CN110775275A - Unmanned aerial vehicle rescue goods and materials release method and device, computer equipment and storage medium - Google Patents
Unmanned aerial vehicle rescue goods and materials release method and device, computer equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention relates to a method and a device for releasing rescue goods and materials of an unmanned aerial vehicle, computer equipment and a storage medium, wherein the method comprises the steps of obtaining the position of a person needing rescue; obtaining the releasing precision of rescue goods and materials; calculating the release height of the rescue goods and materials according to the release precision and the position of the person needing rescue; sending the release height to the unmanned aerial vehicle, so that the unmanned aerial vehicle releases materials at the release height to obtain a release result; judging whether the release result is the release completion; if not, continuing to wait, and returning to judge whether the release result is the release completion. According to the invention, the position of a person needing rescue is determined by acquiring the image data of the rescue area, the release height of the release of the rescue goods is calculated, the rescue goods are accurately released to the designated position according to the release height, the position of the victim can be accurately mastered, and the rescue goods are more accurately released to the position of the victim by using the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a material release method, in particular to an unmanned aerial vehicle rescue material release method, an unmanned aerial vehicle rescue material release device, computer equipment and a storage medium.
Background
Unmanned aerial vehicles are increasingly supported by global researchers and organizations as a complement to search and rescue activities. Many rescue systems, including remotely controlled drones, have been proposed to establish robotic assistance in emergency management, taking into account the necessity of a completely autonomous rescue by the drone.
However, when the unmanned aerial vehicle supports rescue work, separation of crowded and uncongested areas is obvious for safe flight of the unmanned aerial vehicle, a new method at present is to enhance a no-fly area avoided by people by using deep-layer chlorinated naphthalene, and due to the fact that the no-fly area is defined, personnel are required to control the no-fly area, so that cost is increased, accuracy is not high, positions of all victims cannot be detected, and the problem of rescue omission exists.
Therefore, it is necessary to design a new method, which can accurately grasp the position of the victim and more accurately release the rescue materials to the position of the victim by using the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rescue goods and materials release method and device for an unmanned aerial vehicle, computer equipment and a storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme: unmanned aerial vehicle rescue goods and materials release method includes:
acquiring the position of a person needing rescue;
obtaining the releasing precision of rescue goods and materials;
calculating the release height of the rescue goods and materials according to the release precision and the position of the person needing rescue;
sending the release height to the unmanned aerial vehicle, so that the unmanned aerial vehicle releases materials at the release height to obtain a release result;
judging whether the release result is the release completion;
if not, continuing to wait, and returning to judge whether the release result is the release completion.
The further technical scheme is as follows: after the step of judging whether the release result is the release completion, the method further comprises the following steps:
if so, acquiring information of the initial position of the unmanned aerial vehicle to obtain initial information;
acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information;
and sending the return route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return route of the unmanned aerial vehicle.
The further technical scheme is as follows: the position of the person needing to be rescued is obtained, and the method comprises the following steps:
acquiring image data of a rescue area to obtain initial image data;
carrying out image recognition on the initial image data to obtain a recognition result;
and positioning the human body according to the identification result to obtain the position of the person needing rescue.
The further technical scheme is as follows: the release precision of the rescue goods is 0.5m to 1 m.
The further technical scheme is as follows: the rescue goods and materials comprise at least one of food, medicine and life jackets.
The further technical scheme is as follows: the method for calculating the release height of the rescue goods and materials according to the release precision and the position of the person needing rescue comprises the following steps:
calculating the external force borne by the rescue goods in the releasing process to obtain an acting force;
determining the position data of the final release of the rescue goods and materials according to the release precision and the position of the person needing to be rescued so as to obtain a target position;
and determining the release height of the rescue goods according to the acting force and the target position.
The invention also provides an unmanned aerial vehicle rescue goods and materials release device, which comprises:
the position acquisition unit is used for acquiring the position of a person needing rescue;
the precision acquisition unit is used for acquiring the release precision of the rescue goods and materials;
the height acquisition unit is used for calculating the release height of the rescue goods according to the release precision and the position of the person needing rescue;
the height sending unit is used for sending the release height to the unmanned aerial vehicle so that the unmanned aerial vehicle releases materials at the release height to obtain a release result;
the judging unit is used for judging whether the releasing result is releasing completion or not; if not, continuing to wait, and returning to judge whether the release result is the release completion.
The further technical scheme is as follows: further comprising:
the initial information acquisition unit is used for acquiring information of an initial position of the unmanned aerial vehicle to obtain initial information if the unmanned aerial vehicle is in the initial position;
the return route acquiring unit is used for acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information;
and the return flight sending unit is used for sending the return flight route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return flight route of the unmanned aerial vehicle.
The invention also provides computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the method when executing the computer program.
The invention also provides a storage medium storing a computer program which, when executed by a processor, is operable to carry out the method as described above.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the position of a person needing rescue is determined by acquiring the image data of the rescue area, the release height of the release of the rescue goods is calculated, the rescue goods are accurately released to the designated position according to the release height, the position of the victim can be accurately mastered, and the rescue goods are more accurately released to the position of the victim by using the unmanned aerial vehicle.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a method for releasing rescue goods and materials of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for releasing rescue goods and materials of an unmanned aerial vehicle according to an embodiment of the invention;
fig. 3 is a schematic sub-flow diagram of a method for releasing rescue goods and materials of an unmanned aerial vehicle according to an embodiment of the invention;
fig. 4 is a schematic sub-flow diagram of a method for releasing rescue goods and materials of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of an unmanned aerial vehicle rescue goods and materials release device provided by the embodiment of the invention;
fig. 6 is a schematic block diagram of a position obtaining unit of the unmanned aerial vehicle rescue goods and materials releasing device provided by the embodiment of the invention;
fig. 7 is a schematic block diagram of a height obtaining unit of the unmanned aerial vehicle rescue goods releasing device provided by the embodiment of the invention;
FIG. 8 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
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 some, not all, embodiments of the present invention. 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.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of an application scenario of the unmanned aerial vehicle rescue goods release method according to the embodiment of the present invention. Fig. 2 is a schematic flow chart of a method for releasing rescue goods and materials of an unmanned aerial vehicle according to an embodiment of the invention. This unmanned aerial vehicle rescue goods and materials release method is applied to in the server, and this server carries out data interaction with camera and unmanned aerial vehicle, obtains the image by the camera after, and the server carries out the position location that needs the rescuer to according to the release precision calculation goods and materials release height that predetermines, and according to this high release goods and materials after, drive unmanned aerial vehicle back sails.
Fig. 2 is a schematic flow chart of the unmanned aerial vehicle rescue goods and materials release method provided by the embodiment of the invention. As shown in fig. 2, the method includes the following steps S110 to S190.
And S110, acquiring the position of the person needing to be rescued.
In this embodiment, the position of the person needing rescue refers to the height and the horizontal position of the current position of the specific unmanned aerial vehicle.
In an embodiment, referring to fig. 3, the step S110 may include steps S111 to S113.
And S111, acquiring image data of the rescue area to obtain initial image data.
In this embodiment, the initial image data refers to data obtained by shooting an image of the rescue area by a camera carried by the unmanned aerial vehicle.
And S112, carrying out image recognition on the initial image data to obtain a recognition result.
In this embodiment, the recognition result refers to recognition of a human body in the initial image data.
Specifically, a fuzzy clustering method can be adopted to filter static image elements in the image, and a convolutional neural network with good robustness for image recognition is adopted to recognize human body morphology aiming at dynamic pixel regions, so as to recognize the human body.
And S113, positioning the human body according to the identification result to obtain the position of the person needing rescue.
In the embodiment, the random forest classifier is used for classifying the pixel points one by one according to the recognition result to obtain each part of the body so as to carry out comprehensive calculation, and then the position of the person needing to be rescued is obtained, so that the accuracy is high and certain real-time performance is achieved.
And S120, obtaining the release precision of the rescue goods.
In the present embodiment, the relief supplies are released with an accuracy of 0.5m to 1 m. The rescue goods and materials comprise at least one of food, medicine and life jackets.
And S130, calculating the release height of the rescue goods according to the release precision and the position of the person needing rescue.
In an embodiment, the step S130 may include steps S131 to S133.
S131, calculating the external force applied to the rescue goods in the releasing process to obtain the acting force.
In this embodiment, the acting force refers to an external force applied to the rescue material in the releasing process.
The force includes, in addition to the force to which the weight of the material itself is subjected, the horizontal forces in the liquid flow acting on the material pack.
The air flow rate is considered to be a random variable. Considering that the air resistance is proportional to the square of the falling speed, the equation of motion of the material package, namely the force exerted by the weight of the material outside the airplane can be expressed as
Wherein m is the mass of materials, kg, A is the horizontal cross-sectional area of the life buoy, m
2Rho is air density (kg/m)
3)，C
dIs the coefficient of resistance.
The horizontal force in the fluid flow acting on the rescue material may be expressed as
F
lIs horizontal force, N; c
lAs coefficient of lift, F
wIs wind power, N; a. the
1Is perpendicular to the cross-sectional area of the life buoy, m
2。
S132, determining the position data of the final release of the rescue goods and materials according to the release precision and the position of the person needing to be rescued to obtain a target position;
and S133, determining the release height of the rescue goods according to the acting force and the target position.
As a random variable, the horizontal force may act on the rescue material in any direction. Assuming the worst case, this force acts in the horizontal direction when the rescue material falls. Considering the specifications of the drone, the maximum allowable wind speed for safe flight is limited to 5Bf, i.e. 28-39km/h, and the maximum horizontal displacement of the life ring can be estimated at several levels of wind speed, for example: in order to keep the release accuracy within the range of 0.5m, in the worst case of 40 km/h crosswind, the life buoy must be released from the maximum height of 2m, which means that the distance reached by rescue goods released from the release height is a safe distance, so that the person needing rescue is prevented from being hit and can be maximally close to the person needing rescue.
S140, sending the release height to the unmanned aerial vehicle, so that the unmanned aerial vehicle releases materials at the release height to obtain a release result.
After the release height is obtained, the unmanned aerial vehicle can be driven to release materials after the unmanned aerial vehicle reaches the release height. The realization can accurately master victim's position to utilize unmanned aerial vehicle to release the rescue goods and materials to victim's position more accurately.
S150, judging whether the release result is the release completion;
s160, if not, continuing to wait, and returning to the step S50;
and S170, if so, acquiring information of the initial position of the unmanned aerial vehicle to obtain initial information.
After the rescue goods and materials are released, the unmanned aerial vehicle needs to be driven to return to the initial position.
In this embodiment, the initial information refers to the initial position of the drone.
And S180, acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information.
In this embodiment, the current position of the unmanned aerial vehicle, that is, the place of departure in the return process, can be obtained according to the release altitude, and the initial information is then equivalent to the destination of returning, can obtain the route of returning of unmanned aerial vehicle according to place of departure and destination.
S190, the unmanned aerial vehicle return route is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to the unmanned aerial vehicle return route.
When the unmanned aerial vehicle navigates back to the initial position, the administrator can prepare for the next rescue task, and the unmanned aerial vehicle is enabled to enter a flight preparation state.
In addition, the positioning performance can be effectively improved by utilizing a plurality of global navigation satellite system data, which is important for the unmanned aerial vehicle to execute tasks. When crisis events are involved, the need for rapid and accurate detection of individuals at risk for life increases dramatically, and timely rescue is also possible using this method.
Certainly, in other embodiments, send unmanned aerial vehicle route of returning to the air traffic control plane to after making unmanned aerial vehicle fly according to unmanned aerial vehicle route of returning to the air traffic control plane, still include:
acquiring a return flight message;
and sending the release result and the return flight message to the terminal to prompt the terminal.
The return message refers to a message when the drone returns to the initial position.
According to the unmanned aerial vehicle rescue goods and materials release method, the position of a person needing rescue is determined by obtaining the image data of the rescue area, the release height of the rescue goods and materials release is calculated, the rescue goods and materials are accurately released to the designated position according to the release height, the position of the victim can be accurately grasped, and the rescue goods and materials are more accurately released to the position of the victim by the unmanned aerial vehicle.
Fig. 5 is a schematic block diagram of an unmanned aerial vehicle rescue goods releasing device 300 according to an embodiment of the present invention. As shown in fig. 5, the invention further provides an unmanned aerial vehicle rescue goods releasing device 300 corresponding to the above unmanned aerial vehicle rescue goods releasing method. The unmanned aerial vehicle rescue goods release device 300 includes a unit for performing the above-described unmanned aerial vehicle rescue goods release method, and the device may be configured in a server.
Specifically, referring to fig. 5, the unmanned aerial vehicle rescue goods releasing device 300 includes:
a position acquisition unit 301, configured to acquire a position of a person needing rescue;
an accuracy obtaining unit 302, configured to obtain release accuracy of the rescue material;
a height obtaining unit 303, configured to calculate a release height of the rescue material according to the release accuracy and the position of the person needing to be rescued;
a height sending unit 304, configured to send the release height to the drone, so that the drone releases the material at the release height to obtain a release result;
a judging unit 305, configured to judge whether the release result is release completion; if not, continuing to wait, and returning to judge whether the release result is the release completion.
In one embodiment, the method further comprises:
an initial information obtaining unit 306, configured to obtain information of an initial position of the unmanned aerial vehicle to obtain initial information if the unmanned aerial vehicle is in the first position;
a return route acquiring unit 307, configured to acquire a return route of the unmanned aerial vehicle according to the release height and the initial information;
and the return flight sending unit 308 is used for sending the return flight route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return flight route of the unmanned aerial vehicle.
In one embodiment, as shown in fig. 6, the position acquiring unit 301 includes:
an image data obtaining subunit 3011, configured to obtain image data of the rescue area to obtain initial image data;
an image recognition subunit 3012, configured to perform image recognition on the initial image data to obtain a recognition result;
and the human body positioning subunit 3013 is configured to perform human body positioning on the recognition result to obtain the position of the person needing rescue.
In one embodiment, as shown in fig. 7, the height obtaining unit 303 includes:
the external force calculation subunit 3031 is used for calculating the external force borne by the rescue goods in the releasing process so as to obtain the acting force;
a target position forming subunit 3032, configured to determine, according to the release accuracy and the position of the person needing to be rescued, position data of the final release of the rescue material, so as to obtain a target position;
and a release height determining subunit 3033, configured to determine a release height of the rescue material according to the acting force and the target position.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the unmanned aerial vehicle rescue goods and materials releasing device 300 and each unit may refer to the corresponding description in the foregoing method embodiment, and for convenience and conciseness of description, no further description is provided herein.
The unmanned aerial vehicle rescue goods releasing device 300 can be implemented in the form of a computer program which can be run on a computer device as shown in fig. 8.
Referring to fig. 8, fig. 8 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 is a server.
Referring to fig. 8, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 comprises program instructions that, when executed, cause the processor 502 to perform a drone rescue material release method.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 may be enabled to execute a method for releasing rescue goods for unmanned aerial vehicle.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration relevant to the present teachings and does not constitute a limitation on the computer device 500 to which the present teachings may be applied, and that a particular computer device 500 may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
Wherein the processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:
acquiring the position of a person needing rescue;
obtaining the releasing precision of rescue goods and materials;
calculating the release height of the rescue goods and materials according to the release precision and the position of the person needing rescue;
sending the release height to the unmanned aerial vehicle, so that the unmanned aerial vehicle releases materials at the release height to obtain a release result;
judging whether the release result is the release completion;
if not, continuing to wait, and returning to judge whether the release result is the release completion.
Wherein the release precision of the rescue goods is 0.5m to 1 m.
The rescue goods and materials comprise at least one of food, medicine and life jackets.
In an embodiment, after implementing the step of determining whether the release result is the release completion, the processor 502 further implements the following steps:
if so, acquiring information of the initial position of the unmanned aerial vehicle to obtain initial information;
acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information;
and sending the return route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return route of the unmanned aerial vehicle.
In an embodiment, when the step of obtaining the position of the person needing to be rescued is implemented, the processor 502 specifically implements the following steps:
acquiring image data of a rescue area to obtain initial image data;
carrying out image recognition on the initial image data to obtain a recognition result;
and positioning the human body according to the identification result to obtain the position of the person needing rescue.
In an embodiment, when the processor 502 implements the step of calculating the release height of the rescue material according to the release accuracy and the position of the person to be rescued, the following steps are specifically implemented:
calculating the external force borne by the rescue goods in the releasing process to obtain an acting force;
determining the position data of the final release of the rescue goods and materials according to the release precision and the position of the person needing to be rescued so as to obtain a target position;
and determining the release height of the rescue goods according to the acting force and the target position.
It should be understood that, in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the steps of:
acquiring the position of a person needing rescue;
obtaining the releasing precision of rescue goods and materials;
calculating the release height of the rescue goods and materials according to the release precision and the position of the person needing rescue;
sending the release height to the unmanned aerial vehicle, so that the unmanned aerial vehicle releases materials at the release height to obtain a release result;
judging whether the release result is the release completion;
if not, continuing to wait, and returning to judge whether the release result is the release completion.
Wherein the release precision of the rescue goods is 0.5m to 1 m.
The rescue goods and materials comprise at least one of food, medicine and life jackets.
In an embodiment, after the processor executes the computer program to implement the step of determining whether the release result is the release completion, the processor further implements the following steps:
if so, acquiring information of the initial position of the unmanned aerial vehicle to obtain initial information;
acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information;
and sending the return route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return route of the unmanned aerial vehicle.
In an embodiment, when the processor executes the computer program to realize the step of obtaining the position of the person needing to be rescued, the following steps are specifically realized:
acquiring image data of a rescue area to obtain initial image data;
carrying out image recognition on the initial image data to obtain a recognition result;
and positioning the human body according to the identification result to obtain the position of the person needing rescue.
In an embodiment, when the processor executes the computer program to realize the step of calculating the release height of the rescue material according to the release precision and the position of the person needing to be rescued, the following steps are specifically realized:
calculating the external force borne by the rescue goods in the releasing process to obtain an acting force;
determining the position data of the final release of the rescue goods and materials according to the release precision and the position of the person needing to be rescued so as to obtain a target position;
and determining the release height of the rescue goods according to the acting force and the target position.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Unmanned aerial vehicle rescue goods and materials release method, its characterized in that includes:
acquiring the position of a person needing rescue;
obtaining the releasing precision of rescue goods and materials;
calculating the release height of the rescue goods and materials according to the release precision and the position of the person needing rescue;
sending the release height to the unmanned aerial vehicle, so that the unmanned aerial vehicle releases materials at the release height to obtain a release result;
judging whether the release result is the release completion;
if not, continuing to wait, and returning to judge whether the release result is the release completion.
2. The unmanned aerial vehicle rescue goods and materials release method of claim 1, wherein the determining whether the release result is after release is completed further comprises:
if so, acquiring information of the initial position of the unmanned aerial vehicle to obtain initial information;
acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information;
and sending the return route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return route of the unmanned aerial vehicle.
3. The unmanned aerial vehicle rescue material release method according to claim 1, wherein the obtaining of the location of the person to be rescued comprises:
acquiring image data of a rescue area to obtain initial image data;
carrying out image recognition on the initial image data to obtain a recognition result;
and positioning the human body according to the identification result to obtain the position of the person needing rescue.
4. The unmanned aerial vehicle rescue goods release method of claim 1, wherein the release precision of the rescue goods is 0.5m to 1 m.
5. The unmanned rescue material release method of claim 1, wherein the rescue material comprises at least one of food, medicine, life jacket.
6. An unmanned aerial vehicle rescue goods release method according to any one of claims 1 to 5, wherein the step of calculating the release height of the rescue goods according to the release precision and the position of the person needing rescue comprises the following steps:
calculating the external force borne by the rescue goods in the releasing process to obtain an acting force;
determining the position data of the final release of the rescue goods and materials according to the release precision and the position of the person needing to be rescued so as to obtain a target position;
and determining the release height of the rescue goods according to the acting force and the target position.
7. Unmanned aerial vehicle rescue goods and materials release, its characterized in that includes:
the position acquisition unit is used for acquiring the position of a person needing rescue;
the precision acquisition unit is used for acquiring the release precision of the rescue goods and materials;
the height acquisition unit is used for calculating the release height of the rescue goods according to the release precision and the position of the person needing rescue;
the height sending unit is used for sending the release height to the unmanned aerial vehicle so that the unmanned aerial vehicle releases materials at the release height to obtain a release result;
the judging unit is used for judging whether the releasing result is releasing completion or not; if not, continuing to wait, and returning to judge whether the release result is the release completion.
8. An unmanned rescue goods and materials release device of claim 7, further comprising:
the initial information acquisition unit is used for acquiring information of an initial position of the unmanned aerial vehicle to obtain initial information if the unmanned aerial vehicle is in the initial position;
the return route acquiring unit is used for acquiring a return route of the unmanned aerial vehicle according to the release height and the initial information;
and the return flight sending unit is used for sending the return flight route of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the return flight route of the unmanned aerial vehicle.
9. A computer device, characterized in that the computer device comprises a memory, on which a computer program is stored, and a processor, which when executing the computer program implements the method according to any of claims 1 to 6.
10. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 6.
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