CN113933871A - Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning - Google Patents

Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning Download PDF

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Publication number
CN113933871A
CN113933871A CN202111202783.8A CN202111202783A CN113933871A CN 113933871 A CN113933871 A CN 113933871A CN 202111202783 A CN202111202783 A CN 202111202783A CN 113933871 A CN113933871 A CN 113933871A
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unmanned aerial
aerial vehicle
data
trapped person
target area
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CN113933871B (en
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崔忠伟
于国龙
桑海伟
王晴晴
余飞
张新
左欣
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Guizhou Education University
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Guizhou Education University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/296—Acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q2209/00—Arrangements in telecontrol or telemetry systems
    • H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather

Abstract

The invention provides a flood disaster detection system based on an unmanned aerial vehicle and Beidou positioning, which utilizes the unmanned aerial vehicle to carry out flight inspection on a target area, and through Beidou positioning equipment and ultrasonic ranging equipment in the flight inspection process, any place of the target area is positioned and range-measured, so that RTK coordinate data of any place and height data between the unmanned aerial vehicle and the ground or water surface are determined, and then water level height change comparison data before and after flood disaster occurs at any place of the target area are generated, so that the unmanned aerial vehicle can carry out comprehensive water level monitoring and position calibration on the target area, so that water level height data of different positions are automatically obtained, the detection comprehensiveness and intelligence of the flood disaster are ensured, and the accuracy of water level height detection is improved.

Description

Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning
Technical Field
The invention relates to the technical field of unmanned aerial vehicle monitoring, in particular to a flood disaster detection system based on unmanned aerial vehicles and Beidou positioning.
Background
As global climate becomes warm, the frequency of extreme weather such as heavy rain or typhoon increases, and flooding occurs frequently in a substantially local area. In order to monitor the water level before and after flood disasters, the water level height of a disaster area is measured one by one in the prior art in a manual survey mode, so that the mode not only needs to spend a large amount of manpower, material resources and time, but also has low measurement efficiency and great potential safety hazards. In addition, the water level height data obtained by the manual surveying mode can truly reflect the water level height states at different positions of the disaster area only by corresponding manual inputting and processing, so that the intelligent degree of flood disaster detection is seriously reduced, and meanwhile, the method is not beneficial to timely and rapidly rescuing for the areas with different water level heights.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a flood disaster detection system based on unmanned aerial vehicle and Beidou positioning, which comprises a ground control terminal, an unmanned aerial vehicle, a Beidou positioning device, an ultrasonic ranging device, a data storage device and a data processing device, and determining RTK coordinate data of the unmanned aerial vehicle which floats and stops at any place in the process of flying over a target area by using Beidou positioning equipment, transmitting and receiving ultrasonic waves to the ground or the water surface of the corresponding place by using ultrasonic ranging equipment when the unmanned aerial vehicle floats and stops at any place, thereby determining the height data of the target area between the unmanned aerial vehicle and the ground or the water surface before and after flood disaster occurs, respectively storing and processing RTK coordinate data and height data by using the data storage device and the data processing device and utilizing the RTK coordinate data and the height data, thereby determining the comparison data of the height change of the water level of any place of the target area before and after the flood disaster; it can be seen that, this flood disaster situation detection system based on unmanned aerial vehicle and big dipper location utilizes unmanned aerial vehicle to carry out the flight inspection to the target area, and through big dipper positioner and ultrasonic ranging equipment in the flight inspection in-process, the arbitrary place of target area is fixed a position and is surveyed range, confirm the RTK coordinate data of arbitrary place and the unmanned aerial vehicle and ground or the height data between the surface of water with this, generate the arbitrary place of target area water level height change contrast data before and after the flood disaster takes place, can carry out comprehensive water level monitoring and position calibration to the target area through unmanned aerial vehicle like this, with the water level height data sum of different positions of automatic acquisition, thereby ensure the detection university and the intellectuality of flood disaster situation and improve the accuracy that the water level height detected.
The invention provides a flood disaster detection system based on unmanned aerial vehicles and Beidou positioning, which is characterized by comprising a ground control terminal, unmanned aerial vehicles, Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment;
the ground control terminal is in wireless connection with the unmanned aerial vehicle so as to control the flight state of the unmanned aerial vehicle;
the Beidou positioning equipment is used for determining RTK coordinate data of the unmanned aerial vehicle which suspends at any place in a suspending manner in the process of flying over a target area;
the ultrasonic ranging device is arranged on the unmanned aerial vehicle and is used for transmitting and receiving ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and parked at any place, so that height data between the unmanned aerial vehicle and the ground or the water surface before and after flood disaster in the target area is determined;
the data storage device is respectively connected with the Beidou positioning device and the ultrasonic ranging device and used for storing the RTK coordinate data and the height data;
the data processing device is connected with the data storage device and is used for processing the RTK coordinate data and the height data so as to determine water level height change comparison data of any place of the target area before and after flood disasters occur;
further, the ground control terminal comprises a touch control panel and a cellular network route;
the unmanned aerial vehicle comprises a cellular network signal receiver and a flight controller;
the touch control panel is connected with the cellular network route and used for sending a flight control instruction signal to the unmanned aerial vehicle through the cellular network route; wherein the flight control command signal comprises at least one of a flight path control command, a fly height control command and a fly speed control command;
the cellular network signal receiver is used for receiving the flight control instruction signal so as to enable the flight controller to adjust at least one of a flight path, a flight height and a flight speed of the unmanned aerial vehicle over a target area according to the flight control instruction signal;
further, the drone also includes a cellular network signal strength identifier;
the cellular network signal strength identifier is used for detecting the signal strength of the flight control instruction signal and comparing the signal strength with a preset signal strength threshold value;
the flight controller is used for changing the flight state of the unmanned aerial vehicle according to the comparison result:
when the signal intensity is greater than or equal to a preset signal intensity threshold value, indicating the unmanned aerial vehicle to continuously fly along the current flight path;
when the signal intensity is smaller than a preset signal intensity threshold value, indicating the unmanned aerial vehicle to stop flying;
further, the Beidou positioning equipment comprises a positioning reference base station and a positioning mobile base station;
the positioning reference base station is arranged on the ground control terminal, and the positioning mobile base station is arranged on the unmanned aerial vehicle;
the positioning reference base station and the positioning mobile base station are both connected with a Beidou satellite, so that respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle are respectively obtained;
further, the Beidou positioning equipment further comprises a positioning data processor;
the positioning data processor is respectively connected with the positioning reference base station and the positioning mobile base station;
the positioning data processor is used for analyzing respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle so as to determine RTK coordinate data of the unmanned aerial vehicle, which is suspended and stopped at any place in the process of flying over a target area;
further, the ultrasonic ranging apparatus includes an ultrasonic transmitter, an ultrasonic receiver, and a timer;
the ultrasonic transmitter is used for transmitting ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;
the ultrasonic receiver is used for receiving ultrasonic waves reflected by the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;
the timer is used for recording a first moment when the ultrasonic transmitter transmits the ultrasonic waves and recording a second moment when the ultrasonic receiver receives the ultrasonic waves;
further, the ultrasonic ranging apparatus further includes a distance calculator;
the distance calculator is used for determining height data between the unmanned aerial vehicle and the ground or the water surface of any place of the target area before and after flood disaster occurs according to the time difference between the second time and the first time;
further, the data storage device comprises a data storage and a data interaction transmitter;
the data acquisition transmitter is respectively in wireless connection with the Beidou positioning equipment and the ultrasonic ranging equipment;
the data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning equipment and the ultrasonic ranging equipment respectively;
the Beidou positioning equipment and the ultrasonic ranging equipment are used for responding to the data acquisition instruction and periodically uploading the RTK coordinate data and the height data to the data interaction transmitter;
the data interaction transmitter further stores the RTK coordinate data and the elevation data to the data storage;
further, the data processing device comprises a water level height calculation calibration unit and a water level height change calculation unit;
the water level height calculation and calibration unit is used for generating a water level height comparison data table after flood disaster occurs at any position of the target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface after the flood disaster occurs;
the water level height change calculation unit is used for generating a water level height change comparison data table before and after flood disaster occurs at any position of a target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface before and after the flood disaster occurs;
the data processing device further comprises a cloud server;
the cloud server is used for uploading the water level height comparison data table and the water level height change comparison data table to a cloud data terminal, so that data table sharing is achieved.
Further, when the unmanned aerial vehicle flies above a target area, human body feature recognition is carried out by using an infrared camera sensor in camera equipment of the unmanned aerial vehicle, so that whether trapped people exist in the target area is determined; if the trapped person is determined to exist, the unmanned aerial vehicle is instructed to perform suspension stop above the trapped person, RTK coordinate data corresponding to the current suspension stop of the unmanned aerial vehicle are uploaded to a cloud end data terminal through Beidou positioning equipment, and an alarm signal is triggered; if it is determined that the trapped person moves along with the flood, the unmanned aerial vehicle is instructed to adjust the flight state in real time, track the trapped person and upload RTK coordinate data corresponding to the trapped person to a cloud data terminal, wherein when a plurality of trapped persons exist in a target area, the trapped person closest to the unmanned aerial vehicle is preferentially tracked, and the method specifically comprises the following steps:
step S1, the unmanned aerial vehicle is instructed to fly above the target area firstly and ascend to the height at which the camera equipment can completely cover and shoot the whole range of the target area, then the infrared camera sensor in the camera equipment is utilized to shoot the target area so as to obtain the infrared image corresponding to the target area, then the infrared image is subjected to human body feature recognition and the recognized human body is framed by a red rectangular frame, the pixel point position of the central point of the red rectangular frame is the pixel coordinate point of the trapped person on the infrared image,
determining the trapped person nearest to the unmanned aerial vehicle according to the pixel coordinate point on the infrared image by using the following formula (1),
Figure BDA0003305624810000051
in the above formula (1), SminRepresenting the image distance between the central point position of the unmanned aerial vehicle in the infrared image and the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image; (i)a,ja) The pixel coordinate point of the a-th trapped person, namely the central point of the a-th trapped person in the infrared imageaLine j (th)aColumns; k represents the total number of trapped persons identified on the infrared image; n represents the number of pixels contained in each row of pixels in the infrared image; m represents the number of pixels contained in each row of pixels in the infrared image;
according to the position of the central point of the unmanned aerial vehicle in the infrared image and the image distance of the trapped person closest to the central point of the unmanned aerial vehicle in the infrared imageAnd (i) determining the trapped person closest to the unmanned aerial vehicle in the actual environment space, wherein the corresponding pixel coordinate point is the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle, and recording the pixel coordinate point as (i)a,min,ja,min)；
When the trapped person closest to the unmanned aerial vehicle is determined, indicating the unmanned aerial vehicle to move so that the unmanned aerial vehicle can follow the corresponding trapped person at any time according to the trapped person closest to the unmanned aerial vehicle;
step S2, determining the moving direction of the unmanned aerial vehicle according to the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle by using the following formula (2),
Figure BDA0003305624810000061
in the above formula (2), θ (t) represents the direction in which the unmanned aerial vehicle needs to move at the current moment, if θ (t)>0, the unmanned aerial vehicle needs to rotate clockwise by an angle of | θ (t) | at the current moment and then move forward until the unmanned aerial vehicle moves to θ (t) ═ 0, if θ (t)<If θ (t) is 0, the unmanned aerial vehicle needs to stop moving at the current moment and stop at the current position in a floating manner; t represents the current time; (i)a,min(t),ja,min(t)) a pixel coordinate point representing a trapped person closest to the unmanned aerial vehicle at the current time; | | represents an absolute value operation;
step S3, when the unmanned aerial vehicle tracks above the trapped person, the flying height of the unmanned aerial vehicle is controlled according to the size of the red rectangular frame framed corresponding to the trapped person nearest to the unmanned aerial vehicle by using the following formula (3), so that the size of the image shot by the camera device of the unmanned aerial vehicle is twice as large as the size of the red rectangular frame framed corresponding to the trapped person nearest to the unmanned aerial vehicle, thereby tracking and observing the trapped person nearest to the unmanned aerial vehicle,
Figure BDA0003305624810000062
in the above formula (3), Δ h (t) represents a height value indicating that the drone needs to be changed at the current time, and if Δ h (t)<0, then indicate that the drone needs to rise by a height value of | Δ H (t) |, if Δ H (t)>0, indicating that the unmanned plane needs to descend by the height value of | Δ h (t) |; h (t) represents the height value of the unmanned aerial vehicle at the current moment; p is a radical ofa,min(t) representing the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment; q. q.sa,min(t) the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment is represented.
Compared with the prior art, this flood disaster situation detection system based on unmanned aerial vehicle and big dipper location utilizes unmanned aerial vehicle to carry out the flight inspection to the target area, and through big dipper positioner and ultrasonic ranging equipment at the flight inspection in-process, the arbitrary place of target area is fixed a position and is surveyed range, confirm the RTK coordinate data of arbitrary place and unmanned aerial vehicle and ground or the height data between the surface of water with this, generate the arbitrary place of target area water level altitude variation contrast data before and after the flood disaster takes place, can carry out comprehensive water level monitoring and position calibration to the target area through unmanned aerial vehicle like this, with the water level height data sum of different positions of automatic acquisition, thereby guarantee the detection comprehensiveness and the intelligence of flood disaster situation and improve the accuracy that water level height detected.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a flood situation detection system based on unmanned aerial vehicles and Beidou positioning.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a flood situation detection system based on unmanned aerial vehicle and Beidou positioning is provided in an embodiment of the present invention. The flood disaster detection system based on the unmanned aerial vehicle and the Beidou positioning comprises a ground control terminal, the unmanned aerial vehicle, the Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment;
the ground control terminal is in wireless connection with the unmanned aerial vehicle so as to control the flight state of the unmanned aerial vehicle;
the Beidou positioning equipment is used for determining RTK coordinate data of the unmanned aerial vehicle which suspends at any place in a suspending manner in the process of flying over a target area;
the ultrasonic ranging equipment is arranged on the unmanned aerial vehicle and is used for transmitting and receiving ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and parked at any place, so that height data between the unmanned aerial vehicle and the ground or the water surface before and after flood disaster in the target area is determined;
the data storage device is respectively connected with the Beidou positioning device and the ultrasonic ranging device and used for storing the RTK coordinate data and the height data;
the data processing device is connected with the data storage device and is used for processing the RTK coordinate data and the height data so as to determine water level height change comparison data before and after flood disaster happens at any position of the target area.
The beneficial effects of the above technical scheme are: this flood disaster situation detection system based on unmanned aerial vehicle and big dipper location utilizes unmanned aerial vehicle to carry out the flight inspection to the target area, and through big dipper positioner and ultrasonic ranging equipment at the flight inspection in-process, the arbitrary place of target area is fixed a position and is surveyed range, confirm the RTK coordinate data and the unmanned aerial vehicle of arbitrary place and with ground or the height data between the surface of water with this, then generate the arbitrary place of target area water level height change contrast data around the flood disaster takes place, can carry out comprehensive water level monitoring and position calibration to the target area through unmanned aerial vehicle like this, with the water level height data sum of different positions of automatic acquisition, thereby ensure flood disaster situation's detection comprehensiveness and intelligence and improve the accuracy that water level height detected.
Preferably, the ground control terminal comprises a touch control panel and a cellular network route;
the unmanned aerial vehicle comprises a cellular network signal receiver and a flight controller;
the touch control panel is connected with the cellular network route and used for sending a flight control instruction signal to the unmanned aerial vehicle through the cellular network route; wherein the flight control command signal comprises at least one of a flight path control command, a flight altitude control command and a flight speed control command;
the cellular network signal receiver is configured to receive the flight control command signal, so that the flight controller adjusts at least one of a flight path, a flight altitude, and a flight speed of the drone over a target area according to the flight control command signal.
The beneficial effects of the above technical scheme are: this ground control terminal is as controlling unmanned aerial vehicle's terminal basic station, and it can be fixed to be set up subaerial, and the staff can real time control unmanned aerial vehicle's flight state through operating this ground control terminal like this. The ground control terminal may include, but is not limited to, a touch control panel and cellular network routing. This touch control panel provides corresponding touch control interface for the staff, and the staff only need operate corresponding button on this touch control interface and can adjust unmanned aerial vehicle's flight state. This cellular network route is used for forming cellular network, can realize ground control terminal and unmanned aerial vehicle's communication like this through cellular network to this sends the flight control command signal that ground control terminal sent to unmanned aerial vehicle's cellular network signal receiver through cellular network, so that rapid control unmanned aerial vehicle's flight state. Staff's accessible operation this touch control panel forms corresponding flight control command signal to at least one of the flight path, flying height and the flying speed of this unmanned aerial vehicle above the target area of autonomous control adjustment.
Preferably, the drone further comprises a cellular network signal strength identifier;
the cellular network signal strength identifier is used for detecting the signal strength of the flight control instruction signal and comparing the signal strength with a preset signal strength threshold value;
this flight controller is used for according to this comparison result, changes this unmanned aerial vehicle's flight state:
when the signal intensity is greater than or equal to a preset signal intensity threshold value, indicating the unmanned aerial vehicle to continuously fly along the current flight path;
when the signal intensity is smaller than a preset signal intensity threshold value, the unmanned aerial vehicle is indicated to stop flying.
The beneficial effects of the above technical scheme are: because the cellular network signal coverage that ground control terminal's cellular network route formed is limited, when unmanned aerial vehicle flight activity area exceeded this signal coverage, unmanned aerial vehicle will normally receive flight control command signal in time, can seriously influence unmanned aerial vehicle's normal inspection and detection like this. Detect the signal strength that unmanned aerial vehicle received flight control command signal through set up cellular network signal strength recognizer on unmanned aerial vehicle to this control unmanned aerial vehicle's flight path, thereby guarantee that unmanned aerial vehicle can fly and avoid unmanned aerial vehicle to take place the condition of losing the antithetical couplet in cellular network signal coverage all the time.
Preferably, the Beidou positioning equipment comprises a positioning reference base station and a positioning mobile base station;
the positioning reference base station is arranged on the ground control terminal, and the positioning mobile base station is arranged on the unmanned aerial vehicle;
this location reference base station and this location mobile base station all are connected with the big dipper satellite to obtain the respective real-time big dipper satellite positioning data of this ground control terminal and this unmanned aerial vehicle respectively.
The beneficial effects of the above technical scheme are: through set up the location reference basic station on this ground control terminal and set up location mobile base station on unmanned aerial vehicle, because ground control terminal's the position that sets up is fixed, this location reference basic station can regard as datum data through the positioning data that big dipper satellite obtained like this, and this location mobile base station can detect the positioning data that obtains the place that unmanned aerial vehicle passed through along with unmanned aerial vehicle's flight, compare above-mentioned two kinds of positioning data, can accurately obtain the positional information in the place that unmanned aerial vehicle passed through at the flight in-process.
Preferably, the Beidou positioning equipment further comprises a positioning data processor;
the positioning data processor is respectively connected with the positioning reference base station and the positioning mobile base station;
the positioning data processor is used for analyzing respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle, so that RTK coordinate data of the unmanned aerial vehicle, which is suspended and stopped at any place in the overhead flying process of a target area, is determined.
The beneficial effects of the above technical scheme are: the positioning data processor can compare and convert two real-time Beidou satellite positioning data detected by the positioning reference base station and the positioning mobile base station so as to determine RTK coordinate data of the unmanned aerial vehicle which suspends at any place in a suspension manner in the process of flying over a target area; the comparison and conversion of the two pieces of real-time Beidou satellite positioning data belongs to a conventional data processing mode in the field, and detailed description is not repeated.
Preferably, the ultrasonic ranging apparatus includes an ultrasonic transmitter, an ultrasonic receiver, and a timer;
the ultrasonic transmitter is used for transmitting ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and parked at any place before and after flood disasters occur;
the ultrasonic receiver is used for receiving ultrasonic waves reflected by the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;
the timer is used for recording a first time when the ultrasonic transmitter transmits the ultrasonic waves and recording a second time when the ultrasonic receiver receives the ultrasonic waves.
The beneficial effects of the above technical scheme are: when unmanned aerial vehicle suspends in the air at target area arbitrary place in flight, this ultrasonic ranging equipment is through to ground or surface of water transmission ultrasonic wave and receive the ultrasonic wave of ground or surface of water reflection, and the first moment of this ultrasonic transmitter transmission ultrasonic wave of record simultaneously to and the second moment of this ultrasonic receiver receipt ultrasonic wave of record, can obtain the distance between unmanned aerial vehicle and ground or the surface of water fast like this with the accuracy.
Preferably, the ultrasonic ranging apparatus further includes a distance calculator;
the distance calculator is used for determining height data between the unmanned aerial vehicle and the ground or the water surface of any place of the target area before and after flood disaster according to the time difference between the second moment and the first moment.
The beneficial effects of the above technical scheme are: the distance calculator can determine height data between the unmanned aerial vehicle and the ground or the water surface at any place of the target area before and after flood according to the time difference between the second moment and the first moment and the propagation speed of the ultrasonic wave.
Preferably, the data storage device comprises a data storage and a data exchange transmitter;
the data acquisition transmitter is respectively in wireless connection with the Beidou positioning equipment and the ultrasonic ranging equipment;
the data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning equipment and the ultrasonic ranging equipment respectively;
the Beidou positioning device and the ultrasonic ranging device are used for responding to the data acquisition instruction and periodically uploading the RTK coordinate data and the height data to the data interaction transmitter;
the data interchange transmitter also stores the RTK coordinate data and the height data to the data memory.
The beneficial effects of the above technical scheme are: because the unmanned aerial vehicle can uninterruptedly form RTK coordinate data and height data in the flight process, the data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning equipment and the ultrasonic ranging equipment, and therefore the data storage can be guaranteed to receive the latest RTK coordinate data and height data in real time, and RTK coordinate data and height data are prevented from being lost.
Preferably, the data processing apparatus includes a water level height calculation calibration unit and a water level height variation calculation unit;
the water level height calculation and calibration unit is used for generating a water level height comparison data table after flood disaster occurs at any position of the target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface after the flood disaster occurs;
the water level height change calculation unit is used for generating a water level height change comparison data table before and after flood disasters occur at any position of the target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface before and after the flood disasters occur.
The beneficial effects of the above technical scheme are: the data processing equipment generates a water level height comparison data table after flood disasters occur at any place and position of the target area and a water level height change comparison data table before and after the flood disasters occur at any place and position of the target area, and can enable workers to visually know the water level height change states before and after the flood disasters occur in the target area in a table mode, so that the workers can take proper rescue measures for the target area in a targeted mode.
Preferably, the data processing device further comprises a cloud server;
the cloud server is used for uploading the water level height comparison data table and the water level height change comparison data table to a cloud data terminal, so that data table sharing is achieved.
The beneficial effects of the above technical scheme are: the cloud server uploads the water level height comparison data sheet and the water level height change comparison data sheet to a cloud data terminal, so that a worker is connected to the cloud data terminal through mobile terminals such as a smart phone, and sharing of the data sheets is achieved.
Preferably, when the unmanned aerial vehicle flies above a target area, the infrared camera sensor in the camera equipment of the unmanned aerial vehicle is used for identifying human body characteristics, so as to determine whether trapped people exist in the target area; if the trapped person is determined to exist, the unmanned aerial vehicle is instructed to perform suspension stop above the trapped person, RTK coordinate data corresponding to the current suspension stop of the unmanned aerial vehicle are uploaded to a cloud end data terminal through Beidou positioning equipment, and an alarm signal is triggered; if it is confirmed that the trapped person moves along with the flood, the unmanned aerial vehicle is instructed to adjust the flight state in real time, track the trapped person and upload RTK coordinate data corresponding to the trapped person to a cloud data terminal, wherein when a plurality of trapped persons exist in a target area, the trapped person closest to the unmanned aerial vehicle is preferentially tracked, and the method specifically comprises the following steps:
step S1, the unmanned aerial vehicle is instructed to fly above the target area firstly and ascend to the height at which the camera equipment can completely cover and shoot the whole range of the target area, then the infrared camera sensor in the camera equipment is utilized to shoot the target area so as to obtain the infrared image corresponding to the target area, then the human body characteristic identification is carried out on the infrared image and the identified human body is framed by a red rectangular frame, the pixel point position of the central point of the red rectangular frame is the pixel coordinate point of the trapped person on the infrared image,
determining the trapped person nearest to the unmanned aerial vehicle according to the pixel coordinate point on the infrared image by using the following formula (1),
Figure BDA0003305624810000131
in the above formula (1), SminRepresenting the image distance between the central point position of the unmanned aerial vehicle in the infrared image and the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image; (i)a,ja) The pixel coordinate point of the a-th trapped person, namely the central point of the a-th trapped person in the infrared imageaLine j (th)aColumns; k represents the total number of trapped persons identified on the infrared image; n represents the number of pixels contained in each row of pixels in the infrared image; m represents the number of pixels contained in each row of pixels in the infrared image;
according to the position of the central point of the unmanned aerial vehicle in the infrared image and the image distance of the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image, the trapped person closest to the unmanned aerial vehicle in the actual environment space can be determined, the corresponding pixel coordinate point is the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle, and the pixel coordinate point is recorded as (i)a,min,ja,min)；
When the trapped person closest to the unmanned aerial vehicle is determined, indicating the unmanned aerial vehicle to move so that the unmanned aerial vehicle can follow the corresponding trapped person at any time according to the trapped person closest to the unmanned aerial vehicle;
step S2, determining the moving direction of the unmanned aerial vehicle according to the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle by using the following formula (2),
Figure BDA0003305624810000141
in the above formula (2), θ (t) represents the direction in which the unmanned aerial vehicle needs to move at the current moment, if θ (t)>0, the unmanned aerial vehicle needs to rotate clockwise by an angle of | θ (t) | at the current moment and then move forward until the unmanned aerial vehicle moves to θ (t) ═ 0, if θ (t)<0, then no one is presentThe unmanned aerial vehicle moves forwards until moving to theta (t) ═ 0 after needing to rotate anticlockwise at the current moment by an angle of theta (t) |, and if theta (t) ═ 0, the unmanned aerial vehicle needs to stop moving and float and stop at the current position at the current moment; t represents the current time; (i)a,min(t),ja,min(t)) a pixel coordinate point representing a trapped person closest to the unmanned aerial vehicle at the current time; | | represents an absolute value operation;
step S3, when the unmanned aerial vehicle tracks above the trapped person, the flying height of the unmanned aerial vehicle is controlled according to the size of the red rectangular frame framed corresponding to the trapped person nearest to the unmanned aerial vehicle by using the following formula (3), so that the size of the image shot by the camera device of the unmanned aerial vehicle is twice as large as the size of the red rectangular frame framed corresponding to the trapped person nearest to the unmanned aerial vehicle, thereby tracking and observing the trapped person nearest to the unmanned aerial vehicle,
Figure BDA0003305624810000142
in the above formula (3), Δ h (t) represents a height value indicating that the drone needs to be changed at the current time, and if Δ h (t)<0, then indicate that the drone needs to rise by a height value of | Δ H (t) |, if Δ H (t)>0, indicating that the unmanned plane needs to descend by the height value of | Δ h (t) |; h (t) represents the height value of the unmanned aerial vehicle at the current moment; p is a radical ofa,min(t) representing the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment; q. q.sa,min(t) the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment is represented.
The beneficial effects of the above technical scheme are: determining the trapped person closest to the unmanned aerial vehicle according to the pixel coordinate point on the infrared image by using the formula (1), and further making an emergency response to the nearest trapped person; then, the moving direction of the unmanned aerial vehicle is obtained according to the position of the nearest trapped person real-time pixel coordinate point by using the formula (2), so that the unmanned aerial vehicle can be ensured to adjust the flight state in real time to track the trapped person and upload RTK coordinate data of the trapped person in real time, and the reliability and accuracy of subsequent rescue are ensured; and finally, the height of the unmanned aerial vehicle is controlled by using the formula (3) according to the size of the red rectangular frame framed and selected by the nearest trapped person, so that the size of an image shot by the camera equipment of the unmanned aerial vehicle is twice as large as the size of the red rectangular frame framed and selected by the nearest trapped person, the trapped person can be tracked and observed in a close range, and the acquired image data of the trapped person is clear and reliable.
According to the flood disaster situation detection system based on the unmanned aerial vehicle and the Beidou positioning, the unmanned aerial vehicle is used for carrying out flight inspection on the target area, the Beidou positioning device and the ultrasonic ranging device are used in the flight inspection process, any place of the target area is positioned and ranged, RTK coordinate data of any place and height data between the unmanned aerial vehicle and the ground or the water surface are determined, and then water level height change comparison data of any place of the target area before and after flood disaster occurs are generated.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The flood disaster detection system based on the unmanned aerial vehicle and the Beidou positioning is characterized by comprising a ground control terminal, the unmanned aerial vehicle, the Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment;
the ground control terminal is in wireless connection with the unmanned aerial vehicle so as to control the flight state of the unmanned aerial vehicle;
the Beidou positioning equipment is used for determining RTK coordinate data of the unmanned aerial vehicle which suspends at any place in a suspending manner in the process of flying over a target area;
the ultrasonic ranging device is arranged on the unmanned aerial vehicle and is used for transmitting and receiving ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and parked at any place, so that height data between the unmanned aerial vehicle and the ground or the water surface before and after flood disaster in the target area is determined;
the data storage device is respectively connected with the Beidou positioning device and the ultrasonic ranging device and used for storing the RTK coordinate data and the height data;
and the data processing device is connected with the data storage device and is used for processing the RTK coordinate data and the height data so as to determine water level height change comparison data of any place of the target area before and after flood disasters occur.
2. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:
the ground control terminal comprises a touch control panel and a cellular network route;
the unmanned aerial vehicle comprises a cellular network signal receiver and a flight controller;
the touch control panel is connected with the cellular network route and used for sending a flight control instruction signal to the unmanned aerial vehicle through the cellular network route; wherein the flight control command signal comprises at least one of a flight path control command, a fly height control command and a fly speed control command;
the cellular network signal receiver is configured to receive the flight control instruction signal, so that the flight controller adjusts at least one of a flight path, a flight altitude, and a flight speed of the drone over a target area according to the flight control instruction signal.
3. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 2, characterized in that:
the drone further comprises a cellular network signal strength identifier;
the cellular network signal strength identifier is used for detecting the signal strength of the flight control instruction signal and comparing the signal strength with a preset signal strength threshold value;
the flight controller is used for changing the flight state of the unmanned aerial vehicle according to the comparison result: when the signal intensity is greater than or equal to a preset signal intensity threshold value, indicating the unmanned aerial vehicle to continuously fly along the current flight path;
and when the signal intensity is smaller than a preset signal intensity threshold value, indicating the unmanned aerial vehicle to stop flying.
4. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:
the Beidou positioning equipment comprises a positioning reference base station and a positioning mobile base station;
the positioning reference base station is arranged on the ground control terminal, and the positioning mobile base station is arranged on the unmanned aerial vehicle;
the positioning reference base station and the positioning mobile base station are connected with a Beidou satellite, so that respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle are obtained respectively.
5. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 4, characterized in that:
the Beidou positioning equipment further comprises a positioning data processor;
the positioning data processor is respectively connected with the positioning reference base station and the positioning mobile base station;
the positioning data processor is used for analyzing respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle, so that RTK coordinate data of the unmanned aerial vehicle, which is suspended and stopped at any place in the process of flying over a target area, are determined.
6. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:
the ultrasonic ranging equipment comprises an ultrasonic transmitter, an ultrasonic receiver and a timer;
the ultrasonic transmitter is used for transmitting ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;
the ultrasonic receiver is used for receiving ultrasonic waves reflected by the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;
the timer is used for recording a first moment when the ultrasonic transmitter transmits the ultrasonic waves and recording a second moment when the ultrasonic receiver receives the ultrasonic waves.
7. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 6, characterized in that:
the ultrasonic ranging apparatus further comprises a distance calculator;
and the distance calculator is used for determining height data between the unmanned aerial vehicle and the ground or the water surface of any place of the target area before and after flood disaster occurs according to the time difference between the second moment and the first moment.
8. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:
the data storage device comprises a data storage and a data interaction transmitter;
the data acquisition transmitter is respectively in wireless connection with the Beidou positioning equipment and the ultrasonic ranging equipment;
the data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning equipment and the ultrasonic ranging equipment respectively;
the Beidou positioning equipment and the ultrasonic ranging equipment are used for responding to the data acquisition instruction and periodically uploading the RTK coordinate data and the height data to the data interaction transmitter;
the data interchange transmitter also stores the RTK coordinate data and the elevation data to the data memory.
9. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:
the data processing equipment comprises a water level height calculation calibration unit and a water level height change calculation unit;
the water level height calculation and calibration unit is used for generating a water level height comparison data table after flood disaster occurs at any position of the target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface after the flood disaster occurs;
the water level height change calculation unit is used for generating a water level height change comparison data table before and after flood disaster occurs at any position of a target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface before and after the flood disaster occurs;
the data processing device further comprises a cloud server;
the cloud server is used for uploading the water level height comparison data table and the water level height change comparison data table to a cloud data terminal, so that data table sharing is achieved.
10. The flood disaster detection system based on unmanned aerial vehicle and big dipper location of claim 9, characterized in that:
when the unmanned aerial vehicle flies above a target area, identifying human body characteristics by using an infrared camera sensor in camera equipment of the unmanned aerial vehicle so as to determine whether trapped people exist in the target area; if the trapped person is determined to exist, the unmanned aerial vehicle is instructed to perform suspension stop above the trapped person, RTK coordinate data corresponding to the current suspension stop of the unmanned aerial vehicle are uploaded to a cloud end data terminal through Beidou positioning equipment, and an alarm signal is triggered; if it is determined that the trapped person moves along with the flood, the unmanned aerial vehicle is instructed to adjust the flight state in real time, track the trapped person and upload RTK coordinate data corresponding to the trapped person to a cloud data terminal, wherein when a plurality of trapped persons exist in a target area, the trapped person closest to the unmanned aerial vehicle is preferentially tracked, and the method specifically comprises the following steps:
step S1, the unmanned aerial vehicle is instructed to fly above the target area firstly and ascend to the height at which the camera equipment can completely cover and shoot the whole range of the target area, then the infrared camera sensor in the camera equipment is utilized to shoot the target area so as to obtain the infrared image corresponding to the target area, then the infrared image is subjected to human body feature recognition and the recognized human body is framed by a red rectangular frame, the pixel point position of the central point of the red rectangular frame is the pixel coordinate point of the trapped person on the infrared image,
determining the trapped person nearest to the unmanned aerial vehicle according to the pixel coordinate point on the infrared image by using the following formula (1),
Figure FDA0003305624800000051
in the above formula (1), SminRepresenting the image distance between the central point position of the unmanned aerial vehicle in the infrared image and the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image; (i)a,ja) The pixel coordinate point of the a-th trapped person, namely the central point of the a-th trapped person in the infrared imageaLine j (th)aColumns; k represents the total number of trapped persons identified on the infrared image; n represents the number of pixels contained in each row of pixels in the infrared image; m represents the number of pixels contained in each row of pixels in the infrared image;
according to the position of the central point of the unmanned aerial vehicle in the infrared image and the image distance of the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image, the position of the trapped person in the actual ring can be determinedThe trapped person closest to the unmanned aerial vehicle in the environmental space, the corresponding pixel coordinate point is the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle, and the pixel coordinate point is recorded as (i)a,min,ja,min)；
When the trapped person closest to the unmanned aerial vehicle is determined, indicating the unmanned aerial vehicle to move so that the unmanned aerial vehicle can follow the corresponding trapped person at any time according to the trapped person closest to the unmanned aerial vehicle;
step S2, determining the moving direction of the unmanned aerial vehicle according to the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle by using the following formula (2),
Figure FDA0003305624800000061
in the above formula (2), θ (t) represents the direction in which the unmanned aerial vehicle needs to move at the current moment, if θ (t)>0, the unmanned aerial vehicle needs to rotate clockwise by an angle of | θ (t) | at the current moment and then move forward until the unmanned aerial vehicle moves to θ (t) ═ 0, if θ (t)<If θ (t) is 0, the unmanned aerial vehicle needs to stop moving at the current moment and stop at the current position in a floating manner; t represents the current time; (i)a,min(t),ja,min(t)) a pixel coordinate point representing a trapped person closest to the unmanned aerial vehicle at the current time; | | represents an absolute value operation;
step S3, when the unmanned aerial vehicle tracks above the trapped person, the flying height of the unmanned aerial vehicle is controlled according to the size of the red rectangular frame framed corresponding to the trapped person nearest to the unmanned aerial vehicle by using the following formula (3), so that the size of the image shot by the camera device of the unmanned aerial vehicle is twice as large as the size of the red rectangular frame framed corresponding to the trapped person nearest to the unmanned aerial vehicle, thereby tracking and observing the trapped person nearest to the unmanned aerial vehicle,
Figure FDA0003305624800000062
in the above formula (3), Δ h (t) represents a height value indicating that the drone needs to be changed at the current time, and if Δ h (t)<0, then indicate that the drone needs to rise by a height value of | Δ H (t) |, if Δ H (t)>0, indicating that the unmanned plane needs to descend by the height value of | Δ h (t) |; h (t) represents the height value of the unmanned aerial vehicle at the current moment; p is a radical ofa,min(t) representing the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment; q. q.sa,min(t) the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment is represented.
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