequence along the safe passage range, and the search, review or rescue verification is completed according to the operation requirements corresponding to the task omission positions. The operation range after the verification is completed is continued to the last effective operation position of the in-situ drone to form a supplementary operation range.

[0093] The flight path of the replacement drone is adjusted according to the spatial range and time period corresponding to the repeated operation location, so that the replacement drone bypasses the area where the operation has been completed and rejoins the supplementary operation area from behind the repeated operation location to form a continuous advancement path. Based on the supplementary operation area and the continuous advancement path, the incomplete search boundary is updated, and the boundary disconnection positions are connected in sequence to check whether the closed range completely surrounds the remaining search area. At the same time, the valid target positions, search status, verification status and rescue status recorded by the replacement drone and the in-service drone are checked according to the rescue target identification. Inconsistent valid target statuses are re-verified and unified. Finally, the position continuity and operation sequence between the last valid operation position of the in-service drone, the first valid operation position of the replacement drone and the continuous advancement path are checked along the updated incomplete search boundary. The position where the incomplete search boundary is closed, the valid target status is consistent and the task advancement is continuous is determined as the valid handover point.

[0094] like Figure 6 The diagram shows a comparison of mission omission rates and magnified views under different flight deviation distances. It illustrates the changes in mission omission rates of the proposed method, the fixed handover position direct handover method, and the non-overlapping operation verification method under gradually increasing flight deviation distances. The magnified views highlight the differences between the three methods at larger flight deviation distances. As the flight deviation distance increases, the increase in mission omission rate for the proposed method is significantly smaller. This indicates that by retaining the incomplete search boundary and mission acceptance conditions in the mission acceptance status package, and by establishing a spatiotemporal correspondence between the first effective operation position of the replacement UAV and the last effective operation position of the in-place UAV, and by supplementing and verifying missing mission positions based on overlapping mission verification records and avoiding duplicate operation positions, the mission process can continuously advance along the incomplete search boundary. This demonstrates the innovative role of the proposed method in reducing mission omission risks and improving mission handover continuity.

[0095] The method of this invention is as follows: a task acceptance status package is formed based on the task progress deviation record. The first effective working position of the replacement drone is spatiotemporally correlated with the last effective working position of the in-service drone. The missing and repeated working positions of the task are identified through overlapping task verification. After supplementary verification and avoidance, the effective handover point is determined, so that the replacement drone can continuously take over the remaining tasks along the unfinished search boundary.

[0096] Direct handover method at fixed handover location: A fixed handover location is set. After the replacement drone arrives at the fixed handover location, it directly receives mission control without adjusting the handover location based on the actual mission completion location and flight deviation status of the drone in place. When the flight deviation distance increases, the fixed handover location is prone to deviating from the actual operation handover location, thus forming a mission omission range or overlapping coverage range.

[0097] Non-overlapping operation verification method: After the takeover drone obtains the remaining task information, it directly enters the subsequent operation. It does not perform consistency verification on the unfinished search boundaries and effective target status within the common coverage area of ​​the old and new drones, nor does it identify the missing task locations and duplicate operation locations. This can easily lead to disconnection of the operation range, repeated execution of the completed range, and inconsistency in the acceptance of effective target status.

[0098] S5.4. At the effective handover point, complete the confirmation of the task acceptance status package and the transfer of task control, control the takeover drone to take over the remaining tasks and control the in-situ drone to leave the overlapping operation area along the exit track, and generate the task handover closed state.

[0099] It should be noted that at a valid handover point, the in-situ UAV sends a task acceptance status packet item by item according to the order of the incomplete search boundary, the remaining tasks, and the task acceptance conditions. The takeover UAV then checks the closure position of the incomplete search boundary, the order of acceptance of the remaining tasks, the status of the valid target, and the task acceptance conditions item by item, and returns a reconfirmation request for any inconsistencies, until all task acceptance status packets are confirmed.

[0100] Based on the confirmed mission acceptance status packet, the in-situ UAV stops advancing towards the effective handover point and sends a mission control transfer request. The surrogate UAV returns to confirm mission control acceptance. The in-situ UAV releases the operation control corresponding to the remaining mission, and the surrogate UAV takes over the flight control and operation control corresponding to the remaining mission, completing the mission control transfer. According to the mission control transfer status, the surrogate UAV is controlled to execute the remaining missions sequentially from the effective handover point along the direction of advancement of the incomplete search boundary, and continuously updates the mission completion position and the status of the effective target. At the same time, the in-situ UAV is controlled to maintain a safe distance from the surrogate UAV, and avoids the advancement direction, obstacle positions and flight paths of the surrogate UAV and subsequent UAVs along the exit track until it leaves the overlapping operation area. Finally, it is verified that the surrogate UAV has continuously accepted the remaining missions, the in-situ UAV has left the overlapping operation area, the mission control is not duplicated, and there is no new disconnection at the incomplete search boundary, generating a mission handover closed state.

[0101] S5.5 Based on the closed state of the mission handover, the flight order before the effective handover point remains unchanged. The flight order and control window of the subsequent drones are adjusted according to the actual handover time of the replacement drone, and rescue dispatch instructions are generated.

[0102] It should be noted that, based on the closed state of the task handover, the scheduling range before and after the handover is divided according to the task takeover position and the time of task control transfer corresponding to the effective handover point. The flight arrangements that have been completed or are being executed before the effective handover point are locked, and the flight order and control window of the corresponding UAVs remain unchanged. The actual takeover time is determined by the time when the UAV actually receives task control and begins to execute the remaining tasks. The expected start time and expected completion time of each task segment after the effective handover point are postponed or advanced according to the time difference between the actual takeover time and the originally planned takeover time, forming the subsequent task sequence.

[0103] Based on the subsequent mission sequence, the arrival order of subsequent drones at the mission entry point, the mission segment acceptance time limit, and the connection status of adjacent control windows are checked sequentially along the rescue mission acceptance chain. Subsequent drones that can enter the corresponding mission entry point on time without route conflicts are arranged according to the mission acceptance order. For subsequent drones whose arrival time is later than the mission acceptance time limit or that conflict with the flight schedule of adjacent drones, the flight order is adjusted according to the acceptance order in the continuous acceptance matching table. Based on the adjusted flight order, the control windows of subsequent drones are redefined according to the expected arrival time, the adjusted mission start time, and the adjusted mission completion time, respectively. The overlap of adjacent control windows is verified. Control windows that still have time overlap or flight path conflicts are continued to be extended and re-verified until subsequent drones can continuously enter the corresponding mission segment according to the mission acceptance direction. Finally, the unchanged flight order before the handover, the adjusted flight order of subsequent drones, the redefined control windows, the corresponding mission segments, and the execution time are correlated to generate rescue dispatch instructions.

[0104] It should also be noted that the rescue dispatch instructions are used to clarify the flight sequence, control window, planned flight path and mission execution requirements after the replacement drone takes over the associated mission segment, and coordinate the subsequent arrangements of the affected mission segment. This provides a control basis for the replacement drone to continuously execute the remaining mission, avoids route conflicts, mission omissions and interruptions, and improves the continuity and reliability of multi-aircraft collaborative rescue dispatch.

[0105] In summary, this invention monitors task progress and flight deviation based on a multi-aircraft collaborative scheduling queue, encapsulates incomplete boundaries and acceptance conditions to form a task acceptance status package, and selects a replacement UAV accordingly. After establishing a stable communication relationship, the handover location and timing are determined, and then the old and new UAVs are controlled to complete overlap verification and task handover. This completes pre-handover communication confirmation, in-handover operation closure, and post-handover flight schedule update, enabling continuous task process control along the incomplete boundary, reducing the risk of task omissions and duplicate operations, and improving the continuity and reliability of multi-aircraft emergency rescue task handover.

[0106] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for scheduling UAV emergency rescue missions based on multi-machine collaborative control, characterized in that, include: Collect rescue coordination data, perform coordination situation calibration on the rescue coordination data, and generate an emergency rescue coordination situation map; Based on the emergency rescue collaborative situation map, the search, verification and rescue operations are linked according to the location of the rescued objects and the order of handling. The completed search area is deducted and the uncompleted search boundary is delineated along the outer edge of the remaining area to generate a rescue mission succession chain. Based on the rescue mission succession chain, the operational requirements of each mission segment are matched with the available capabilities of drones to ensure mission continuity, drones that cannot reach safely are excluded, and flight order and control windows are configured according to the urgency of the mission to generate a multi-drone collaborative scheduling queue. Based on the multi-machine collaborative scheduling queue, the task progress and flight deviation are monitored and the incomplete boundary is encapsulated. The task acceptance status packet is obtained. The replacement UAV is selected according to the task acceptance status packet. A stable communication relationship is established first, and then the handover position and timing are determined to generate a communication lead handover scheme. Based on the communication lead-in handover plan, the in-situ UAV is kept in operation, and the replacement UAV is controlled to enter the handover position along the predetermined flight path. After confirming that there are no missing tasks or duplicate operations, the task control is transferred, the subsequent flight sequence is adjusted, and the rescue dispatch instructions are generated.

2. The UAV emergency rescue mission scheduling method based on multi-machine cooperative control as described in claim 1, characterized in that, The emergency rescue collaborative situation map is obtained by associating the rescue collaborative status elements in the rescue collaborative data, correcting the collection time sequence of various rescue collaborative data according to the rescue mission start time, converting the location coordinates in the rescue collaborative data to a unified spatial reference, correcting the collaborative consistency of collaborative data anomalies, obtaining rescue collaborative calibration data, and mapping the rescue collaborative calibration data to the disaster area base map.

3. The UAV emergency rescue mission scheduling method based on multi-machine collaborative control as described in claim 2, characterized in that, Based on the emergency rescue collaborative situation map, the search, verification, and rescue operations are linked according to the location and priority of the rescue targets. The completed search area is deducted, and the boundary of the incomplete search is delineated along the outer edge of the remaining area. The specific steps are as follows: Based on the emergency rescue coordination situation map, determine the rescue operation location corresponding to each rescue target, and associate each rescue operation location according to the order of handling after the search is completed and the verification is completed, and generate a task anchor point undertaking sequence. Based on the task anchor point sequence, adjacent task anchor points are connected sequentially along the safe passage range, and task segments are divided according to the change position of the rescue operation location to generate a rescue operation connection path. The completed search area is deducted from the rescue operation connection path, and the remaining search areas that are adjacent to each other are continuously merged and closed along the outer edge of the remaining area to generate the incomplete search boundary.

4. The UAV emergency rescue mission scheduling method based on multi-machine collaborative control as described in claim 3, characterized in that, The rescue mission relay chain is obtained by removing task segments that fall within the completed search range in the rescue operation connection path based on the incomplete search boundary, continuing the task segments that were cut off by the incomplete search boundary to the corresponding rescue operation position, and then connecting the search task segment, the verification task segment and the rescue task segment in sequence.

5. The UAV emergency rescue mission scheduling method based on multi-machine collaborative control as described in claim 1, characterized in that, The steps are as follows: Based on the rescue mission succession chain, the operational requirements of each mission segment are matched with the available capabilities of the drones to ensure mission continuity and eliminate drones that cannot safely reach the destination. Based on the rescue mission acceptance chain, determine the mission acceptance elements corresponding to each mission segment along the mission acceptance direction, and associate the continuous operation conditions of the current mission segment with the subsequent mission segment to generate a mission acceptance constraint table. Based on the task acceptance constraint table, the current location of each UAV is connected to the corresponding task entry point via a safe route. The UAV acceptance conditions of the UAV are verified, and UAVs that cannot be safely reached are excluded, generating a safe reachable candidate table.

6. The UAV emergency rescue mission scheduling method based on multi-machine cooperative control as described in claim 5, characterized in that, The specific steps for configuring flight order and control windows according to mission urgency and generating a multi-aircraft collaborative scheduling queue are as follows: Based on the safe reachable candidate table, the available capabilities of each candidate UAV are continuously matched with the task acceptance constraints of the current task segment and the subsequent task segment, and the acceptance order of the candidate UAVs is determined according to the acceptance matching status, generating a continuous acceptance matching table. Based on the continuous assignment matching table, the urgency of tasks is determined according to the assignment time limit of each task segment and the waiting status of the rescued object. The flight order and control window of the corresponding UAVs are configured in sequence, and candidate UAVs are replaced for tasks with overlapping control windows to generate a multi-UAV collaborative scheduling queue.

7. The UAV emergency rescue mission scheduling method based on multi-machine cooperative control as described in claim 1, characterized in that, The specific steps for monitoring task progress and flight deviation based on multi-machine collaborative scheduling queues, encapsulating incomplete boundaries, and obtaining task acceptance status packets are as follows: Based on the multi-drone collaborative scheduling queue, the task completion position and real-time flight position of each UAV are compared with the planned advancement position and planned flight path of the corresponding task segment in the same period of advancement trajectory to determine the task advancement lag position and flight deviation position, and generate the task advancement deviation record. Based on the mission progress deviation record, the mission segments that have experienced progress delays are identified as mission segments to be taken over. The remaining missions are tracked along the rescue mission takeover chain from the last effective operation position, and the incomplete search boundary is closed. The incomplete search boundary and the corresponding mission takeover conditions are encapsulated to obtain the mission takeover status package.

8. The UAV emergency rescue mission scheduling method based on multi-machine cooperative control as described in claim 7, characterized in that, The process of selecting a replacement drone based on the task acceptance status packet, establishing a stable communication relationship first, determining the handover location and timing, and generating a communication lead handover scheme involves the following steps: Based on the task acceptance status package, verify the safe arrival status, remaining operational capabilities and communication coverage overlap status of each candidate drone, exclude drones that cannot enter the communication overlap area within the acceptance time limit, and determine the replacement drone from the retained candidate drones to generate a replacement drone matching table. According to the replacement drone matching table, the replacement drone is controlled to first enter the communication overlap area corresponding to the original drone, establish a stable communication relationship and complete the transmission and verification of the task acceptance status packet. Then, based on the communication overlap range and the direction of subsequent task entry, the handover position and handover sequence are determined, and a communication lead handover scheme is generated.

9. The method for scheduling UAV emergency rescue missions based on multi-machine collaborative control as described in claim 1, characterized in that, According to the communication-led handover scheme, the in-service UAV is kept in operational status, and the replacement UAV is guided to enter the handover position along the predetermined flight path. After confirming that there are no missed tasks or duplicate operations, task control is transferred, and the subsequent flight sequence is adjusted. The specific steps are as follows: Based on the communication lead-in handover scheme, the in-situ UAV is controlled to maintain its current operating status, and the replacement UAV is controlled to enter the handover position along the predetermined flight path. The first effective operating position of the replacement UAV is spatiotemporally matched with the last effective operating position of the in-situ UAV to generate an overlapping operation alignment table. Based on the overlapping task alignment table, the consistency of the incomplete search boundaries and valid target status within the common coverage area of ​​the new and old UAVs is verified, the missing task locations and duplicate task locations are identified, and overlapping task verification records are generated. Based on the overlapping task verification records, the control of the replacement drone is used to supplement the missing locations of the verification task and avoid the repeated operation locations. The location where the search boundary closure is not completed and the effective target status is consistent and the task progress is continuous is determined as the effective handover point. At the effective handover point, the task acceptance status package is confirmed and the task control is transferred. The takeover drone is controlled to take over the remaining tasks, and the in-situ drone is controlled to leave the overlapping operation area along the exit track, generating a task handover closed state.

10. The UAV emergency rescue mission scheduling method based on multi-machine cooperative control as described in claim 9, characterized in that, The rescue dispatch instructions are obtained by maintaining the flight order before the effective handover point based on the closed state of the mission handover, and adjusting the flight order and control window of subsequent drones according to the actual handover time of the replacement drone.

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