CN112319741A - Intelligent search and rescue method and system for offshore unmanned aerial vehicle - Google Patents

Intelligent search and rescue method and system for offshore unmanned aerial vehicle Download PDF

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CN112319741A
CN112319741A CN202011115370.1A CN202011115370A CN112319741A CN 112319741 A CN112319741 A CN 112319741A CN 202011115370 A CN202011115370 A CN 202011115370A CN 112319741 A CN112319741 A CN 112319741A
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丛文元
顾沈明
谭安辉
陈荣品
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Zhoushan Chaobo Technology Co ltd
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Abstract

本发明涉及一种用于海上无人机的智能搜救方法及系统，所述系统包括中心服务器、至少一个无人机和至少一个搜救船，所述方法包括：无人机接收到第一人员搜救任务之后，将信息通过第二人员搜救任务的形式上报给中心服务器，中心服务器根据无人机的探测信息，生成第三人员搜救任务，并匹配搜救船，将第三人员搜救任务发送给搜救船，由搜救船来执行后续操作，无人机则主要利用其本身快速、便捷的特点在海面上通过摄像头快速查找被搜救的人员，而搜救船可以利用其优势来对人员实行具体救援。本发明结合无人机和搜救船，通过中心服务器进行任务关联和任务分配，实现高效率和高质量的海上搜救。

Figure 202011115370

The present invention relates to an intelligent search and rescue method and system for maritime unmanned aerial vehicles. The system includes a central server, at least one unmanned aerial vehicle and at least one search and rescue ship. The method includes: the unmanned aerial vehicle receives a first personnel search and rescue After the mission, the information is reported to the central server in the form of a second-person search and rescue mission. The central server generates a third-person search and rescue mission according to the detection information of the drone, matches the search and rescue ship, and sends the third-person search and rescue mission to the search and rescue ship. , the follow-up operation is performed by the search and rescue ship, and the drone mainly uses its own fast and convenient characteristics to quickly find the searched and rescued personnel on the sea through the camera, and the search and rescue ship can use its advantages to carry out specific rescues for the personnel. The invention combines the unmanned aerial vehicle and the search and rescue ship, and carries out task association and task assignment through the central server, so as to realize high-efficiency and high-quality maritime search and rescue.

Figure 202011115370

Description

Intelligent search and rescue method and system for offshore unmanned aerial vehicle
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent search and rescue method and system for a maritime unmanned aerial vehicle.
Background
Unmanned aerial vehicle refers to unmanned aerial vehicle, has lightweight, quick type and convenient control type's characteristics. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster search and rescue, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries also actively expand the industrial application and develop the unmanned aerial vehicle technology.
Along with the rapid development of science and technology, unmanned aerial vehicle has also played more and more important effect in searching for and rescuing. For example, when a disaster occurs, the unmanned aerial vehicle is used for disaster detection, so that landform and environment can be ignored, detection can be flexibly carried out, and particularly in some disaster sites with urgent and serious risks, the unmanned aerial vehicle can be rapidly carried out under the condition that detection cannot be carried out by detection groups. Therefore, the investigation efficiency is greatly improved, and the key factors of the disaster accident can be found out at the first time, so that the commander can make a correct decision. Simultaneously, use unmanned aerial vehicle can effectively avoid the casualties, can avoid the people to get into dangerous environment such as poisonous, flammable and explosive, can grasp the site conditions comprehensively, carefully again, can also detect through integrated reconnaissance module. For example, when someone meets danger at sea, the unmanned aerial vehicle can quickly arrive at the place where the danger occurs and release lifesaving materials.
However, in the maritime search and rescue task of the existing unmanned aerial vehicle, the function that the unmanned aerial vehicle can play is limited, and if the unmanned aerial vehicle is only relied on for search and rescue, the actual search and rescue requirements can not be met many times.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an intelligent search and rescue method and system for a maritime unmanned aerial vehicle.
In order to achieve the above object, the present invention has the following configurations:
the invention provides an intelligent search and rescue method for a maritime unmanned aerial vehicle, which comprises the following steps:
the central server sends a first person search and rescue task to the unmanned aerial vehicle, wherein the first person search and rescue task comprises a first task number and characteristic data of a searched and rescued person;
the unmanned aerial vehicle receives a first person search and rescue task, and characteristic data of a person to be searched and rescued are obtained through analysis in the first person search and rescue task;
the unmanned aerial vehicle acquires sea surface images through a camera in the flying process, performs image recognition on the sea surface images, and judges whether images matched with the characteristic data are shot or not;
if the image matched with the feature data is shot, the unmanned aerial vehicle generates a second person search and rescue task and sends the second person search and rescue task to a central server, wherein the second person search and rescue task comprises a second task number, the shot image matched with the feature data, the shot place of the image matched with the feature data and a first task number associated with the second task number;
when the central server receives the second person search and rescue task, searching feature data of the person to be searched and rescued according to the first task number associated with the second task number;
the central server generates a third person search and rescue task, the third person search and rescue task comprises a search and rescue place and feature data of a person to be searched and rescued, the search and rescue place is consistent with a place in the second person search and rescue task, and the central server establishes an incidence relation between the third person search and rescue task and the first person search and rescue task and the second person search and rescue task;
and the central server selects the search and rescue ship closest to the second person according to the place in the search and rescue task, and sends the third person search and rescue task to the search and rescue ship closest to the second person.
Optionally, after the third person search and rescue task is sent to the search and rescue ship closest to the third person search and rescue ship, the method further includes the following steps:
the central server receives feedback information returned by the search and rescue ship, wherein the feedback information comprises a third task number of a third person search and rescue task;
the central server judges whether the feedback information comprises search and rescue success information or not;
if so, the central server analyzes the feedback information to obtain a third task number, and inquires according to the third task number to obtain a corresponding second task number and unmanned aerial vehicle information;
the central server sends the task completion information and the corresponding second task number to the corresponding unmanned aerial vehicle;
and after receiving the task completion information, the unmanned aerial vehicle ends the search and rescue task corresponding to the second task number.
Optionally, after the central server determines whether the feedback information includes search and rescue success information, the method further includes the following steps:
if the feedback information comprises target information which is not found, the central server analyzes the feedback information to obtain a third task number, and inquires according to the third task number to obtain a corresponding second task number and unmanned aerial vehicle information;
the central server sends the continuous search and rescue information and the corresponding second task number to the corresponding unmanned aerial vehicle;
after receiving the search and rescue continuation information, the unmanned aerial vehicle inquires a corresponding first task number according to the second task number and continues to execute a first person search and rescue task corresponding to the first task number.
Optionally, after the central server determines whether the feedback information includes search and rescue success information, the method further includes the following steps:
if the feedback information comprises target updating information and updated target information, the central server inquires a first task number of a corresponding first person search and rescue task according to the updated target information and inquires a corresponding second task number according to the third task number;
the central server sends target error information and a second task number to the unmanned aerial vehicle corresponding to the second task number;
the central server sends task completion information and a first task number corresponding to the updated target information to the unmanned aerial vehicle corresponding to the first task number;
the unmanned aerial vehicle receiving the target error information inquires a corresponding first task number according to the second task number, and continues to execute a first person search and rescue task corresponding to the first task number;
and the unmanned aerial vehicle receiving the task completion information finishes the first person search and rescue task corresponding to the first task number.
Optionally, when the central server receives the second person search and rescue task, after searching the feature data of the person to be searched and rescued according to the first task number associated with the second task number, the method further includes the following steps:
the central server compares the characteristic data of the searched and rescued person with the image in the second person searching and rescuing task;
if the comparison is successful, the central server generates a third person search and rescue task;
and if the comparison fails, the central server sends target error information to the unmanned aerial vehicle, and the unmanned aerial vehicle continues to execute the corresponding first person search and rescue task after receiving the target error information.
Optionally, if an image matching the feature data is captured, after the unmanned aerial vehicle generates a second person search and rescue task, the method further includes the following steps:
the unmanned aerial vehicle puts in intelligent wearing equipment to the sea to after presetting the interval, with intelligent wearing equipment communicates, acquires intelligent wearing equipment's detection data, and will detection data send to central server, be provided with at least one health detection sensor in the intelligent wearing equipment.
Optionally, the health detection sensor comprises a body temperature sensor and a heart rate detection sensor, and a GPS positioning device is further arranged in the intelligent wearable device.
Optionally, after receiving the detection data of the intelligent wearable device sent by the unmanned aerial vehicle, the central server sets the priority of the third person search and rescue task according to the detection data, and sends the priority of the third person search and rescue task and the third person search and rescue task together to the search and rescue ship;
and after the search and rescue ship receives the third person search and rescue task, arranging the execution sequence of the person search and rescue tasks received by the search and rescue ship according to the priority corresponding to the third person search and rescue task.
The embodiment of the invention also provides an intelligent search and rescue system for the maritime unmanned aerial vehicle, which is applied to the intelligent search and rescue method for the maritime unmanned aerial vehicle, the system comprises a central server, at least one unmanned aerial vehicle and at least one search and rescue ship, wherein the central server, the unmanned aerial vehicle and the search and rescue ship execute the following steps:
the central server sends a first person search and rescue task to the unmanned aerial vehicle, wherein the first person search and rescue task comprises a first task number and characteristic data of a searched and rescued person;
the unmanned aerial vehicle receives a first person search and rescue task, and characteristic data of a person to be searched and rescued are obtained through analysis in the first person search and rescue task;
the unmanned aerial vehicle acquires sea surface images through a camera in the flying process, performs image recognition on the sea surface images, and judges whether images matched with the characteristic data are shot or not;
if the image matched with the feature data is shot, generating a second person search and rescue task, and sending the second person search and rescue task to a central server, wherein the second person search and rescue task comprises a second task number, the shot image matched with the feature data, the shot place of the image matched with the feature data and a first task number associated with the second task number;
when the central server receives the second person search and rescue task, searching feature data of the person to be searched and rescued according to the first task number associated with the second task number;
the central server generates a third person search and rescue task, the third person search and rescue task comprises a search and rescue place and feature data of a person to be searched and rescued, the search and rescue place is consistent with a place in the second person search and rescue task, and the central server establishes an incidence relation between the third person search and rescue task and the first person search and rescue task and the second person search and rescue task;
and the central server selects the search and rescue ship closest to the second person according to the place in the search and rescue task, and sends the third person search and rescue task to the search and rescue ship closest to the second person.
In summary, compared with the prior art, by adopting the invention, after receiving the first person search and rescue task, the unmanned aerial vehicle reports the information to the central server in the form of the second person search and rescue task, the central server generates the third person search and rescue task according to the detection information of the unmanned aerial vehicle, matches the search and rescue ship, sends the third person search and rescue task to the search and rescue ship, and executes subsequent operations by the search and rescue ship. Therefore, the invention combines the unmanned aerial vehicle and the search and rescue ship, and performs task association and task allocation through the central server, thereby realizing high-efficiency and high-quality maritime search and rescue, and meeting the search and rescue requirements of personnel in various scenes.
Drawings
Fig. 1 is a flowchart of an intelligent search and rescue method for a maritime unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an intelligent search and rescue system for a maritime unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring the invention.
As shown in fig. 1, in order to solve the technical problems in the prior art, the invention provides an intelligent search and rescue method for a maritime unmanned aerial vehicle, which comprises the following steps:
the central server sends a first person search and rescue task to the unmanned aerial vehicle, wherein the first person search and rescue task comprises a first task number and feature data of the person to be searched and rescued, and the feature data can comprise some feature data which are easily distinguished at sea, such as clothes color, hair color, gender, age and the like of the person to be searched and rescued;
the unmanned aerial vehicle receives a first person search and rescue task, characteristic data of a person to be searched and rescued are obtained through analysis in the first person search and rescue task, and the unmanned aerial vehicle is provided with a camera and positioning equipment, such as a GPS (global positioning system) positioner and the like;
the unmanned aerial vehicle acquires sea surface images through a camera in the flying process, performs image recognition on the sea surface images, and judges whether images matched with the characteristic data are shot or not; the unmanned aerial vehicle can fly by adopting a preset search and rescue path during flying, or an approximate range which may exist in a person is sent to the unmanned aerial vehicle in a first person search and rescue task, and the unmanned aerial vehicle takes the approximate range as a target and searches around a certain range;
if the image matched with the feature data is shot, the unmanned aerial vehicle generates a second person search and rescue task and sends the second person search and rescue task to a central server, wherein the second person search and rescue task comprises a second task number, the shot image matched with the feature data, the shot place of the image matched with the feature data and a first task number associated with the second task number;
when the central server receives the second person search and rescue task, searching feature data of the person to be searched and rescued according to the first task number associated with the second task number;
the central server generates a third person search and rescue task, the third person search and rescue task comprises a search and rescue place and feature data of a person to be searched and rescued, the search and rescue place is consistent with a place in the second person search and rescue task, and the central server establishes an incidence relation between the third person search and rescue task and the first person search and rescue task and the second person search and rescue task;
and the central server selects the search and rescue ship closest to the second person according to the place in the search and rescue task, and sends the third person search and rescue task to the search and rescue ship closest to the second person.
Therefore, in the invention, the unmanned aerial vehicle mainly undertakes the search task of the rescued people, and after the unmanned aerial vehicle searches the rescued people, the central server coordinates the task, sends the third people search and rescue task to the search and rescue ship, and the search and rescue ship executes the subsequent rescue work. Consequently, can make full use of the characteristics of unmanned aerial vehicle type fast and lightweight on the one hand, on the other hand can the fully provided demand of rescue, is unlikely to because unmanned aerial vehicle's ability is limited and can't accomplish the rescue task.
In this embodiment, after the third person search and rescue task is sent to the search and rescue ship closest to the third person search and rescue task, the method further includes the following steps:
after receiving the third person search and rescue task, the search and rescue boat executes search and rescue according to the place in the third person search and rescue task, wherein the search and rescue boat can be driven by a person or can be automatically navigated by no person, and is preferably driven by a person, so that the reliability and the safety of search and rescue can be further ensured;
the central server receives feedback information returned by the search and rescue ship, the feedback information comprises a third task number of a third person search and rescue task, and communication between the central server and the search and rescue ship and communication between the central server and the unmanned aerial vehicle can adopt at least one communication mode such as GPRS communication, 4G communication, CDMA communication and the like;
the central server judges whether the feedback information comprises search and rescue success information or not;
if so, the central server analyzes the feedback information to obtain a third task number, and inquires according to the third task number to obtain a corresponding second task number and unmanned aerial vehicle information;
the central server sends the task completion information and the corresponding second task number to the corresponding unmanned aerial vehicle;
and after the unmanned aerial vehicle receives the task completion information, the unmanned aerial vehicle can know that the search and rescue ship completes the task, and then the search and rescue task corresponding to the second task number is ended.
In this embodiment, after the central server determines whether the feedback information includes search and rescue success information, the method further includes the following steps:
if the feedback information comprises target information which is not found, the search and rescue ship fails to execute the task, which may be caused by incorrect positions of people found by the unmanned aerial vehicle or other reasons, the unmanned aerial vehicle is required to continue to execute the search and rescue task, specifically, the central server analyzes the feedback information to obtain a third task number, and obtains a corresponding second task number and unmanned aerial vehicle information according to the third task number;
the central server sends the continuous search and rescue information and the corresponding second task number to the corresponding unmanned aerial vehicle;
after receiving the search and rescue continuation information, the unmanned aerial vehicle queries a corresponding first task number according to the second task number, and continues to execute a first person search and rescue task corresponding to the first task number until the central server receives rescue success information of a search and rescue ship about the task.
In this embodiment, after the central server determines whether the feedback information includes search and rescue success information, the method further includes the following steps:
if the feedback information comprises target updating information and updated target information, the current search and rescue ship really executes a personnel search and rescue task and rescues the personnel, but the rescued personnel are not consistent with the personnel in the third personnel search and rescue task, and the unmanned aerial vehicle possibly deviates when the characteristic data is matched;
the central server inquires a first task number of a corresponding first person search and rescue task according to the updated target information, and inquires a corresponding second task number according to the third task number;
the central server sends target error information and a second task number to the unmanned aerial vehicle corresponding to the second task number;
the central server sends task completion information and a first task number corresponding to the updated target information to the unmanned aerial vehicle corresponding to the first task number;
the unmanned aerial vehicle receiving the target error information needs to inquire a corresponding first task number according to the second task number because the search and rescue task of the unmanned aerial vehicle is not completed, and continuously executes a first person search and rescue task corresponding to the first task number;
the unmanned aerial vehicle receiving the task completion information (i.e. the unmanned aerial vehicle not sending the second person search and rescue person corresponding to the feedback information) ends the first person search and rescue task corresponding to the first task number.
In this embodiment, when the central server receives the second person search and rescue task, after searching the feature data of the person to be searched and rescued according to the first task number associated with the second task number, the method further includes the following steps:
the central server compares the characteristic data of the searched and rescued person with the image in the second person searching and rescuing task;
if the comparison is successful, the central server determines that the feature identification of the unmanned aerial vehicle is correct, and the central server generates a third person search and rescue task;
if the comparison fails, the central server determines that the feature identification of the unmanned aerial vehicle is wrong, target error information needs to be sent to the unmanned aerial vehicle, and the unmanned aerial vehicle continues to execute the corresponding first person search and rescue task after receiving the target error information.
In this embodiment, after the unmanned aerial vehicle finds the position of the corresponding person, the body health data of the person to be rescued can be obtained by putting the intelligent wearable device in the time of waiting for the search and rescue ship, so that the current body state of the person to be rescued can be quickly known. Specifically, if an image matched with the feature data is shot, after the unmanned aerial vehicle generates a second person search and rescue task, the method further includes the following steps:
the unmanned aerial vehicle puts in intelligent wearing equipment to the sea to after presetting the interval, with intelligent wearing equipment communicates, acquires intelligent wearing equipment's detection data, and will detection data send to central server, be provided with at least one health detection sensor in the intelligent wearing equipment. The intelligent wearable device can be an intelligent bracelet, an intelligent foot ring or other devices which are convenient to carry or wear, and wireless communication devices, such as Bluetooth communication devices, infrared communication devices, GPRS communication devices and the like, are arranged on the intelligent wearable device and can communicate with the unmanned aerial vehicle.
In this embodiment, the health detection sensor includes body temperature sensor and heart rate detection sensor, still be provided with GPS positioning device in the intelligence wearing equipment. The body temperature sensor may be an infrared body temperature sensor. In addition, the health detection sensor can also comprise other types of body health detection sensors such as a blood pressure detection sensor, and the current state of a person can be conveniently and quickly known.
In this embodiment, after receiving the detection data of the intelligent wearable device sent by the unmanned aerial vehicle, the central server sets the priority of the third person search and rescue task according to the detection data, and sends the priority of the third person search and rescue task and the third person search and rescue task together to the search and rescue ship;
and after the search and rescue ship receives the third person search and rescue task, arranging the execution sequence of the person search and rescue tasks received by the search and rescue ship according to the priority corresponding to the third person search and rescue task. Therefore, when the search and rescue ship has more than one task to be completed, the search and rescue ship can reasonably arrange the sequence of executing the tasks according to the task priority, so that the personnel in emergency with priority for rescue can be ensured.
As shown in fig. 2, an embodiment of the present invention further provides an intelligent search and rescue system for a maritime unmanned aerial vehicle, which is applied to the intelligent search and rescue method for a maritime unmanned aerial vehicle, and the system includes a central server H100, at least one unmanned aerial vehicle H200, and at least one search and rescue vessel H300. The unmanned aerial vehicle H200 is provided with wireless communication equipment, positioning equipment, a camera and a controller, the controller is used for analyzing whether characteristic data in a first person search and rescue task is matched with an image shot by the camera, and the wireless communication equipment is used for communicating with the central server H100. At least wireless communication equipment is arranged on the search and rescue ship H300 and is used for communicating with the central server H100. The drones H200 and the search and rescue vessel H300 can also communicate directly, but the main task concentration and task distribution is performed by the central server H100.
Wherein the center server H100, the unmanned aerial vehicle H200, and the search and rescue vessel H300 perform the following steps:
the central server H100 sends a first person search and rescue task to the unmanned aerial vehicle H200, wherein the first person search and rescue task comprises a first task number and feature data of a person to be searched and rescued;
the unmanned aerial vehicle H200 receives a first person search and rescue task, and characteristic data of a person to be searched and rescued are obtained through analysis in the first person search and rescue task;
the unmanned aerial vehicle H200 acquires a sea surface image through a camera in the flight process, performs image recognition on the sea surface image, and judges whether an image matched with the characteristic data is shot or not;
if the image matched with the feature data is shot, generating a second person search and rescue task, and sending the second person search and rescue task to a central server H100, wherein the second person search and rescue task comprises a second task number, the shot image matched with the feature data, the shot place of the image matched with the feature data and a first task number associated with the second task number;
when the central server H100 receives the second person search and rescue task, searching feature data of the person to be searched and rescued according to the first task number associated with the second task number;
the central server H100 generates a third person search and rescue task, the third person search and rescue task comprises a search and rescue place and feature data of a person to be searched and rescued, the search and rescue place is consistent with a place in the second person search and rescue task, and the central server H100 establishes an incidence relation between the third person search and rescue task and the first person search and rescue task and the second person search and rescue task;
the central server H100 selects the search and rescue ship H300 closest to the second person according to the location in the search and rescue task, and sends the third person search and rescue task to the search and rescue ship H300 closest to the third person search and rescue task.
In the intelligent search and rescue system for the maritime unmanned aerial vehicle, the function implementation manner of each component and equipment can adopt the specific implementation manner of each step in the intelligent search and rescue method for the maritime unmanned aerial vehicle, which is not repeated herein.
In summary, compared with the prior art, by adopting the invention, after receiving the first person search and rescue task, the unmanned aerial vehicle reports the information to the central server in the form of the second person search and rescue task, the central server generates the third person search and rescue task according to the detection information of the unmanned aerial vehicle, matches the search and rescue ship, sends the third person search and rescue task to the search and rescue ship, and executes subsequent operations by the search and rescue ship. Therefore, the invention combines the unmanned aerial vehicle and the search and rescue ship, and performs task association and task allocation through the central server, thereby realizing high-efficiency and high-quality maritime search and rescue, and meeting the search and rescue requirements of personnel in various scenes.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims (9)

1.一种用于海上无人机的智能搜救方法，其特征在于，所述方法包括如下步骤：1. an intelligent search and rescue method for maritime unmanned aerial vehicle, is characterized in that, described method comprises the steps: 中心服务器将第一人员搜救任务发送给无人机，所述第一人员搜救任务包括第一任务编号和被搜救人员的特征数据；The central server sends the first person search and rescue task to the drone, and the first person search and rescue task includes the first task number and the characteristic data of the searched and rescued person; 无人机接收到第一人员搜救任务，从所述第一人员搜救任务中解析得到被搜救人员的特征数据；The drone receives the first personnel search and rescue task, and analyzes the characteristic data of the searched and rescued personnel from the first personnel search and rescue task; 无人机在飞行过程中通过摄像头采集海面图像，并对所述海面图像进行图像识别，判断是否拍摄到与所述特征数据匹配的图像；The drone collects images of the sea surface through the camera during the flight, and performs image recognition on the images of the sea surface to determine whether an image matching the characteristic data is captured; 如果拍摄到与所述特征数据匹配的图像，则所述无人机生成第二人员搜救任务，将所述第二人员搜救任务发送至中心服务器，所述第二人员搜救任务包括第二任务编号、拍摄到的与所述特征数据匹配的图像、拍摄到与所述特征数据匹配的图像的地点以及与所述第二任务编号相关联的第一任务编号；If an image matching the feature data is captured, the drone generates a second personnel search and rescue task, and sends the second personnel search and rescue task to the central server, where the second personnel search and rescue task includes a second task number , a photographed image matched with the feature data, a location where the image matched with the feature data was photographed, and a first task number associated with the second task number; 所述中心服务器接收到所述第二人员搜救任务时，根据其中与所述第二任务编号相关联的第一任务编号，查找被搜救人员的特征数据；When the central server receives the second personnel search and rescue task, according to the first task number associated with the second task number, the characteristic data of the person to be searched and rescued is searched; 所述中心服务器生成第三人员搜救任务，所述第三人员搜救任务包括搜救地点和被搜救人员的特征数据，所述搜救地点与所述第二人员搜救任务中的地点一致，所述中心服务器建立所述第三人员搜救任务与所述第一人员搜救任务和所述第二人员搜救任务的关联关系；The central server generates a third personnel search and rescue task, the third personnel search and rescue task includes the search and rescue location and the characteristic data of the searched and rescued person, the search and rescue location is consistent with the location in the second personnel search and rescue task, and the central server establishing an association relationship between the third personnel search and rescue task, the first personnel search and rescue task, and the second personnel search and rescue task; 所述中心服务器根据所述第二人员搜救任务中的地点选择距离最近的搜救船，将所述第三人员搜救任务发送至所述距离最近的搜救船。The central server selects the nearest search and rescue ship according to the location in the second personnel search and rescue task, and sends the third personnel search and rescue task to the nearest search and rescue ship. 2.根据权利要求1所述的用于海上无人机的智能搜救方法，其特征在于，将所述第三人员搜救任务发送至所述距离最近的搜救船之后，还包括如下步骤：2. The intelligent search and rescue method for maritime unmanned aerial vehicle according to claim 1, characterized in that, after the third personnel search and rescue mission is sent to the search and rescue ship that is closest to the distance, the method further comprises the following steps: 所述中心服务器接收到搜救船返回的反馈信息，所述反馈信息包括第三人员搜救任务的第三任务编号；The central server receives the feedback information returned by the search and rescue ship, and the feedback information includes the third task number of the third personnel search and rescue task; 所述中心服务器判断所述反馈信息中是否包括搜救成功信息；The central server determines whether the feedback information includes search and rescue success information; 如果是，则所述中心服务器从所述反馈信息中解析得到第三任务编号，根据所述第三任务编号查询得到对应的第二任务编号以及无人机信息；If yes, then the central server parses the feedback information to obtain the third task number, and obtains the corresponding second task number and drone information according to the third task number query; 所述中心服务器将任务完成信息和所对应的第二任务编号发送至所对应的无人机；The central server sends the task completion information and the corresponding second task number to the corresponding drone; 所述无人机接收到所述任务完成信息之后，结束所述第二任务编号所对应的搜救任务。After receiving the mission completion information, the drone ends the search and rescue mission corresponding to the second mission number. 3.根据权利要求1所述的用于海上无人机的智能搜救方法，其特征在于，所述中心服务器判断所述反馈信息中是否包括搜救成功信息之后，还包括如下步骤：3. The intelligent search and rescue method for maritime unmanned aerial vehicle according to claim 1, wherein after the central server judges whether the feedback information includes successful search and rescue information, the method further comprises the following steps: 如果所述反馈信息中包括未找到目标信息，则所述中心服务器从所述反馈信息中解析得到第三任务编号，根据所述第三任务编号查询得到对应的第二任务编号以及无人机信息；If the feedback information includes the target not found information, the central server parses the feedback information to obtain a third task number, and obtains the corresponding second task number and UAV information according to the third task number query. ; 所述中心服务器将继续搜救信息和所对应的第二任务编号发送至所对应的无人机；The central server sends the continued search and rescue information and the corresponding second task number to the corresponding UAV; 所述无人机接收到所述继续搜救信息之后，根据所述第二任务编号查询到对应的第一任务编号，继续执行所述第一任务编号所对应的第一人员搜救任务。After receiving the continued search and rescue information, the UAV searches for the corresponding first task number according to the second task number, and continues to perform the first personnel search and rescue task corresponding to the first task number. 4.根据权利要求1所述的用于海上无人机的智能搜救方法，其特征在于，所述中心服务器判断所述反馈信息中是否包括搜救成功信息之后，还包括如下步骤：4. The intelligent search and rescue method for maritime unmanned aerial vehicle according to claim 1, characterized in that, after the central server judges whether the feedback information includes successful search and rescue information, the method further comprises the following steps: 如果所述反馈信息中包括目标更新信息和更新后的目标信息，则所述中心服务器根据所述更新后的目标信息，查询所对应的第一人员搜救任务的第一任务编号，并根据所述第三任务编号查询所对应的第二任务编号；If the feedback information includes target update information and updated target information, the central server queries the first task number of the corresponding first personnel search and rescue task according to the updated target information, and according to the updated target information The second task number corresponding to the third task number query; 所述中心服务器发送目标错误信息和第二任务编号至所述第二任务编号所对应的无人机；The central server sends target error information and the second task number to the drone corresponding to the second task number; 所述中心服务器发送任务完成信息和更新后的目标信息对应的第一任务编号发送至所述第一任务编号所对应的无人机；The central server sends the task completion information and the first task number corresponding to the updated target information to the drone corresponding to the first task number; 接收到目标错误信息的无人机根据所述第二任务编号查询到对应的第一任务编号，继续执行所述第一任务编号所对应的第一人员搜救任务；The drone that has received the target error information queries the corresponding first task number according to the second task number, and continues to perform the first personnel search and rescue task corresponding to the first task number; 接收到任务完成信息的无人机结束所述第一任务编号所对应的第一人员搜救任务。The drone that receives the mission completion information ends the first personnel search and rescue mission corresponding to the first mission number. 5.根据权利要求1所述的用于海上无人机的智能搜救方法，其特征在于，所述中心服务器接收到所述第二人员搜救任务时，根据其中与所述第二任务编号相关联的第一任务编号，查找被搜救人员的特征数据之后，还包括如下步骤：5 . The intelligent search and rescue method for maritime drones according to claim 1 , wherein, when the central server receives the second personnel search and rescue task, according to the number associated with the second task number. 6 . After finding the characteristic data of the searched and rescued personnel, it also includes the following steps: 所述中心服务器将所述被搜救人员的特征数据并与所述第二人员搜救任务中的图像进行比对；The central server compares the characteristic data of the person to be searched and rescued with the image in the search and rescue mission of the second person; 如果比对成功，则所述中心服务器生成第三人员搜救任务；If the comparison is successful, the central server generates a third-person search and rescue task; 如果比对失败，则所述中心服务器发送目标错误信息至所述无人机，所述无人机接收到所述目标错误信息之后，继续执行所对应的第一人员搜救任务。If the comparison fails, the central server sends target error information to the UAV, and after receiving the target error information, the UAV continues to perform the corresponding first personnel search and rescue task. 6.根据权利要求1所述的用于海上无人机的智能搜救方法，其特征在于，如果拍摄到与所述特征数据匹配的图像，则所述无人机生成第二人员搜救任务之后，还包括如下步骤：6. The intelligent search and rescue method for maritime unmanned aerial vehicle according to claim 1, wherein if an image matching with the characteristic data is captured, after the unmanned aerial vehicle generates a second personnel search and rescue mission, It also includes the following steps: 所述无人机向海面投放智能穿戴设备，并于预设间隔时间后，与所述智能穿戴设备进行通信，获取所述智能穿戴设备的检测数据，并将所述检测数据发送至所述中心服务器，所述智能穿戴设备中设置有至少一个健康检测传感器。The drone drops a smart wearable device on the sea surface, and after a preset interval, communicates with the smart wearable device, acquires detection data of the smart wearable device, and sends the detection data to the center The server, the smart wearable device is provided with at least one health detection sensor. 7.根据权利要求6所述的用于海上无人机的智能搜救方法，其特征在于，所述健康检测传感器包括体温传感器和心率检测传感器，所述智能穿戴设备中还设置有GPS定位设备。7 . The intelligent search and rescue method for maritime drones according to claim 6 , wherein the health detection sensor comprises a body temperature sensor and a heart rate detection sensor, and a GPS positioning device is also provided in the intelligent wearable device. 8 . 8.根据权利要求6所述的用于海上无人机的智能搜救方法，其特征在于，所述中心服务器接收到所述无人机发送的所述智能穿戴设备的检测数据之后，根据所述检测数据设定所述第三人员搜救任务的优先级，并将所述第三人员搜救任务的优先级和所述第三人员搜救任务一起发送至所述搜救船；8 . The intelligent search and rescue method for maritime drones according to claim 6 , wherein, after the central server receives the detection data of the smart wearable device sent by the drone, according to the The detection data sets the priority of the third-person search and rescue task, and sends the priority of the third-person search and rescue task to the search and rescue ship together with the third-person search and rescue task; 所述搜救船接收到所述第三人员搜救任务之后，根据所述第三人员搜救任务所对应的优先级安排当前自身已接收到的人员搜救任务的执行顺序。After receiving the third personnel search and rescue task, the search and rescue ship arranges the execution sequence of the personnel search and rescue tasks currently received by itself according to the priority corresponding to the third personnel search and rescue task. 9.一种用于海上无人机的智能搜救系统，其特征在于，应用于权利要求8中任一项所述的用于海上无人机的智能搜救方法，所述系统包括中心服务器、至少一个无人机和至少一个搜救船，其中，所述中心服务器、所述无人机和所述搜救船执行如下步骤：9. An intelligent search and rescue system for maritime drones, characterized in that, applied to the intelligent search and rescue method for maritime drones according to any one of claim 8, the system comprises a central server, at least a One drone and at least one search and rescue ship, wherein the central server, the drone and the search and rescue ship perform the following steps: 中心服务器将第一人员搜救任务发送给无人机，所述第一人员搜救任务包括第一任务编号和被搜救人员的特征数据；The central server sends the first person search and rescue task to the drone, and the first person search and rescue task includes the first task number and the characteristic data of the searched and rescued person; 无人机接收到第一人员搜救任务，从所述第一人员搜救任务中解析得到被搜救人员的特征数据；The drone receives the first person search and rescue task, and analyzes the characteristic data of the searched person from the first person search and rescue task; 无人机在飞行过程中通过摄像头采集海面图像，并对所述海面图像进行图像识别，判断是否拍摄到与所述特征数据匹配的图像；The drone collects images of the sea surface through the camera during the flight, and performs image recognition on the images of the sea surface to determine whether an image matching the characteristic data is captured; 如果拍摄到与所述特征数据匹配的图像，则生成第二人员搜救任务，将所述第二人员搜救任务发送至中心服务器，所述第二人员搜救任务包括第二任务编号、拍摄到的与所述特征数据匹配的图像、拍摄到与所述特征数据匹配的图像的地点以及与所述第二任务编号相关联的第一任务编号；If an image matching the feature data is captured, a second personnel search and rescue task is generated, and the second personnel search and rescue task is sent to the central server, where the second personnel search and rescue task includes the second task number, the captured and The image matched with the feature data, the location where the image matched with the feature data was captured, and the first task number associated with the second task number; 所述中心服务器接收到所述第二人员搜救任务时，根据其中与所述第二任务编号相关联的第一任务编号，查找被搜救人员的特征数据；When the central server receives the second personnel search and rescue task, according to the first task number associated with the second task number, the characteristic data of the person to be searched and rescued is searched; 所述中心服务器生成第三人员搜救任务，所述第三人员搜救任务包括搜救地点和被搜救人员的特征数据，所述搜救地点与所述第二人员搜救任务中的地点一致，所述中心服务器建立所述第三人员搜救任务与所述第一人员搜救任务和所述第二人员搜救任务的关联关系；The central server generates a third personnel search and rescue task, the third personnel search and rescue task includes the search and rescue location and the characteristic data of the searched and rescued person, the search and rescue location is consistent with the location in the second personnel search and rescue task, and the central server establishing an association relationship between the third-person search and rescue task, the first-person search and rescue task, and the second-person search and rescue task; 所述中心服务器根据所述第二人员搜救任务中的地点选择距离最近的搜救船，将所述第三人员搜救任务发送至所述距离最近的搜救船。The central server selects the nearest search and rescue ship according to the location in the second personnel search and rescue task, and sends the third personnel search and rescue task to the nearest search and rescue ship.
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