CN116981114B - Search and rescue system based on ad hoc network technology - Google Patents
Search and rescue system based on ad hoc network technology Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S19/42—Determining position
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- H—ELECTRICITY
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- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
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- H04W84/06—Airborne or Satellite Networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention provides a search and rescue system based on an ad hoc network technology, which comprises: the command module is used for managing and receiving all information data of the search and rescue terminal and the searched and rescue terminal; the ad hoc network construction module is used for arranging a plurality of search and rescue terminals at preset places to serve as ad hoc network nodes and forming a local ad hoc network by combining the command module; the command module is also used for automatically inviting the searched and rescuing terminal to join the local ad hoc network when the preset distance is met, and obtaining the position information of the searched and rescuing terminal; the invention solves the problems of high positioning difficulty, long time and the like of the existing search and rescue by utilizing the wireless ad hoc network technology, and saves the search and rescue time.
Description
Technical Field
The invention relates to the technical field of ad hoc network search and rescue positioning, in particular to a search and rescue system based on an ad hoc network technology.
Background
The wireless self-organizing network is a multi-hop mobility peer-to-peer network which is composed of several to tens of nodes, adopts a wireless communication mode and is dynamically organized; normally, the nodes have continuous energy supply and do not need fixed equipment support, and each node is self-networking; during communication, other user nodes forward data; the network form breaks through the geographical limitation of the traditional wireless network, can be deployed more quickly, conveniently and efficiently, and is suitable for scenes without networks on site, wherein quick networking and convenient installation are required.
In the existing search and rescue work, the search and rescue mode of trapped personnel is often to conduct manpower on a large scale in the place where the trapped personnel is finally lost, the search and rescue effect is poor, the gold search and rescue time is easily missed, and the survival probability of the trapped personnel is reduced; or through the middle orbit satellite positioning, for example, a method for positioning a middle orbit satellite search and rescue system with the patent publication number of CN102087363A is to position search and rescue signals through the middle orbit satellite, but when the satellite positioning is called, the use requirement of the satellite positioning is higher, and the signal distance sent by the trapped terminal of the trapped person is limited, so that the position of the trapped person can be positioned in a large range only when the satellite positioning is called, and the accurate positioning is difficult.
Therefore, a search and rescue system based on the ad hoc network technology is needed, the problems of high search and rescue positioning difficulty, long time and the like in the prior art are solved by utilizing the wireless ad hoc network technology, and search and rescue time is saved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a search and rescue system based on an ad hoc network technology, which solves the problems of high difficulty, long time and the like of the existing search and rescue positioning by utilizing the wireless ad hoc network technology and saves search and rescue time.
A search and rescue system based on an ad hoc network technology, comprising: the command module is used for managing and receiving all information data of the search and rescue terminal and the searched and rescue terminal;
the ad hoc network construction module is used for arranging a plurality of search and rescue terminals at preset places to serve as ad hoc network nodes and forming a local ad hoc network by combining the command module;
and the command module is also used for automatically inviting the searched and rescuing terminal to join the local ad hoc network when the preset distance is met, and obtaining the position information of the searched and rescuing terminal.
As an embodiment of the invention, the terminal to be searched and rescuing comprises any one of a mobile power supply, a smart camera and a mobile phone.
As an embodiment of the present invention, the search and rescue terminal includes a wireless ad hoc network portable base station device.
As an embodiment of the invention, the command module comprises a vehicle-mounted base station device.
As an embodiment of the present invention, the ad hoc network construction module includes:
the terminal arrangement module is used for arranging a plurality of ad hoc network nodes at a preset place in a mode that the unmanned aerial vehicle carries a search and rescue terminal;
and the ad hoc network building module is used for searching adjacent ad hoc network nodes after the ad hoc network nodes are arranged, and forming a local ad hoc network by combining the command module.
As an embodiment of the invention, the command module is further used for re-planning the arrangement place of the ad hoc network node by taking the position information as the center after the position information of the searched and rescuing terminal is acquired;
the ad hoc network construction module is also used for arranging a plurality of search and rescue terminals as ad hoc network nodes according to the new arrangement places and forming a new local ad hoc network by combining the command module;
and the command module is also used for repositioning the position information of the searched and rescuing terminal according to the new local ad hoc network.
As an embodiment of the present invention, a search and rescue system based on the ad hoc network technology further includes: and the encouraging module is used for attempting to establish connection with the searched and rescuing terminal after determining the position information of the searched and rescuing terminal and sending encouraging information to the searched and rescuing terminal.
As an embodiment of the present invention, a search and rescue system based on the ad hoc network technology further includes: and the dangerous area warning module is used for attempting to establish connection with the searched and rescuing terminal when the position information of the searched and rescuing terminal is close to the dangerous area, and sending the dangerous warning information to the searched and rescuing terminal.
As an embodiment of the present invention, a search and rescue system based on the ad hoc network technology further includes: and the search and rescue personnel command module is used for sending the position change information of the searched and rescue terminal to the portable terminal of the search and rescue personnel in real time.
As an embodiment of the present invention, the search and rescue personnel command module further includes: the rescue route planning module is used for acquiring remote sensing images of the search and rescue areas, identifying dangerous areas of the remote sensing images, combining the position information of the search and rescue personnel and the position information of the searched and rescue terminals, generating a safe rescue route and sending the safe rescue route to the carrying terminals of the search and rescue personnel.
As an embodiment of the invention, obtaining a remote sensing image of a search and rescue area and identifying a dangerous area of the remote sensing image comprises the following steps: acquiring a total remote sensing image of each time span search and rescue area within a preset time range and dangerous area information in the latest time span search and rescue area uploaded by a terminal; according to a preset multi-source remote sensing image dangerous area identification rule, carrying out disaster area identification on the total remote sensing images of each time span, and carrying out disaster area rechecking on different total remote sensing images of adjacent time spans, so as to determine disaster area information in a search and rescue area; and carrying out dangerous marking on the remote sensing image according to the dangerous area information and the disaster area information, and completing dangerous area identification on the remote sensing image.
As an embodiment of the invention, according to the dangerous recognition result, the position information of the search and rescue personnel and the searched and rescue terminal, a safe rescue route is generated and sent to the carrying terminal of the search and rescue personnel, comprising: generating a plurality of initial routes according to the position information of the search and rescue personnel and the position information of the searched and rescue terminal; obtaining mileage information of each initial route, sorting the mileage length of all mileage information, and determining the mileage initial grade of each mileage information according to the sorting; acquiring dangerous areas existing in each initial route according to a dangerous identification result, and determining the initial grade of risk of each dangerous area; acquiring current weather data and time data, determining a preset first risk amplification weight of the current weather data on a dangerous area, and determining a preset second risk amplification weight of the current time data on the dangerous area; respectively carrying out weight calculation on each risk initial level according to a preset first risk amplification weight and a preset second risk amplification weight, and determining the risk level of each risk area; acquiring risk levels of all dangerous areas of each initial route, and carrying out summation calculation to obtain the total risk level of each initial route; and determining the safety degree of each initial route according to the total risk level and the mileage initial level of each initial route, screening all the initial routes according to the safety degree, determining a safe rescue route, and transmitting to the carrying terminal of the search and rescue personnel.
The beneficial effects of the invention are as follows:
the invention provides a search and rescue system based on an ad hoc network technology, which solves the problems of high difficulty, long time and the like of the existing search and rescue positioning by utilizing a wireless ad hoc network technology and saves search and rescue time.
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 may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a search and rescue system based on an ad hoc network technology according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the preliminary construction of an ad hoc network in a search and rescue system based on an ad hoc network technology according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the construction of a secondary ad hoc network in a search and rescue system based on an ad hoc network technology according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a search and rescue system based on an ad hoc network technology, including: the command module 1 is used for managing, receiving and transmitting all information data of the search and rescue terminal and the searched and rescue terminal;
the ad hoc network construction module 2 is used for arranging a plurality of search and rescue terminals at preset places to serve as ad hoc network nodes and forming a local ad hoc network by combining the command module;
the command module 1 is further used for automatically inviting the searched and rescuing terminal to join the local ad hoc network when the preset distance is met, and obtaining the position information of the searched and rescuing terminal;
managing all information data of the search and rescue terminals and the searched and rescue terminals, including processing the position information of the searched and rescue terminals acquired by all the search and rescue terminals, correcting and compensating, and finally determining the position information of the searched and rescue terminals;
in fig. 2, when the distance between two terminals matches the preset distance, a connection is formed between the two terminals, so that when the searched and rescuing terminal matches the preset distance, the local ad hoc network is automatically added;
the beneficial effects of the technical scheme are as follows: through the technical scheme, the problems of high positioning difficulty, long time and the like of the existing search and rescue are solved by utilizing the wireless ad hoc network technology, and the search and rescue time is saved.
In one embodiment, the terminal to be searched and rescuing comprises any one of a mobile power supply, a smart camera and a mobile phone.
In one embodiment, the search and rescue terminal includes a wireless ad hoc network portable base station device.
In one embodiment, the command module includes an in-vehicle base station device.
In one embodiment, the ad hoc network construction module includes:
the terminal arrangement module is used for arranging a plurality of ad hoc network nodes at a preset place in a mode that the unmanned aerial vehicle carries a search and rescue terminal;
the ad hoc network building module is used for searching adjacent ad hoc network nodes after the ad hoc network nodes are arranged, and forming a local ad hoc network by combining with the command module;
the terminal arrangement module can also adopt a mode of manual carrying to arrange a plurality of ad hoc network nodes at a preset place, or adopt a part of unmanned aerial vehicle to arrange and a part of manual arrangement.
Referring to fig. 3, in one embodiment, a search and rescue system based on the ad hoc network technology further includes: the command module is also used for re-planning the arrangement place of the ad hoc network node by taking the position information as the center after the position information of the searched and rescuing terminal is acquired;
the ad hoc network construction module is also used for arranging a plurality of search and rescue terminals as ad hoc network nodes according to the new arrangement places and forming a new local ad hoc network by combining the command module;
the command module is also used for repositioning the position information of the searched and rescuing terminal according to the new local ad hoc network;
in fig. 3, after the preliminary position information is obtained, the ad hoc network nodes are adjusted, so that the ad hoc network nodes connected with the searched and rescuing terminal are increased, and further the obtained information is more, so that the position information is more accurate;
the beneficial effects of the technical scheme are as follows: through the technical scheme, the position information of the search and rescue terminal is accurately obtained.
In one embodiment, a search and rescue system based on the ad hoc network technology further comprises: the encouraging module is used for attempting to establish connection with the searched and rescuing terminal after determining the position information of the searched and rescuing terminal and sending encouraging information to the searched and rescuing terminal;
the beneficial effects of the technical scheme are as follows: by the technical scheme, the rescue information is tried to be fed back to the trapped person, for example, the feedback information is 'the position of your is determined, please wait for rescue in situ under the condition of safety', the survival intention of the trapped person is enhanced, and the success probability of rescue is improved.
In one embodiment, a search and rescue system based on the ad hoc network technology further comprises: the search and rescue personnel command module is used for sending the position change information of the searched and rescue terminal to the portable terminal of the search and rescue personnel in real time;
the beneficial effects of the technical scheme are as follows: through the technical scheme, the search and rescue personnel can uniformly go to the search and rescue area from all directions, so that the time for finding trapped people is shortened, and the success probability of rescue is improved.
In one embodiment, a search and rescue system based on the ad hoc network technology further comprises: the dangerous area warning module is used for attempting to establish connection with the searched and rescuing terminal when the position information of the searched and rescuing terminal is close to a dangerous area, and sending the dangerous warning information to the searched and rescuing terminal;
the beneficial effects of the technical scheme are as follows: through the technical scheme, the rescuee is prevented from rushing into a dangerous area due to the fact that the rescuee is in a mess, and the survival rate of the rescuee is improved.
In one embodiment, the search and rescue personnel command module further comprises:
the rescue route planning module is used for acquiring remote sensing images of the search and rescue areas, identifying dangerous areas of the remote sensing images, and generating a safe rescue route by combining the position information of the search and rescue personnel and the position information of the searched and rescue terminals to send the safe rescue route to the carrying terminals of the search and rescue personnel;
the remote sensing image can be acquired through an unmanned aerial vehicle;
dangerous area identification includes areas such as cliffs, valleys, landslide, etc.;
the beneficial effects of the technical scheme are as follows: through the technical scheme, the search and rescue efficiency of the search and rescue personnel is further improved, and meanwhile, the safety of the search and rescue personnel is guaranteed.
In one embodiment, acquiring a remote sensing image of a search and rescue area and identifying a dangerous area of the remote sensing image includes: acquiring a total remote sensing image of each time span search and rescue area within a preset time range and dangerous area information in the latest time span search and rescue area uploaded by a terminal; according to a preset multi-source remote sensing image dangerous area identification rule, carrying out disaster area identification on the total remote sensing images of each time span, and carrying out disaster area rechecking on different total remote sensing images of adjacent time spans, so as to determine disaster area information in a search and rescue area; performing dangerous marking on the remote sensing image according to the dangerous area information and the disaster area information to finish dangerous area identification on the remote sensing image;
the working principle of the technical scheme is as follows: acquiring total remote sensing images of the search and rescue areas of each time span within a preset time range, wherein each time span is preferably two months, the preset time range is preferably 1 year, and acquiring dangerous area information in the search and rescue areas of the latest time span uploaded by a terminal, wherein the dangerous area information uploaded by the terminal is found by a person patrolling personnel in the latest time span, such as dangerous areas of a large pit, a low depression and the like, or dangerous areas existing in related news or data of the latest time span of the search and rescue area are automatically screened by a system, such as dangerous areas of landslide and the like; the latest time span is preferably within the last two months; after dangerous area information uploaded by a terminal is determined, carrying out disaster area identification on the total remote sensing images of each time span according to a preset multi-source remote sensing image dangerous area identification rule, and carrying out disaster area rechecking on different total remote sensing images of adjacent time spans to determine disaster area information in a search and rescue area, wherein the technology of early warning, monitoring and evaluating disaster scenes by utilizing a multi-source remote sensing technology is quite mature, and redundant description is omitted; finally, dangerous area identification is carried out on the remote sensing image according to the dangerous area information and the disaster area information, and it is worth to say that dangerous area identification on the remote sensing image is finished, wherein the dangerous area identification comprises dangerous marking of corresponding scenes of the dangerous area information and the disaster area information, for example, the first dangerous area information in the marked information is a valley, and the marked information also comprises position information of the valley;
the beneficial effects of the technical scheme are as follows: by the technical scheme, the dangerous area is identified, and more accurate data support is provided for the generation of the follow-up safe rescue route.
In one embodiment, generating a safe rescue route according to the dangerous recognition result, the position information of the search and rescue personnel and the searched and rescue terminal, and sending the safe rescue route to the carrying terminal of the search and rescue personnel comprises: generating a plurality of initial routes according to the position information of the search and rescue personnel and the position information of the searched and rescue terminal; obtaining mileage information of each initial route, sorting the mileage length of all mileage information, and determining the mileage initial grade of each mileage information according to the sorting; acquiring dangerous areas existing in each initial route according to a dangerous identification result, and determining the initial grade of risk of each dangerous area; acquiring current weather data and time data, determining a preset first risk amplification weight of the current weather data on a dangerous area, and determining a preset second risk amplification weight of the current time data on the dangerous area; respectively carrying out weight calculation on each risk initial level according to a preset first risk amplification weight and a preset second risk amplification weight, and determining the risk level of each risk area; acquiring risk levels of all dangerous areas of each initial route, and carrying out summation calculation to obtain the total risk level of each initial route; determining the safety degree of each initial route according to the total risk level and the mileage initial level of each initial route, screening all the initial routes according to the safety degree, determining a safe rescue route, and sending to a carrying terminal of a search and rescue person;
the working principle of the technical scheme is as follows: generating a plurality of initial routes according to the position information of the search and rescue personnel and the position information of the searched and rescue terminal based on a general navigation route generation method, wherein the general navigation route generation method comprises, but is not limited to, adopting a mode of combining an electronic map, a navigation technology and a GPS; obtaining mileage information of each initial route, wherein the mileage information preferably comprises mileage, namely route length; the method comprises the steps of carrying out route mileage sequencing on all mileage information, and carrying out mileage initial grade determination on each mileage information according to the sequencing, wherein the initial grades are divided into different grades with corresponding numbers according to the number of initial routes, the initial grade with the shortest mileage is the highest, each initial grade corresponds to an initial score, and the score is higher as the grade is higher; according to the dangerous identification result, acquiring dangerous areas existing in each initial route, and determining the initial grade of risk for each dangerous area, wherein the lower the dangerous area is, the lower the initial grade is, for example, the risk of a big pit is far lower than the risk of a recent landslide scene, and each initial grade corresponds to an initial score range, the higher the grade is, the lower the score is, and when an initial state is set, the initial score corresponding to the initial grade is the highest score in the initial score range; acquiring current weather data and time data, determining a preset first risk amplification weight of the current weather data on a dangerous area, and determining a preset second risk amplification weight of the current time data on the dangerous area, wherein the determination of the preset first risk amplification weight and the preset second risk amplification weight is preferably determined according to a preset risk weight comparison table, and the specific risk amplification weight setting mode is as follows: when a dangerous area of a recent landslide scene encounters thundergust weather data, the dangerous grade of the recent landslide scene rises, and a risk amplification weight is determined according to the rising rise; when the current time data belongs to 8 pm later, the visibility is greatly reduced, and the observation force to the surrounding environment is insufficient, so that the dangerous grade of dangerous areas such as a recent landslide scene, a large pit or a low-lying area can be increased, and the risk amplification weight is determined according to the rising rise; furthermore, a third risk amplification weight can be determined according to the time data and the weather data in combination with the dangerous area; after the risk amplification weight is determined, respectively carrying out weight calculation on each risk initial level according to a preset first risk amplification weight and a preset second risk amplification weight, and determining the risk level of each risk area, wherein the preferable calculation mode is as follows: d=a+aa+ab, where D is a risk level score, a is an initial score corresponding to the risk initial level, a is a preset first risk amplification weight, b is a preset second risk amplification weight, where a and b are decimal numbers, and may be negative numbers, that is, weather data and time data may greatly reduce the risk level of the dangerous area; after the score D is determined, determining the risk level of the dangerous area according to the risk level range corresponding to the score D; on each initial route, more than one dangerous area possibly exists, the risk levels of all the dangerous areas of each initial route are obtained, and the total risk level of each initial route is obtained through summation calculation; the calculation mode is preferably that after the D of the risk level of each dangerous area is obtained and summed, a new F score is determined, and the total risk level is determined according to the F score, and it is worth noting that the displayed risk level is used for a manager to observe conveniently, and the specific risk score is used for participating in risk calculation, and of course, the manager can also switch to risk score display; finally, determining the safety degree of each initial route according to the total risk level and the mileage initial level of each initial route, wherein the calculation method is preferably to add the score corresponding to the total risk level and the score corresponding to the mileage initial level to obtain a total score, the total score is the safety degree, and the higher the score is, the higher the safety degree is; screening all the initial routes according to the safety degree, and determining a safe rescue route, namely screening the route with the highest score to be used as the safe rescue route; and sending the data to a carrying terminal of the search and rescue personnel;
it should be noted that, more than one group of rescue teams are often used, and different safe rescue routes are respectively distributed to different groups from high to low according to the safety degree; meanwhile, if the safety degree of any initial route is lower than a preset safety threshold value, the initial route is not allocated;
the beneficial effects of the technical scheme are as follows: through the technical scheme, the safety rescue route is generated by combining the multidimensional safety information, the safety of the safety rescue route is improved, the safety of rescue personnel is ensured, and trapped personnel can be rapidly rescued.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The search and rescue system based on the ad hoc network technology is characterized by comprising: the command module is used for managing and receiving all information data of the search and rescue terminal and the searched and rescue terminal;
the ad hoc network construction module is used for arranging a plurality of search and rescue terminals at preset places to serve as ad hoc network nodes and forming a local ad hoc network by combining the command module;
the command module is also used for automatically inviting the searched and rescuing terminal to join the local ad hoc network when the preset distance is met, and obtaining the position information of the searched and rescuing terminal;
the search and rescue personnel command module further comprises:
the rescue route planning module is used for acquiring remote sensing images of the search and rescue areas, identifying dangerous areas of the remote sensing images and generating dangerous identification results; generating a safe rescue route according to the dangerous identification result, the position information of the search and rescue personnel and the searched and rescue terminal, and sending the safe rescue route to the carrying terminal of the search and rescue personnel;
acquiring a remote sensing image of a search and rescue area, and identifying a dangerous area of the remote sensing image, wherein the remote sensing image comprises the following steps: acquiring a total remote sensing image of each time span search and rescue area within a preset time range and dangerous area information in the latest time span search and rescue area uploaded by a terminal; according to a preset multi-source remote sensing image dangerous area identification rule, carrying out disaster area identification on the total remote sensing images of each time span, and carrying out disaster area rechecking on different total remote sensing images of adjacent time spans, so as to determine disaster area information in a search and rescue area; performing dangerous marking on the remote sensing image according to the dangerous area information and the disaster area information to finish dangerous area identification on the remote sensing image;
according to dangerous recognition result, search and rescue personnel and by the position information at search and rescue terminal, generate the portable terminal that the route of sending to search and rescue personnel of safe rescue, include: generating a plurality of initial routes according to the position information of the search and rescue personnel and the position information of the searched and rescue terminal; obtaining mileage information of each initial route, sorting the mileage length of all mileage information, and determining the mileage initial grade of each mileage information according to the sorting; acquiring dangerous areas existing in each initial route according to a dangerous identification result, and determining the initial grade of risk of each dangerous area; acquiring current weather data and time data, determining a preset first risk amplification weight of the current weather data on a dangerous area, and determining a preset second risk amplification weight of the current time data on the dangerous area; respectively carrying out weight calculation on each risk initial level according to a preset first risk amplification weight and a preset second risk amplification weight, and determining the risk level of each risk area; acquiring risk levels of all dangerous areas of each initial route, and carrying out summation calculation to obtain the total risk level of each initial route; and determining the safety degree of each initial route according to the total risk level and the mileage initial level of each initial route, screening all the initial routes according to the safety degree, determining a safe rescue route, and transmitting to the carrying terminal of the search and rescue personnel.
2. The search and rescue system based on the ad hoc network technology as claimed in claim 1, wherein the searched and rescue terminal comprises any one of a mobile power supply, a smart camera and a mobile phone; the search and rescue terminal comprises wireless ad hoc network portable base station equipment; the command module comprises vehicle-mounted base station equipment.
3. The search and rescue system based on the ad hoc network technology as claimed in claim 1, wherein the ad hoc network construction module comprises:
the terminal arrangement module is used for arranging a plurality of ad hoc network nodes at a preset place in a mode that the unmanned aerial vehicle carries a search and rescue terminal;
and the ad hoc network building module is used for searching adjacent ad hoc network nodes after the ad hoc network nodes are arranged, and forming a local ad hoc network by combining the command module.
4. The search and rescue system based on the ad hoc network technology as claimed in claim 1, further comprising: the command module is also used for re-planning the arrangement place of the ad hoc network node by taking the position information as the center after the position information of the searched and rescuing terminal is acquired;
the ad hoc network construction module is also used for arranging a plurality of search and rescue terminals as ad hoc network nodes according to the new arrangement places and forming a new local ad hoc network by combining the command module;
and the command module is also used for repositioning the position information of the searched and rescuing terminal according to the new local ad hoc network.
5. The search and rescue system based on the ad hoc network technology as claimed in claim 1, further comprising: and the encouraging module is used for attempting to establish connection with the searched and rescuing terminal after determining the position information of the searched and rescuing terminal and sending encouraging information to the searched and rescuing terminal.
6. The ad hoc network-based search and rescue system of claim 5, further comprising: and the dangerous area warning module is used for attempting to establish connection with the searched and rescuing terminal when the position information of the searched and rescuing terminal is close to the dangerous area, and sending the dangerous warning information to the searched and rescuing terminal.
7. The search and rescue system based on the ad hoc network technology as claimed in claim 1, further comprising: and the search and rescue personnel command module is used for sending the position change information of the searched and rescue terminal to the portable terminal of the search and rescue personnel in real time.
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