CN111479086A - UAV intelligent real-time command management system - Google Patents

本发明提出了一种无人机智能实时指挥管理系统，包括至少一个无人机系统和管理中心端系统，还包括与管理中心端系统连接的各个模块，包括实现实时图像直播的实时飞行模块、下达飞行任务的任务中心模块、采集图像形成历史档案数据库的历史档案模块、将采集的信息数据进行搜索查询的综合查询模块、实现循环作业的无人机远程控制模块；所述无人机系统包括无人机及地面控制站或遥控器。本无人机智能实时指挥管理系统具有机动快速、使用成本低、维护操作简单等技术特点，具有对地快速实时巡察监测能力，是一种新型的中低空实时电视成像和红外成像快速获取系统。在对车、人无法到达地带的资源环境监测、森林火灾监测及救援指挥等方面具有其独特的优势。

The invention proposes an intelligent real-time command and management system for unmanned aerial vehicles, which includes at least one unmanned aerial vehicle system and a management center terminal system, and also includes various modules connected with the management center terminal system, including a real-time flight module for realizing real-time image live broadcasting, A task center module for issuing flight tasks, a historical file module for collecting images to form a historical file database, a comprehensive query module for searching and querying the collected information data, and a remote control module for unmanned aerial vehicles that realizes cyclic operations; the unmanned aerial vehicle system includes: Drone and ground control station or remote control. This UAV intelligent real-time command and management system has the technical characteristics of fast maneuverability, low use cost, simple maintenance and operation, and has the ability to quickly inspect and monitor the ground in real time. It has its unique advantages in resource and environmental monitoring, forest fire monitoring and rescue command in areas where vehicles and people cannot reach.

无人机智能实时指挥管理系统UAV intelligent real-time command management system

技术领域technical field

本发明涉及无人机管理系统领域，特别是指一种无人机智能实时指挥管理系统。The invention relates to the field of unmanned aerial vehicle management systems, in particular to an intelligent real-time command and management system of unmanned aerial vehicles.

背景技术Background technique

随着时代的发展，无人机是全球新一轮科技革命和产业革命的热点，其产业发展关乎国家利益、公民权益。由于无人机具有成本相对较低、无人员伤亡风险、生存能力强、机动性能好、使用方便等特征，特别是在许多复杂、危险的空中活动中更具备独特优势，在影视航拍、传统农林业、工业作业、灾害救援、公共安全以及消费娱乐业领域结合得到广泛应用。无人机代表着未来通用航空业的发展方向，将成为中国经济增长的新动力。With the development of the times, drones are the hot spot of a new round of scientific and technological revolution and industrial revolution in the world, and its industrial development is related to national interests and civil rights. Because UAVs have the characteristics of relatively low cost, no casualty risk, strong survivability, good maneuverability, and easy use, especially in many complex and dangerous aerial activities, they have unique advantages. It is widely used in the fields of industry, industrial operation, disaster relief, public safety and consumer entertainment. UAVs represent the future development direction of the general aviation industry and will become a new driving force for China's economic growth.

无人机中低空监测系统具有机动快速、使用成本低、维护操作简单等技术特点，具有对地快速实时巡察监测能力，是一种新型的中低空实时电视成像和红外成像快速获取系统。在对车、人无法到达地带的资源环境监测、森林火灾监测及救援指挥等方面具有其独特的优势。无人机的巡护效率远远高于传统的人工巡护，能在短时间内完成原本需要多人进行的巡护工作，同时，运行成本也极为低廉。本系统是运用“互联网+GIS(地理信息系统)+航拍无人机+视频监控”的技术理念建立起来的无人机智能实时指挥管理系统。在助力林业、森防、测绘、灾害、气象等工作，解决林业、森防、测绘、灾害、气象工作监测和预报过程中人少地广、地形复杂、覆盖面小、及时性差等难题。本系统综合运用了林业、森防、测绘、灾害、气象专业知识，并和智能图像识别技术、3D GIS技术、航空遥感技术、大型网络监控技术等多项科学技术的无缝对接，建立了一整套林业智能监测预警系统及应急指挥决策分析平台，让林业、森防、测绘、灾害、气象实现智能、专业、便捷和高效。The UAV mid- and low-altitude monitoring system has the technical characteristics of fast maneuverability, low use cost, simple maintenance and operation, and has the ability to quickly inspect and monitor the ground in real time. It is a new type of medium and low-altitude real-time TV imaging and infrared imaging. It has its unique advantages in resource and environmental monitoring, forest fire monitoring and rescue command in areas where vehicles and people cannot reach. The patrol efficiency of drones is much higher than that of traditional manual patrols. It can complete patrol work that originally required many people in a short time, and at the same time, the operating cost is also extremely low. This system is a UAV intelligent real-time command and management system established by the technical concept of "Internet + GIS (Geographic Information System) + aerial photography UAV + video surveillance". In assisting forestry, forest prevention, surveying and mapping, disasters, meteorology, etc., to solve problems such as few people and wide area, complex terrain, small coverage, and poor timeliness in the monitoring and forecasting of forestry, forest prevention, surveying and mapping, disasters, and meteorology. This system comprehensively uses professional knowledge of forestry, forest prevention, surveying and mapping, disasters, and meteorology, and seamlessly connects with many scientific technologies such as intelligent image recognition technology, 3D GIS technology, aerial remote sensing technology, large-scale network monitoring technology, etc. The whole set of forestry intelligent monitoring and early warning system and emergency command decision analysis platform make forestry, forest prevention, surveying and mapping, disaster and meteorology realize intelligent, professional, convenient and efficient.

而现有无人机存在如下问题：The existing drones have the following problems:

问题1：无法远程直播。将无人机监测到的视频信息以及地理位置上传到WEB端。再通过系统视频播放器播放地面设备或无人机实时监控到的影像信息。同时，在系统高清遥感影像中展示地面设备或无人机的移动轨迹和位置信息。有利于实时监控实地状况，实现实时直播功能，以便于做出科学决策。Problem 1: Unable to broadcast remotely. Upload the video information and geographic location monitored by the drone to the WEB terminal. Then, the image information monitored by ground equipment or drones in real time is played through the system video player. At the same time, the movement trajectory and location information of ground equipment or UAVs are displayed in the high-definition remote sensing images of the system. It is conducive to real-time monitoring of field conditions and real-time live broadcast function, so as to facilitate scientific decision-making.

问题2：无法进行无人机远程控制及任务下达。在系统中规划出飞行路线，以任务下达的方式发送到APP。APP在接受任务后，只需将无人机带至飞行任务附近地点，点击“一键执行任务”即可根据WEB规划的任务及飞行参数执行飞行作业，系统根据航线规划或地面指令，控制无人机按照预设的航线飞行，同时使用机载可见光摄像机和红外热像仪，对所要监控的林区作大面积的扫描、录像、拍照及巡查，实时获取重点区域的图像信息并传回地面控制站及系统，实现无人机远程控制及任务下达。Problem 2: Unable to remotely control the drone and issue tasks. Plan the flight route in the system and send it to the APP in the form of task assignment. After the APP accepts the mission, it only needs to bring the drone to the nearby location of the flight mission, and click "One-click to execute the mission" to execute the flight operation according to the mission and flight parameters planned by the WEB. The man-machine flies according to the preset route, and at the same time uses the airborne visible light camera and infrared thermal imager to scan, record, photograph and inspect the forest area to be monitored in a large area, obtain the image information of the key area in real time and transmit it back to the ground Control station and system to realize remote control and task assignment of UAV.

问题3：没有历史的数据库，无法对历史数据进行查看、分析，数据存储繁琐，无法查看历史飞行轨迹及历史飞行可视面积计算及查看。系统建立历史影像数据库，可实现监测视频信息重播功能。根据对不同飞行轨迹的搜索或输入关键字进行搜索查询，选择设备(地面设备或无人机)，实现历史影像数据的存储与查询功能；通过对历史飞行作业回传的无人机飞行高度、图形采集器的倾斜角度及飞行区域地理位置、飞行经纬度信息及地形等环境因素，运用GIS数据处理算法，实现无人机历史飞行轨迹模拟重塑及无人机飞行作业可视面积计算及渲染。Problem 3: Without a historical database, historical data cannot be viewed and analyzed, data storage is cumbersome, and historical flight trajectories and historical flight visible area cannot be viewed and calculated. The system establishes a historical image database, which can realize the function of monitoring video information replay. Search and query according to different flight trajectories or input keywords, select equipment (ground equipment or UAV), and realize the storage and query function of historical image data; The inclination angle of the graphic collector, the geographical location of the flight area, the flight latitude and longitude information, terrain and other environmental factors, and the GIS data processing algorithm is used to realize the simulation and reconstruction of the historical flight trajectory of the UAV and the calculation and rendering of the visible area of the UAV flight operation.

问题4：没有统一的数据库，无法对庞大的数据进行储存，数据不集中。无人机将产生庞大的数据量，占用大量存储空间，且数据的安全性也需要考虑。传统的无人机飞行数据大都通过存储卡存储，数据存储有限，数据传输繁琐。而系统提供的数据库则能很好解决这些问题，为了实现更多历史数据的不丢失，系统实现历史飞行数据云存储服务，解决传统的无人机飞行数据需要通过内存卡导出存储的繁琐及存储量小的问题。按照一定频率将近期采集到的视频上传到web端，不仅节省了存储空间，更为数据的安全性提供了保障，避免了漏传、遗失等情况。Problem 4: There is no unified database, and it is impossible to store huge data, and the data is not centralized. Drones will generate a huge amount of data and take up a lot of storage space, and the security of the data also needs to be considered. Most of the traditional UAV flight data is stored in the memory card, the data storage is limited, and the data transmission is cumbersome. The database provided by the system can solve these problems very well. In order to achieve more historical data without loss, the system implements the cloud storage service of historical flight data to solve the cumbersome and storage of traditional UAV flight data that needs to be exported and stored through a memory card. Small amount of problems. Uploading recently collected videos to the web terminal according to a certain frequency not only saves storage space, but also provides a guarantee for data security and avoids missed transmission and loss.

发明内容SUMMARY OF THE INVENTION

本发明提出一种无人机智能实时指挥管理系统，能够具备对地快速实时巡察监测能力。The invention proposes an intelligent real-time command and management system for unmanned aerial vehicles, which is capable of fast and real-time inspection and monitoring of the ground.

本发明的技术方案是这样实现的：一种无人机智能实时指挥管理系统，包括至少一个无人机系统和管理中心端系统，还包括与管理中心端系统连接的各个模块，包括实现实时图像直播的实时飞行模块、下达飞行任务的任务中心模块、采集图像形成历史档案数据库的历史档案模块、将采集的信息数据进行搜索查询的综合查询模块、实现循环作业的无人机远程控制模块，以及对整个管理系统进行设置的平台设置模块；所述无人机系统包括无人机及与其之间通过无线通信连接的地面控制站或遥控器。The technical scheme of the present invention is realized as follows: an intelligent real-time command and management system for unmanned aerial vehicles, including at least one unmanned aerial vehicle system and a management center terminal system, and also includes various modules connected with the management center terminal system, including realizing real-time images. A real-time flight module for live broadcast, a mission center module for issuing flight tasks, a historical file module for collecting images to form a historical file database, a comprehensive query module for searching and querying the collected information and data, and a UAV remote control module for cyclic operations, and The platform setting module for setting the entire management system; the UAV system includes the UAV and the ground control station or remote controller connected with it through wireless communication.

作为优选，所述实时飞行模块、任务中心模块、无人机和远程控制等模块等通过管理中心端系统与无人机之间通过无线通信连接。Preferably, the real-time flight module, mission center module, UAV and remote control and other modules are connected with the UAV through wireless communication through the management center system.

作为优选，所述实时飞行模块指无人机系统通过地面控制站或遥控器与管理中心端系统无线传输，无人机上设有发送器和图像采集器，地面控制站上设有接收器和图像显示器，图像采集器与发送器通过导线相连接，接收器与图像采集器通过导线相连接，实现在web端查看实时飞行。Preferably, the real-time flight module refers to the wireless transmission between the UAV system and the management center system through the ground control station or the remote controller, the UAV is provided with a transmitter and an image collector, and the ground control station is provided with a receiver and image The display, the image collector and the transmitter are connected by wires, and the receiver and the image collector are connected by wires, so that the real-time flight can be viewed on the web side.

作为优选，所述任务中心模块通过无人机上设有机载电台，和地面控制站上设有地面站电台，无人机与地面控制站之间通过机载电台与地面站电台配合以无线通信方式，在Web端对无人机飞行任务的规划，将飞行路线、执行时间、飞行速度和飞行高度等到无人机，实现无人机路线的规划，将下达任务飞行路线、飞行时间、飞行速度和飞行高度等到无人机，实现无人机任务下达、接受及执行的任务管理流程，并实现任务执行时飞行数据自动采集及回传。Preferably, the mission center module is provided with an airborne radio on the UAV, and a ground station radio is provided on the ground control station, and the UAV and the ground control station cooperate with the ground station radio through the airborne radio to communicate wirelessly. Way, plan the UAV flight mission on the Web side, wait for the flight route, execution time, flight speed and flight altitude to the UAV to realize the UAV route planning, and assign the mission flight route, flight time, flight speed It can realize the task management process of UAV task issuance, acceptance and execution, and realize the automatic collection and return of flight data when the task is executed.

作为优选，所述历史档案模块：通过无人机上设有发送器和图像采集器，和Web设有接收器和图像显示器实现无线连接，图像采集器与发送器通过导线相连接，接收器与图像采集器通过导线相连接，实现数据回传，形成历史档案数据库，通过对历史飞行作业回传的无人机飞行高度、图形采集器的倾斜角度及飞行区域地理位置、飞行经纬度信息及地形等环境因素，运用GIS数据处理算法，实现无人机历史飞行轨迹模拟重塑及无人机飞行作业可视面积计算及渲染。Preferably, the historical archive module: the drone is provided with a transmitter and an image collector, and the Web is provided with a receiver and an image display to achieve wireless connection, the image collector and the transmitter are connected by wires, and the receiver and the image The collectors are connected by wires to realize data return and form a historical archive database. Through the return of historical flight operations, the flight height of the UAV, the inclination angle of the graphic collector, the geographical location of the flight area, the flight latitude and longitude information, and the terrain and other environments Factors, using GIS data processing algorithms, to achieve UAV historical flight trajectory simulation and reconstruction and UAV flight operations visible area calculation and rendering.

作为优选，所述综合查询模块：利用最新的GIS+移动互联网技术+GPS技术+图像数据传输等技术，基于无人机回传的采集信息数据到APP，由APP回传到系统，将无人机采集的图片、视频、数据信息的分项管理，成立历史数据档案，采用搜索引擎工具，实现综合查询。Preferably, the comprehensive query module: using the latest GIS + mobile Internet technology + GPS technology + image data transmission and other technologies, based on the collected information data returned by the UAV to the APP, and the APP is sent back to the system, and the UAV is sent back to the system. Itemized management of collected pictures, videos, and data information, establishment of historical data files, and use of search engine tools to achieve comprehensive query.

作为优选，所述无人机远程控制模块：利用最新的GIS+移动互联网技术+GPS技术+图像数据传输等技术，Web对无人机下达指令到APP，由APP远程控制无人机，无人机回传指令信息到APP，有APP再回传到web端，环环相扣，实现循环作业，其中实时视频直播数据由无人机推流到流媒体服务器，再由流媒体服务器转到APP和web端，从而实现视频流数据的优质流畅的传输。Preferably, the UAV remote control module: using the latest GIS + mobile Internet technology + GPS technology + image data transmission and other technologies, the Web issues instructions to the UAV to the APP, and the UAV is remotely controlled by the APP. The command information is sent back to the APP, and the APP is sent back to the web terminal, which is interlocked to realize the cyclic operation, in which the real-time live video data is pushed by the drone to the streaming media server, and then transferred from the streaming media server to the APP and the APP. web side, so as to achieve high-quality and smooth transmission of video streaming data.

作为优选，所述任务中心模块、实时飞行模块的飞行采集数据可以按照不同飞行记录和存储无人机的飞行轨迹和拍摄位置、拍摄图片实时传图；实时图传分为地面设备实时图传和无人机实时图传两部分。Preferably, the flight collection data of the mission center module and the real-time flight module can be recorded and stored according to different flights of the UAV's flight trajectory and shooting position, and the real-time image transmission of the captured pictures; the real-time image transmission is divided into ground equipment real-time image transmission and UAV real-time image transmission in two parts.

与现有技术相比，本发明的优点在于：本无人机智能实时指挥管理系统具有机动快速、使用成本低、维护操作简单等技术特点，具有对地快速实时巡察监测能力，是一种新型的中低空实时电视成像和红外成像快速获取系统。在对车、人无法到达地带的资源环境监测、森林火灾监测及救援指挥等方面具有其独特的优势。Compared with the prior art, the advantages of the present invention are: the intelligent real-time command and management system of the unmanned aerial vehicle has the technical characteristics of fast maneuvering, low use cost, simple maintenance and operation, etc. The low-altitude real-time TV imaging and infrared imaging fast acquisition system. It has its unique advantages in resource and environmental monitoring, forest fire monitoring and rescue command in areas where vehicles and people cannot reach.

附图说明Description of drawings

图1为本发明系统结构框图；Fig. 1 is the system structure block diagram of the present invention;

图2为本发明无人机智能实时指挥管理系统的系统设备工作简图；Fig. 2 is a schematic diagram of the system equipment of the intelligent real-time command and management system of the unmanned aerial vehicle of the present invention;

图3为本发明无人机智能实时指挥管理系统的历史档案工作界面截图；3 is a screenshot of the historical archives working interface of the intelligent real-time command and management system of the unmanned aerial vehicle of the present invention;

图4为本发明无人机智能实时指挥管理系统的巡查工作界面截图；4 is a screenshot of the inspection work interface of the UAV intelligent real-time command management system of the present invention;

图5为本发明无人机智能实时指挥管理系统的任务中心工作界面截图；5 is a screenshot of the task center working interface of the UAV intelligent real-time command and management system of the present invention;

图6为本发明无人机智能实时指挥管理系统的实时直播工作界面截图；6 is a screenshot of the real-time live broadcast working interface of the UAV intelligent real-time command management system of the present invention;

图7为本发明无人机智能实时指挥管理系统的实施例工作界面截图；7 is a screenshot of the working interface of an embodiment of the intelligent real-time command and management system for unmanned aerial vehicles of the present invention;

图8为本发明无人机智能实时指挥管理系统的实施例历史影像界面截图；。FIG. 8 is a screenshot of the historical image interface of the embodiment of the intelligent real-time command and management system for unmanned aerial vehicles of the present invention;

图9为本发明无人机智能实时指挥管理系统的综合查询界面截图。FIG. 9 is a screenshot of the comprehensive query interface of the intelligent real-time command and management system of the unmanned aerial vehicle of the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

实施例：参见图1和图2，Example: see Figure 1 and Figure 2,

无人机智能实时指挥管理系统，涉及无人机综合管理技术领域，包括至少一个无人机系统和管理中心端系统。无人机系统包括无人机和地面控制站或遥控器，无人机系统通过地面控制站或遥控器与管理中心端系统无线传输，无人机与地面控制站或遥控器之间通过无线通信方式连接，无线电遥控和自备程序控制装置操纵的非载人飞行器。该系统还包括实时飞行模块、任务中心模块、历史档案模块、综合查询模块、平台设置模块无人机远程控制模块。An intelligent real-time command and management system for unmanned aerial vehicles relates to the technical field of integrated management of unmanned aerial vehicles, and includes at least one unmanned aerial vehicle system and a management center terminal system. The UAV system includes the UAV and the ground control station or the remote controller. The UAV system is wirelessly transmitted through the ground control station or the remote controller and the management center system, and the drone and the ground control station or the remote controller communicate wirelessly. Unmanned aerial vehicle operated by means of radio remote control and self-provided program control device. The system also includes a real-time flight module, a mission center module, a historical archives module, a comprehensive query module, a platform setting module, and a UAV remote control module.

实时飞行模块、任务中心模块、无人机和远程控制模块等通过管理中心端系统与无人机之间通过无线通信连接，本系统对无人机飞行接入认证、规划路线、任务下达、指挥调度、数据回传等进行综合管理。The real-time flight module, the mission center module, the UAV and the remote control module are connected with the UAV through wireless communication through the management center terminal system. Comprehensive management of scheduling, data return, etc.

实时飞行模块指无人机系统通过地面控制站或遥控器与管理中心端系统无线传输，无人机上设有发送器和图像采集器，地面控制站上设有接收器和图像显示器，图像采集器与发送器通过导线相连接，接收器与图像采集器通过导线相连接，实现在web端查看实时飞行，实现了实时直播功能。The real-time flight module refers to the wireless transmission between the UAV system and the management center system through the ground control station or remote controller. The UAV is equipped with a transmitter and an image collector, and the ground control station is equipped with a receiver and an image display. It is connected with the transmitter by wires, and the receiver and the image collector are connected by wires, so that the real-time flight can be viewed on the web side, and the real-time live broadcast function is realized.

任务中心模块；通过无人机上设有机载电台，和地面控制站上设有地面站电台，无人机与地面控制站之间通过机载电台与地面站电台配合以无线通信方式，在Web端对无人机飞行任务的规划，将飞行路线、执行时间、飞行速度和飞行高度等到无人机，实现无人机路线的规划，将下达任务飞行路线、飞行时间、飞行速度和飞行高度等到无人机，实现无人机任务下达、接受及执行的任务管理流程，并实现任务执行时飞行数据自动采集及回传，解决不会飞、错飞等问题，提供工作效率。Mission center module; through the airborne radio on the UAV, and the ground station radio on the ground control station, the UAV and the ground control station cooperate with the ground station radio through the airborne radio to communicate wirelessly. End-to-end UAV flight mission planning, wait for the flight route, execution time, flight speed and flight altitude to the UAV, realize the UAV route planning, and wait for the mission flight route, flight time, flight speed and flight altitude to arrive UAV, realizes the task management process of UAV task issuance, acceptance and execution, and realizes the automatic collection and return of flight data when the task is executed, solves problems such as no flight and wrong flight, and improves work efficiency.

任务中心模块、实时飞行模块的飞行采集数据可以按照不同飞行记录和存储无人机的飞行轨迹和拍摄位置、拍摄图片实时传图。所记录的飞行信息将作为上传系统中，实现自动化飞行采集，实现无人机的自动精细化飞行采集数据。The flight collection data of the mission center module and the real-time flight module can record and store the flight trajectory and shooting position of the UAV according to different flights, and transmit the pictures in real time. The recorded flight information will be used as the uploading system to realize automatic flight collection, and realize the automatic and refined flight collection data of the UAV.

实时图传分为地面设备实时图传和无人机实时图传两部分。实时图传功能是WEB端分别与地面设备、无人机无缝结合。设备或无人机，将监测到的视频信息以及地理位置上传到WEB端。在通过地面系统视频播放器里播放地面设备或无人机实时监控到的影像信息。同时，在系统GIS高清大地图中展示地面设备或无人机的移动轨迹和位置信息。Real-time image transmission is divided into two parts: ground equipment real-time image transmission and UAV real-time image transmission. The real-time image transmission function is that the WEB terminal is seamlessly integrated with ground equipment and drones. The device or drone uploads the monitored video information and geographic location to the WEB terminal. Play the real-time video information monitored by ground equipment or drones in the ground system video player. At the same time, the movement trajectory and location information of ground equipment or drones are displayed in the system GIS high-definition map.

历史档案模块：通过无人机上设有发送器和图像采集器，和Web设有接收器和图像显示器实现无线连接，图像采集器与发送器通过导线相连接，接收器与图像采集器通过导线相连接，实现数据回传。形成历史档案数据库。通过对历史飞行作业回传的无人机飞行高度、图形采集器的倾斜角度及飞行区域地理位置、飞行经纬度信息及地形等环境因素，运用GIS数据处理算法，实现无人机历史飞行轨迹模拟重塑及无人机飞行作业可视面积计算及渲染。History file module: wireless connection is achieved through the transmitter and image collector on the drone, and the receiver and image display on the Web. The image collector and the transmitter are connected by wires, and the receiver and the image collector are connected by wires. Connect to realize data return. Form a historical archives database. Through the UAV flight height, the inclination angle of the graphic collector, the geographical location of the flight area, the flight latitude and longitude information, terrain and other environmental factors returned from the historical flight operations, the GIS data processing algorithm is used to simulate the historical UAV flight trajectory. Calculation and rendering of visible area of plastic and drone flight operations.

综合查询模块：利用最新的GIS+移动互联网技术+GPS技术+图像数据传输等技术，基于无人机回传的采集信息数据到APP，由APP回传到系统，将无人机采集的图片、视频、数据信息的分项管理，成立历史数据档案。采用搜索引擎工具，实现综合查询。Comprehensive query module: Using the latest GIS + mobile Internet technology + GPS technology + image data transmission and other technologies, based on the collected information data returned by the UAV to the APP, and the APP is sent back to the system, and the pictures and videos collected by the UAV are sent back to the system. , Itemized management of data information, and the establishment of historical data files. Use search engine tools to realize comprehensive query.

无人机远程控制模块：利用最新的GIS+移动互联网技术+GPS技术+图像数据传输等技术，Web对无人机下达指令到APP，由APP远程控制无人机，无人机回传指令信息到APP，有APP再回传到web端，环环相扣，实现循环作业，其中实时视频直播数据由无人机推流到流媒体服务器，再由流媒体服务器转到APP和web端，从而实现视频流数据的优质流畅的传输。UAV remote control module: Using the latest GIS + mobile Internet technology + GPS technology + image data transmission and other technologies, the Web sends instructions to the UAV to the APP, the APP remotely controls the UAV, and the UAV sends back the instruction information to the APP, if there is an APP, it will be sent back to the web side, which is interlocked to realize a loop operation, in which the real-time video live broadcast data is pushed by the drone to the streaming media server, and then transferred from the streaming media server to the APP and the web terminal, so as to realize High-quality and smooth transmission of video streaming data.

无人机智能实时指挥管理系统具有机动快速、使用成本低、维护操作简单等技术特点，具有对地快速实时巡察监测能力，是一种新型的中低空实时电视成像和红外成像快速获取系统。在对车、人无法到达地带的资源环境监测、森林火灾监测及救援指挥等方面具有其独特的优势。The UAV intelligent real-time command and management system has the technical characteristics of fast maneuverability, low use cost, simple maintenance and operation, and has the ability to quickly inspect and monitor the ground in real time. It is a new type of medium and low altitude real-time TV imaging and infrared imaging. It has its unique advantages in resource and environmental monitoring, forest fire monitoring and rescue command in areas where vehicles and people cannot reach.

无人机利用先进的无人驾驶飞行器技术、遥感传感器技术、遥测遥控技术、通讯技术、GPS差分定位技术和遥感应用技术，具有自动化、智能化、专用化的特点，能够快速获取国土、资源、环境等空间遥感信息，完成遥感数据处理、建模和应用分析的应用技术。无人机遥感系统由于其机动、快速、经济等优势，已在众多领域发挥着重要作用。UAV utilizes advanced unmanned aerial vehicle technology, remote sensing sensor technology, telemetry and remote control technology, communication technology, GPS differential positioning technology and remote sensing application technology. It has the characteristics of automation, intelligence and specialization, and can quickly acquire land, resources, Space remote sensing information such as environment, complete remote sensing data processing, modeling and application analysis of application technology. UAV remote sensing system has played an important role in many fields due to its advantages of maneuverability, speed and economy.

无人机智能实时指挥管理系统利用与无人机、无人机专用APP控制平台，实现三轴一体化管理控制中心。无人机专用APP控制平台与无人机无线连接，实现远程控制无人机静态照片拍摄、高清视频录制，飞行状态及飞行数据实时获取、任务执行、一键起飞、智能返航和智能失控返航等诸多功能，并将获取的信息无线上传到无人机智能实时指挥管理系统,无人机智能实时指挥管理系统实现无人机监测视频及图片的接收存储、飞行参数实时获取查看、设备工作状态实时跟踪、信息统计查询、飞行任务远程规划下发、飞行轨迹实时追踪、历史飞行任务管理、历史飞行轨迹重塑、历史飞行可视面积计算机渲染等功能，有效地帮助远程监测者快速及时且有效的掌握实地情况。The UAV intelligent real-time command and management system utilizes the UAV and UAV special APP control platform to realize a three-axis integrated management and control center. The UAV-specific APP control platform is wirelessly connected to the UAV to realize remote control of UAV still photo shooting, high-definition video recording, real-time acquisition of flight status and flight data, mission execution, one-key take-off, intelligent return and intelligent runaway return, etc. It has many functions, and wirelessly uploads the acquired information to the UAV intelligent real-time command and management system. The UAV intelligent real-time command and management system realizes the reception and storage of UAV monitoring videos and pictures, the real-time acquisition and viewing of flight parameters, and the real-time working status of equipment. Tracking, information statistics query, remote planning and issuance of flight tasks, real-time flight trajectory tracking, historical flight task management, historical flight trajectory reshaping, computer rendering of historical flight visual area, etc., effectively help remote monitors to quickly and effectively Master the situation on the ground.

WebGIS通过互联网对地理空间数据进行发布和应用，可以实现空间数据的共享和互操作。WebGIS是利用Internet技术来扩展和完善GIS的一项新技术，其核心是在GIS中嵌入HTTP标准的应用体系，实现Internet环境下的空间信息管理和发布。WEBGIS可采用多主机、多数据库进行分布式部署，通过Internet/Intranet实现互联，是一种浏览器/服务器(B/S)结构，服务器端向客户端提供信息和服务，浏览器(客户端)具有获得各种空间信息和应用的功能。WebGIS publishes and applies geospatial data through the Internet, which can realize the sharing and interoperability of spatial data. WebGIS is a new technology that uses Internet technology to expand and improve GIS. Its core is to embed the application system of HTTP standard in GIS to realize the management and release of spatial information in the Internet environment. WEBGIS can use multiple hosts and multiple databases for distributed deployment, and realize interconnection through Internet/Intranet. It is a browser/server (B/S) structure. The server side provides information and services to the client, and the browser (client) It has the function of obtaining various spatial information and applications.

WebGIS具有以下优势：WebGIS has the following advantages:

1.全球化的服务器应用1. Global server application

全球范围内任意一个WWW节点的Internet用户都可以访问WebGIS服务器提供的各种GIS服务，甚至还可以进行全球范围内的GIS数据更新。Internet users at any WWW node in the world can access various GIS services provided by the WebGIS server, and even update GIS data in the world.

2.真正大众化的GIS2. A truly popular GIS

WebGIS可以使用通用浏览器进行浏览、查询，也可通过浏览器上的插件(plug-in)、ActiveX控件和Java Applet来进行WebGIS功能的访问，浏览器和这些插件都是免费的，易获取的，很大程度上扩大了GIS的潜在用户范围。WebGIS can be browsed and inquired with a common browser, and can also be accessed through plug-ins, ActiveX controls and Java Applet on the browser. The browser and these plug-ins are free and easy to obtain. , which greatly expands the range of potential users of GIS.

3.良好的可扩展性3. Good scalability

WebGIS很容易跟Web中的其他信息服务进行无缝集成，可以建立灵活多变的GIS应用。WebGIS is easy to seamlessly integrate with other information services in the Web, and can build flexible GIS applications.

4.跨平台特性4. Cross-platform features

基于Java的WebGIS可以做到"一次编程，到处运行"，可以真正实现跨平台。Java-based WebGIS can achieve "one-time programming, run everywhere", and can truly achieve cross-platform.

1.建立历史数据库，对历史的数据进行查看、分析，数据无法永久存储。1. Establish a historical database to view and analyze historical data. The data cannot be permanently stored.

参见图3，系统建立历史影像数据库，可实现监测视频信息重播功能。根据对不同飞行轨迹的搜索或输入关键字进行搜索查询，选择设备(地面设备或无人机)，实现历史影像数据的存储与查询功能。建立的数据库，对庞大的数据进行储存，实现对数据分模块管理。无人机将产生庞大的数据量，占用大量存储空间，且数据的安全性也需要考虑。而系统提供的数据库则能很好解决这些问题。按照一定频率将近期采集到的视频上传到web端，不仅节省了存储空间，更为数据的安全性提供了保障，避免了漏传、遗失等情况。Referring to Figure 3, the system establishes a historical image database, which can realize the replay function of monitoring video information. According to the search for different flight trajectories or input keywords, select the equipment (ground equipment or UAV) to realize the storage and query function of historical image data. The established database stores huge data and realizes the management of data in modules. Drones will generate a huge amount of data and take up a lot of storage space, and the security of the data also needs to be considered. The database provided by the system can solve these problems very well. Uploading recently collected videos to the web terminal according to a certain frequency not only saves storage space, but also provides a guarantee for data security and avoids missed transmission and loss.

2.参见图4和图5，在系统中规划出飞行路线，下达任务，以任务下达的方式发送到APP。APP在接受任务后，只需将无人机带至飞行任务附近地点，点击“一键执行任务”即可根据WEB规划的任务及飞行参数执行飞行作业，系统根据航路规划或地面指令，控制无人机按照预设的航路飞行，同时使用机载可见光摄像机和红外热像仪，对所要监控的林区作大面积的扫描、录像、拍照及巡查，实时获取重点区域的图像信息并传回地面控制站及系统，实现无人机远程控制及任务下达。在Web端对无人机进行远程控制，实现实时监控，能够保证对每一帧画面的精准把控，可以一键返航。还可以对无人机镜头进行各个方向的调节，实现360度无死角监控。2. Referring to Figure 4 and Figure 5, plan a flight route in the system, issue a task, and send it to the APP in the form of task release. After the APP accepts the mission, it only needs to take the drone to the location near the flight mission, and click "One-click to execute the mission" to execute the flight operation according to the mission and flight parameters planned by the WEB. The man-machine flies according to the preset route, and uses the airborne visible light camera and infrared thermal imager to scan, record, photograph and inspect the forest area to be monitored in a large area, and obtain the image information of the key area in real time and transmit it back to the ground. Control station and system to realize remote control and task assignment of UAV. Remotely control the drone on the web side to achieve real-time monitoring, which can ensure accurate control of each frame of the picture, and can return to home with one key. The drone lens can also be adjusted in all directions to achieve 360-degree monitoring without dead ends.

3.实时直播。参见图6，无人机监测到的视频信息以及地理位置通过视频推流技术，实时推送至WEB端，通过系统视频播放器播放地面设备或无人机实时监控到的影像信息。同时，在系统高清遥感影像中展示地面设备或无人机的移动轨迹和位置信息。有利于实时监控状况，实现实时飞行直播功能，为远程决策者做出科学决策奠定基础。3. Live broadcast. Referring to Figure 6, the video information and geographic location monitored by the UAV are pushed to the WEB terminal in real time through the video streaming technology, and the image information monitored by the ground equipment or the UAV in real time is played through the system video player. At the same time, the movement trajectory and location information of ground equipment or UAVs are displayed in the high-definition remote sensing images of the system. It is conducive to real-time monitoring of the situation, realizes the function of real-time flight live broadcast, and lays a foundation for remote decision-makers to make scientific decisions.

实施例1:石林县无人机作业远程智能森林防火指挥管理平台Embodiment 1: Remote intelligent forest fire prevention command and management platform for unmanned aerial vehicle operation in Shilin County

人机中低空监测系统具有机动快速、使用成本低、维护操作简单等技术特点，具有对地快速实时巡察监测能力，是一种新型的中低空实时电视成像和红外成像快速获取系统。在对车、人无法到达地带的资源环境监测、森林火灾监测及救援指挥等方面具有其独特的优势。The man-machine low-altitude monitoring system has the technical characteristics of fast maneuverability, low use cost, simple maintenance and operation, and has the ability to quickly inspect and monitor the ground in real time. It is a new type of medium and low altitude real-time TV imaging and infrared imaging. It has its unique advantages in resource and environmental monitoring, forest fire monitoring and rescue command in areas where vehicles and people cannot reach.

无人机的巡护效率远远高于传统的人工巡护，能在短时间内完成原本需要多人进行的巡护工作，同时，运行成本也极为低廉。The patrol efficiency of drones is much higher than that of traditional manual patrols. It can complete patrol work that originally required many people in a short time, and at the same time, the operating cost is also extremely low.

参见图6，本系统是运用“互联网+GIS(地理信息系统)+航拍无人机+视频监控”的技术理念建立起来的智能空间实时指挥平台，旨在助力林业防火工作，解决林业监测和预报过程中人少地广、地形复杂、覆盖面小、及时性差等难题。本系统综合运用了森林防火专业知识，并和智能图像识别技术、3D GIS技术、航空遥感技术、大型网络监控技术等多项科学技术的无缝对接，建立了一整套林业智能监测预警系统及应急指挥决策分析平台，让森林防火实现智能、专业、便捷和高效。Referring to Figure 6, this system is an intelligent space real-time command platform established by the technical concept of "Internet + GIS (Geographic Information System) + aerial photography drone + video surveillance", which aims to help forestry fire prevention and solve forestry monitoring and forecasting. In the process, there are few problems such as few people and wide area, complex terrain, small coverage and poor timeliness. This system comprehensively uses the professional knowledge of forest fire prevention, and is seamlessly connected with many scientific technologies such as intelligent image recognition technology, 3D GIS technology, aerial remote sensing technology, large-scale network monitoring technology, etc., to establish a complete set of forestry intelligent monitoring and early warning system and emergency response system. The command and decision analysis platform makes forest fire prevention intelligent, professional, convenient and efficient.

1.利用高清4G图传设备实现实时图传1. Real-time image transmission using high-definition 4G image transmission equipment

实现WEB端与高清4G图传设备的无缝结合。通过高清4G图传设备，将检测到的实时视频信息以及地理位置上传到WEB端。在WEB端视频播放器里播放高清4G图传设备实时监控到的影像信息。Realize the seamless combination of WEB terminal and high-definition 4G image transmission equipment. Through the high-definition 4G image transmission equipment, the detected real-time video information and geographic location are uploaded to the WEB terminal. In the WEB-side video player, the video information monitored by the high-definition 4G image transmission device in real time is played.

2.实现森林火灾实时监控2. Real-time monitoring of forest fires

利用无人机实时监控平台，实现森林火灾的实时监控。包括对森林火灾发展蔓延情况、扑救林火人员作业情况、已经扑灭的森林范围等进行实时监控。Real-time monitoring of forest fires is realized by using the real-time monitoring platform of drones. Including real-time monitoring of the development and spread of forest fires, the operations of forest fire-fighting personnel, and the extent of forests that have been extinguished.

3.利用GIS技术实现森林火灾灾情实时标绘3. Using GIS technology to realize real-time plotting of forest fires

利用无人机实时回传火线画面，结合开发的GIS软件系统，智能计算最佳路径，为消防部队提供最佳灭火路径和最佳撤离路径。各项信息的有效传达能使消防部队迅速调配人员进行重点区域灭火工作，还能及时通知消防人员撤离危险地区，并根据火场图像资料为消防人员提供最佳撤离路径。The UAV is used to return the fire line picture in real time, combined with the developed GIS software system, to intelligently calculate the best path, and provide the fire brigade with the best fire fighting path and the best evacuation path. The effective communication of various information enables the fire brigade to quickly deploy personnel to carry out firefighting work in key areas, and to notify firefighters to evacuate dangerous areas in a timely manner, and to provide firefighters with the best evacuation path based on the image data of the fire scene.

4.实现森林防火分析4. Realize forest fire prevention analysis

利用森林防火分析决策综合管理系统，实现森林火灾灾情的分析以及火灾的预防。标出主要的火点，对火灾的等级进行判定，预测火灾的蔓延范围，为及时做好森林火灾应急预案提供决策支持。Use the comprehensive management system for forest fire analysis and decision-making to realize the analysis of forest fire disasters and the prevention of fires. Mark the main fire points, judge the level of the fire, predict the spread of the fire, and provide decision support for the timely preparation of forest fire emergency plans.

5.实现飞行参数实时传输显示5. Real-time transmission and display of flight parameters

实现飞行参数包括设备的距离、高度、水平速度、垂直速度、设备与此地距离等信息的实时传输，显示在屏幕上，辅助掌握无人机飞行作业状态，为及时调整无人机飞行方案提供支持。Real-time transmission of flight parameters including the distance, height, horizontal speed, vertical speed, distance between the device and the place, etc. of the device, displayed on the screen, to assist in grasping the flight status of the UAV, and provide support for timely adjustment of the UAV flight plan .

6.实现设备信息列表展示6. Realize the display of device information list

在WEB端，用列表的形式记录和作业的高清4G图传设备以及无人机的状态(设备是否登录)、编号、名称信息。On the WEB side, record and operate the high-definition 4G image transmission equipment and the status of the drone (whether the equipment is logged in), serial number, and name information in the form of a list.

7.历史影像,参见图7，7. Historical images, see Figure 7,

系统建立历史影像数据库。可实现监测视频信息重播功能。根据对不同飞行轨迹的搜索或输入查询关键字进行搜索，选择设备(地面设备或无人机)，进行历史影像数据的存储与查询功能。The system establishes a historical image database. The function of monitoring video information replay can be realized. According to the search for different flight trajectories or input query keywords, select the equipment (ground equipment or drone) to store and query historical image data.

8.综合查询。8. Comprehensive query.

综合查询功能实现设备信息查询、设备状态查询、上传地点查询、视频查询等查询功能。有利于方便快捷的查询所需监测信息，大大的提高了工作效率。The comprehensive query function realizes query functions such as device information query, device status query, upload location query, and video query. It is beneficial to query the required monitoring information conveniently and quickly, and greatly improves the work efficiency.

(1)设备信息查询(1) Device information query

参见图8，可在设备信息查询界面选择设备类型、设备编号、设备名称进行筛选查询。查询的结果在列表中显示.Referring to Figure 8, the device type, device number, and device name can be selected on the device information query interface to perform a filter query. The results of the query are displayed in a list.

(2)设备状态查询(2) Device status query

可在设备信息查询界面选择设备已登录或未登录进行筛选查询。查询的结果将显示已经登录的设备或尚未登录的设备。In the device information query interface, you can select whether the device is logged in or not logged in to filter and query. The result of the query will display the devices that have already been logged in or those that have not been logged in yet.

本系统无人机的技术优势The technical advantages of this system UAV

由于采用了技术先进的飞控平台及前后台视频监控传输系统，配合完善的飞行及地勤保障系统，无人机可对地面实施完备的长时间空中监控，从而实现较低的综合成本对传统手段无法涉足的区域进行实时监控和辅助救援，其智能化和先进性突出体现在巡查路径规划、智能分析、定点持续监控、报警等，并且在制定应急预案、建立快速响应机制、现场存档与取证等方面充分发挥技术防范手段的重要作用。其技术优势有：Due to the adoption of a technologically advanced flight control platform and front and back video monitoring and transmission systems, as well as a complete flight and ground support system, the UAV can perform complete long-term aerial monitoring on the ground, thereby achieving a lower comprehensive cost compared to traditional means. Real-time monitoring and assisted rescue in unreachable areas, its intelligence and advanced nature are prominently reflected in inspection path planning, intelligent analysis, fixed-point continuous monitoring, alarming, etc., and in the formulation of emergency plans, the establishment of rapid response mechanisms, on-site archiving and evidence collection, etc. In order to give full play to the important role of technical preventive measures. Its technical advantages are:

(1)机动灵活。(1) Flexible and flexible.

小型无人机一般只有100千克以下的重量，依托飞行控件就可以对其进行操控，只需要1-2人就可以完成此类操作任务。在道路不畅，交通中断的情况下，徒步就可以携带至灾害事故现场，且起飞条件很简单，对地形无要求，加上无人机携带方便，所以具有很强的灵活性。此外，无人机的飞行速度易于控制，转弯半径小，机动性好，可以灵活机动控制飞行方向，机载摄像头也可以跟踪拍摄对象；无人机还能快速到达指定地点，反应能力快捷，对环境和气候条件也有很强经浙江消防总队对“上合组织”演练期间的实际测试，无人机在6级风力下完成飞行任务，受阴雨天气等条件限制比大型载人飞机要小的多；其起飞条件只需要几平米空地，周围无突出障碍物即可，在低空作业时，受气候条件限制非常小，获取影像的速度非常快，可在5公里范围内稳定可靠发挥侦查作用。Small drones generally only weigh less than 100 kilograms, and they can be controlled by relying on flight controls. Only 1-2 people can complete such operations. When the road is not smooth and the traffic is interrupted, it can be carried to the disaster accident site on foot, and the take-off conditions are very simple, there is no requirement for the terrain, and the drone is easy to carry, so it has strong flexibility. In addition, the flying speed of the UAV is easy to control, the turning radius is small, and the maneuverability is good. It can flexibly control the flight direction, and the on-board camera can also track the shooting object; The environment and climatic conditions are also very strong. According to the actual test by the Zhejiang Fire Brigade during the "SCO" exercise, the UAV can complete the flight mission under the wind force of level 6, which is much smaller than that of the large manned aircraft due to conditions such as cloudy and rainy weather. The take-off conditions only need a few square meters of open space, and there are no prominent obstacles around. When operating at low altitudes, it is very limited by climatic conditions, and the speed of image acquisition is very fast, which can play a stable and reliable role in detection within a range of 5 kilometers.

(2)视野全面(2) Comprehensive field of vision

无人机通过宽带、数据链技术可以实现超视距控制，从而具有很全面的视野，依据现场需求，可以从不同角度、不同的距离在不同的光线条件下进行作业。既可以实现在高空对目标进行全局性拍摄，也可以调整距离和角度，按需抓拍对现场决策有重要帮助的关键因素。通过远程控制无人机和摄像头，可以根据实际需求实时采集图像，尤其是在低空飞行时，无人机跟踪拍摄能力极强，使用机载摄像头获取的图像分辨率很高(可以达到0.3米)，如果配备热视或红外等夜视功能，其收录的视频将更加全面。这样的方式为实现灾害事故现场实时空中监控提供了有力保证，能有效提升消防部队抢险救援的侦查能力。UAVs can achieve over-the-horizon control through broadband and data link technology, so that they have a very comprehensive field of vision. According to the needs of the site, they can operate from different angles and distances under different light conditions. It can not only achieve global shooting of the target at high altitude, but also adjust the distance and angle. On-demand shooting is a key factor that is important for on-site decision-making. Through remote control of drones and cameras, images can be collected in real time according to actual needs, especially when flying at low altitudes, drones have strong tracking and shooting capabilities, and the image resolution obtained by using the onboard camera is very high (can reach 0.3 meters) , if it is equipped with night vision functions such as thermal vision or infrared, the recorded videos will be more comprehensive. This method provides a strong guarantee for the realization of real-time aerial monitoring of the disaster accident scene, and can effectively improve the detection ability of the fire brigade for emergency rescue.

(3)操作简单。(3) Simple operation.

从技术层面上看，无人机的远程视频传输与控制系统通过网络和接口接入地面站，通过运营商光纤接入公网，因此，只需通过遥控摄像机及其辅助设备(镜头、云台等)，就能直接观看无人机的摄像头实时视频。通常，用户只需通过遥控器来实现无人机的所有动作，通过远程视频传输与控制系统对现场情况一目了然，以实现远程、方便的全方位监控；当客户端(包括PC和手机)在接入公网后，用户可以通过PC、平板电脑或者是手机等多种形式的载体实现对无人机的控制。从应用层面上看，无人机的实际操作也并不复杂，只要掌握好飞行、音视频控制和其他兼容模块的操作，便能发挥效能。From a technical point of view, the remote video transmission and control system of the UAV is connected to the ground station through the network and interface, and is connected to the public network through the operator's optical fiber. etc.), you can directly watch the real-time video of the drone's camera. Usually, the user only needs to use the remote control to realize all the actions of the drone, and through the remote video transmission and control system, the on-site situation is clear at a glance, so as to realize remote and convenient all-round monitoring; when the client (including PC and mobile phone) is connected After entering the public network, users can control the drone through various forms of carriers such as PC, tablet computer or mobile phone. From the application level, the actual operation of the drone is not complicated, as long as you master the operation of flight, audio and video control and other compatible modules, you can play the role.

(4)安全可靠。(4) Safe and reliable.

无论面对暴雨、高温、台风、泥石流等恶劣的天气环境；或者易燃易爆、塌陷、有毒等严重事故灾害现场；抑或山岳、峡谷、沟壑等极端地理环境，无人机技术能有效规避传统灭火救援行动中存在的短板，可确保消防官兵的自身安全。并能通过对现场情况的跟拍、追踪，为事故处置的指挥决策提供安全可靠的依据，能够最大限度地控制灾情发展，减少灾情的损失，减少人员伤亡。Whether facing severe weather conditions such as rainstorms, high temperatures, typhoons, and mudslides; or flammable, explosive, collapsed, toxic and other serious accident disaster sites; or extreme geographical environments such as mountains, canyons, and ravines, UAV technology can effectively avoid traditional The shortcomings in fire fighting and rescue operations can ensure the safety of fire officers and soldiers. It can provide a safe and reliable basis for the command and decision-making of accident disposal through the follow-up and tracking of the scene, which can control the development of the disaster to the greatest extent, reduce the loss of the disaster, and reduce casualties.

以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.