Unmanned aerial vehicle guided multi-vehicle cooperation fire extinguishing method and fire extinguishing system thereof

Abstract

The invention provides an unmanned aerial vehicle guided multi-vehicle cooperation fire extinguishing method. The method comprises the following steps that a ground control terminal is started, an unmanned aerial vehicle performs flight search along a search waypoint and establishes ground two-dimensional map information, a fire point is searched and accurately positioned, spatial position information of the fire point, the unmanned aerial vehicle and all fire-fighting unmanned vehicles is calculated and marked, after path planning, all the fire-fighting unmanned vehicles travel in a formation mode to advance towards the fire point, autonomously avoid obstacles and establish a three-dimensional sparse point cloud picture, whether the fire-fighting unmanned vehicles advance or not is judged through a temperature sensor, a fire extinguishing task is started when the fire-fighting unmanned vehicles are close to the fire point, and after the fire extinguishing task is completed, the unmanned aerial vehicle and all the fire-fighting unmanned vehicles return along the original path. The invention further provides a multi-vehicle cooperation fire extinguishing system suitable for the method. The multi-vehicle cooperation fire extinguishing system comprises the unmanned aerial vehicle, the plurality of fire-fighting unmanned vehicles and the ground control terminal. According to the unmanned aerial vehicle guided multi-vehicle cooperation fire extinguishing method and the fire extinguishing system thereof, the time required by the unmanned vehicles to arrive at the fire point can be greatly shortened while the large-range searching and accurate positioning of the position of the fire point are ensured, and the efficiency of completing the fire-fighting task is improved.

Description

technical field [0001] The invention belongs to the technical field of fire protection, and in particular relates to a multi-machine cooperative fire extinguishing method guided by an unmanned aerial vehicle and a fire extinguishing system thereof. Background technique [0002] Fire is one of the main disasters that threaten public safety and social development. Tens of thousands of fires occur every year, causing a large number of casualties and property losses. With the development of science and technology, fire-fighting robots have begun to enter the field of fire-fighting, effectively ensuring the safety of firefighters, improving fire-fighting efficiency, and reducing losses. At present, there are many types of fire-fighting robots, and some of them have entered into actual fire fighting. However, for large-scale fires such as petrochemical deflagration in industrial areas and forests, fire-fighting robots are often unable to play an effective role due to factors such ...

AI Technical Summary

Problems solved by technology

However, the existing technology is still unable to meet the fire extinguishing needs of unknown fire source and large moving range of fire-fighting robots, but can only carry out small-scale mobile fire extinguishing under the general condition of known target fire source; at the same time, the current fire-fighting robots and The fire extinguishing system is only used to assist firefighters to extinguish the fire, and it is not possible for the operator to remotely control the fire robot to extinguish the fire independently

Therefore, in view of the problems of insufficient field of vision of intelligent fire-fighting robots in large-range and large outdoor spaces, inaccurate fire point positioning, low fire-fighting accuracy and low intelligence, a UAV-guided multi-machine collaboration that can achieve closed-loop and accurate fire-fighting is sought. Fire extinguishing methods are very urgent and necessary

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