Mountain fire monitoring method and device and unmanned aerial vehicle nest mountain fire monitoring system

Abstract

The embodiment of the invention discloses a forest fire monitoring method and device and an unmanned aerial vehicle nest forest fire monitoring system. The mountain fire monitoring method comprises the following steps: receiving mountain fire early warning information emitted by a satellite; controlling the unmanned aerial vehicle to detect a fire point according to the forest fire early warning information, and collecting forest fire information at the fire point; and according to the forest fire information, determining a forest fire type and whether early warning information is sent. According to the technical scheme provided by the embodiment of the invention, the forest fire can be timely and accurately found, the position of the forest fire can be determined, the cause of the forest fire is speculated, whether the forest fire belongs to natural fire or artificial fire is judged, the type of the forest fire is accurately determined, and the corresponding forest fire early warning information is sent at the first time. Therefore, related personnel can take corresponding fire extinguishing measures, the precision and efficiency of forest fire detection are improved, and the property loss is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mountain fire monitoring, and in particular to a mountain fire monitoring method, a mountain fire monitoring device and a mountain fire monitoring system for an unmanned aerial vehicle (UAV) nest. Background Art

[0002] Overhead transmission lines are mostly built in mountainous areas with harsh natural environments. Due to their complex construction conditions and strong dependence on the environment, they are more likely to be affected by wildfires, causing huge damage to the transmission lines.

[0003] At present, wildfire monitoring methods are mainly divided into manual inspection, ground monitoring station monitoring and aerial remote sensing monitoring. Manual inspection monitoring has a low effective coverage area and requires high manpower costs; ground monitoring stations have high infrastructure costs and poor equipment flexibility, and can only monitor fixed areas, and cannot conduct real-time monitoring and dynamic analysis of target points and surrounding data; aerial remote sensing detection requires manual setting of routes, manual regular inspections, and poor long-distance inspection signals resulting in asynchronous transmission images.

[0004] The low efficiency and difficulty of existing wildfire monitoring methods have become technical problems that need to be urgently solved in the industry. Summary of the invention

[0005] The present invention provides a forest fire monitoring method, device and unmanned aerial vehicle nest forest fire monitoring system to solve the problems of low efficiency and high difficulty of existing forest fire monitoring methods, thereby improving the efficiency of forest fire monitoring and reducing the difficulty of forest fire monitoring.

[0006] According to one aspect of the present invention, a mountain fire monitoring method is provided, which is applied to a mountain fire monitoring system for a drone nest, the system comprising a drone and a drone nest, the drone being equipped with at least one sensor, the mountain fire monitoring method comprising:

[0007] Receive wildfire warning information transmitted by satellite;

[0008] Controlling the drone to detect the fire point according to the wildfire warning information, and collecting wildfire information at the fire point;

[0009] The wildfire type and whether to issue a warning message are determined based on the wildfire information.

[0010] Optionally, collecting the wildfire information at the fire point includes:

[0011] According to the wildfire warning information, the sensor on the drone is controlled to collect temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information at the fire point.

[0012] Optionally, determining the wildfire type and whether to issue warning information according to the wildfire information includes:

[0013] The wildfire type and whether to issue warning information are determined according to the temperature information, the humidity information, the smoke concentration information and the hydrogen sulfide concentration information.

[0014] Optionally, determining the wildfire type and whether to issue warning information according to the temperature information, the humidity information, the smoke concentration information, and the hydrogen sulfide concentration information includes:

[0015] If the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value, and the temperature information is greater than the third preset value, the wildfire type and whether to issue a warning information are determined according to the humidity information and the fourth preset value;

[0016] If the smoke concentration information is greater than a first preset value or the hydrogen sulfide concentration information is greater than a second preset value, and the temperature information is not greater than a third preset value, the forest fire type is determined to be a crop fire and a warning message is issued.

[0017] Optionally, determining the wildfire type and whether to issue warning information according to the temperature information, the humidity information, the smoke concentration information, and the hydrogen sulfide concentration information further includes:

[0018] If the smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is greater than the third preset value, the wildfire type is determined to be an underground fire and a warning message is issued;

[0019] If the smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is not greater than the third preset value, no warning information is issued.

[0020] Optionally, determining the wildfire type and whether to issue warning information according to the humidity information and a fourth preset value includes:

[0021] If the humidity information is greater than the fourth preset value, determining that the wildfire type is an underground fire and issuing a warning message;

[0022] If the humidity information is not greater than the fourth preset value, determining the wildfire type and whether to issue a warning message according to the temperature information and the fifth preset value;

[0023] Wherein, the fifth preset value is greater than the third preset value.

[0024] Optionally, determining the wildfire type and whether to issue warning information according to the temperature information and a fifth preset value includes:

[0025] If the temperature information is greater than or equal to the fifth preset value, determining that the wildfire type is a crown fire and issuing a warning message;

[0026] If the temperature information is less than the fifth preset value, the wildfire type is determined to be a surface fire and a warning message is issued.

[0027] Optionally, the warning information includes: the location of the fire point and the type of wildfire.

[0028] According to another aspect of the present invention, a mountain fire monitoring device is provided, which is integrated into a drone nest, and the drone nest is used in conjunction with a drone, and the device includes:

[0029] An information receiving module, used to receive wildfire warning information transmitted by satellite;

[0030] A cruise collection module, used to control the UAV to detect the fire point according to the wildfire warning information, and collect wildfire information at the fire point;

[0031] The control module is used to determine the type of wildfire and whether to issue a warning message according to the wildfire information.

[0032] According to another aspect of the present invention, there is provided a drone nest forest fire monitoring system, comprising: a drone and a drone nest, wherein the drone nest comprises the forest fire monitoring device described in the above embodiment; wherein the drone is equipped with at least one sensor; the sensor comprises at least one of a temperature sensor, a humidity sensor, a smoke concentration sensor and a hydrogen sulfide concentration sensor.

[0033] The technical solution of the embodiment of the present invention determines the approximate area where the wildfire occurs by receiving the wildfire warning information transmitted by the remote sensing surface detection satellite. Then, according to the wildfire warning information, the drone carrying the sensor is controlled to conduct reconnaissance, determine the specific location of the wildfire, and collect the wildfire information of the fire point. Finally, the wildfire type is determined according to the wildfire information of the fire point and whether it is necessary to issue the wildfire warning information. Thereby, the wildfire monitoring in the area near the overhead transmission line is realized, without the need for manual patrol, and a large amount of manual inspection costs are reduced. In addition, after receiving the wildfire warning information transmitted by the satellite, the location of the wildfire is accurately judged and the wildfire information of the fire point is collected by the drone carrying the sensor immediately, so that the wildfire can be quickly discovered, the location of the wildfire can be determined in time, the cause of the wildfire can be inferred, and then the wildfire can be judged whether it is a natural fire or a man-made fire, and the type of the wildfire can be accurately judged. The corresponding wildfire warning information is issued at the first time, so that relevant personnel can take corresponding fire-fighting measures, improve the efficiency of wildfire detection, avoid serious damage to the transmission line, and reduce property losses.

[0034] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A flowchart of a wildfire monitoring method provided by an embodiment of the present invention;

[0037] Figure 2 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0038] Figure 3 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0039] Figure 4 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0040] Figure 5 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0041] Figure 6 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0042] Figure 7 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0043] Figure 8 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention;

[0044] Fig. 9 A schematic structural diagram of a forest fire monitoring device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] Figure 1 A flowchart of a mountain fire monitoring method provided by an embodiment of the present invention, this embodiment can be applied to the situation of forest mountain fire monitoring. The method can be executed by a mountain fire monitoring device, which is integrated into a drone nest. It can be understood that the method can be executed by a drone nest.

[0048] S110. Receive wildfire warning information transmitted by satellite.

[0049] Specifically, overhead transmission lines are mostly built in mountainous areas with harsh environments. Fires are difficult to detect, and there are many combustibles, which spread quickly. When relevant personnel discover the fire, it is likely that the fire has already caused considerable damage to the transmission lines. Therefore, in order to protect the transmission lines from being destroyed by wildfires, it is necessary to detect the fire as soon as possible and control it in a timely manner. At present, remote sensing surface detection satellites can monitor wildfires in areas near overhead transmission lines. Therefore, remote sensing surface detection satellites can be used to monitor wildfires near transmission lines and receive wildfire warning information from remote sensing surface detection satellites. Remote sensing surface detection satellites can be used to determine whether there is a wildfire near the transmission line and determine the approximate area of ​​the wildfire.

[0050] S120: Control the drone to detect the fire point according to the wildfire warning information, and collect wildfire information at the fire point.

[0051] Specifically, after receiving the wildfire warning information transmitted by the remote sensing surface detection satellite, it can be determined that a wildfire has occurred near the transmission line, but the specific location of the wildfire is not certain. Since the remote sensing surface detection satellite can only determine the approximate area where the wildfire occurred, and cannot accurately determine the fire point, after determining that a wildfire has occurred near the transmission line, it is necessary to further determine the specific location of the wildfire. Unmanned aerial vehicles carrying sensors can be used for reconnaissance to determine the starting point of the wildfire and collect wildfire information at the starting point. By sending drones above the area where the wildfire has occurred, the drones carry sensors and fly low above the area where the wildfire has occurred to collect signals. The sensors carried by the drones can be used to determine the specific location of the wildfire and collect wildfire information at the starting point of the wildfire.

[0052] S130: Determine the type of wildfire and whether to issue a warning message based on the wildfire information.

[0053] Specifically, after the drone carries a sensor to collect signals at low altitude, the type of wildfire can be determined based on the collected wildfire information at the ignition point, and whether to issue an early warning message can be determined based on the wildfire information. Since the environment near the transmission line is relatively complex, it is very necessary to make reasonable judgments based on the wildfire information collected by the sensor to accurately determine the type of wildfire. Among them, wildfire types can include surface fires, underground fires, crop fires, and crown fires. Different types of wildfires have different spread speeds and hazards. Only by accurately judging the type of wildfire and the degree of urgency of the wildfire can we ensure that appropriate fire-fighting methods are taken later.

[0054] The wildfire monitoring method provided by the embodiment of the present invention determines the approximate area where the wildfire occurs by receiving the wildfire warning information transmitted by the remote sensing surface detection satellite. Then, according to the wildfire warning information, the unmanned aerial vehicle carrying the sensor is controlled to conduct reconnaissance, determine the specific location of the wildfire and collect data information of the fire point. Finally, the wildfire type is determined according to the wildfire information of the fire point and whether it is necessary to issue the wildfire warning information. Thereby, the wildfire monitoring in the area near the overhead power transmission line is realized, without the need for manual patrol, and a large amount of manual inspection costs are reduced. In addition, after receiving the wildfire warning information transmitted by the satellite, the location of the wildfire is accurately judged and the wildfire information of the fire point is collected by the unmanned aerial vehicle carrying the sensor, so that the wildfire can be quickly discovered, the location of the wildfire can be determined in time, the cause of the wildfire can be inferred, and then the wildfire can be judged whether it is a natural fire or a man-made fire, and the type of the wildfire can be accurately judged. The wildfire warning information is issued at the first time so that relevant personnel can take corresponding fire-fighting measures, thereby improving the efficiency of wildfire detection, avoiding serious damage to the power transmission line, and reducing property losses.

[0055] Optional, Figure 2 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 2 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0056] S210. Receive wildfire warning information transmitted by satellite.

[0057] S220. Control the UAV to detect the fire point according to the wildfire warning information.

[0058] S230, controlling the sensors on the drone to collect temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information at the fire point according to the wildfire warning information.

[0059] Specifically, after receiving the wildfire warning information transmitted by the remote sensing surface detection satellite, the drone carrying the sensor will go to the approximate area where the wildfire occurred to collect wildfire information and determine the exact fire point. After determining the specific fire point of the wildfire, the wildfire information at the fire point can be collected by the sensor on the drone. Among them, the collected wildfire information includes temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information at the fire point. Different wildfire information represents different types of wildfires. The type of wildfire and the degree of danger of the wildfire are determined according to the different wildfire information at the fire point, so as to issue corresponding wildfire warning information and take corresponding fire-fighting measures.

[0060] S240: Determine the type of wildfire and whether to issue a warning message based on the wildfire information.

[0061] Optional, Figure 3A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 3 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0062] S310. Receive wildfire warning information transmitted by satellite.

[0063] S320. Control the UAV to detect the fire point according to the wildfire warning information.

[0064] S330, controlling the sensors on the drone to collect temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information at the fire point according to the wildfire warning information.

[0065] S340: Determine the type of wildfire and whether to issue a warning message based on the temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information.

[0066] Specifically, after the sensors carried by the drone collect the temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information at the fire point. The drone returns to the nest and transmits the above data information to the drone nest. The control module on the drone nest determines the specific type of wildfire that has occurred based on the temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information, and determines whether to issue a wildfire warning information. Different wildfire information represents different types of wildfires. By collecting the above wildfire information at the wildfire starting point, the type of wildfire can be accurately determined, corresponding fire extinguishing measures can be taken in a timely manner, and the power transmission line can be warned as soon as the wildfire arrives. This not only expands the monitoring range of wildfires, but also improves the accuracy of wildfire monitoring.

[0067] Optional, Figure 4 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 4 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0068] S410. Receive wildfire warning information transmitted by satellite.

[0069] S420. Control the UAV to detect the fire point according to the wildfire warning information.

[0070] S430, controlling the sensors on the drone to collect temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information at the fire point according to the wildfire warning information.

[0071] S440: If the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value, and the temperature information is greater than the third preset value, determine the type of wildfire and whether to issue a warning message based on the humidity information and the fourth preset value.

[0072] Specifically, after the sensor collects the temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information of the fire point, if the smoke concentration information within a certain range is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value and the temperature information is greater than the third preset value, it is necessary to further determine the type of wildfire and whether it is necessary to issue an early warning information based on the relationship between the humidity information and the fourth preset value. Among them, the first preset value, the second preset value, the third preset value and the fourth preset value can be set according to actual needs. Exemplarily, the first preset value can be 5% OBS / M, the second preset value can be 10ppm, the third preset value can be 60°C, and the fourth preset value can be 60%. After the wildfire information at the fire point is collected, it is necessary to judge the type of wildfire at this time and determine whether it is necessary to issue an early warning information based on the smoke concentration information, hydrogen sulfide concentration information and temperature information. Exemplarily, when the smoke concentration information within a certain range is 7% OBS / M, the hydrogen sulfide concentration information is 13ppm, and the temperature information is 80°C, it means that it is necessary to further determine the type of wildfire based on the relationship between the humidity information and the fourth preset value.

[0073] S450: If the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value, and the temperature information is not greater than the third preset value, the forest fire type is determined to be a crop fire and a warning message is issued.

[0074] Specifically, if the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value, and the temperature information is not greater than the third preset value, it means that the forest fire type at this time is a crop fire, and a corresponding warning message is issued. Exemplarily, when the smoke concentration information within a certain range is 7% OBS / M, the hydrogen sulfide concentration information is 9ppm, and the temperature information is 50°C, it means that the smoke concentration information is greater than the first preset value of 5% OBS / M, and the temperature information is less than the third preset value of 60°C, it can be judged that the forest fire type at this time is a crop fire and a corresponding warning message is issued; when the smoke concentration information within a certain range is 4% OBS / M, the hydrogen sulfide concentration information is 13ppm, and the temperature information is 50°C, it means that the hydrogen sulfide information is greater than the second preset value of 10ppm, and the temperature information is less than the third preset value of 60°C, it can be judged that the forest fire type at this time is a crop fire and a corresponding warning message is issued.

[0075] Optional, Figure 5 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 5 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0076] S510, receiving wildfire warning information transmitted by satellite.

[0077] S520, controlling the UAV to detect the fire point according to the wildfire warning information.

[0078] S530, controlling the sensors on the drone to collect temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information at the fire point according to the wildfire warning information.

[0079] S540: If the smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is greater than the third preset value, the forest fire type is determined to be an underground fire and a warning message is issued.

[0080] Specifically, if the smoke concentration information collected by the sensor at this time is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is greater than the third preset value, then the type of mountain fire at this time is judged to be underground fire and the corresponding warning information is issued. Underground fire may be shielded by the surface, resulting in relatively low smoke concentration and hydrogen sulfide concentration that cannot diffuse into the air, but the temperature will rise due to underground fire. Based on this, it can be judged whether it is an underground fire based on the smoke concentration information, hydrogen sulfide concentration information and temperature information. Exemplarily, when the smoke concentration information within a certain range is 3% OBS / M and the temperature information is 70°C, it means that the smoke concentration information is less than the first preset value of 5% OBS / M, and the temperature information is greater than the third preset value of 60°C, it can be judged that the type of mountain fire at this time is underground fire and the corresponding warning information is issued; when the hydrogen sulfide concentration information within a certain range is 8ppm and the temperature information is 70°C, it means that the hydrogen sulfide information is less than the second preset value of 10ppm, and the temperature information is greater than the third preset value of 60°C, it can be judged that the type of mountain fire at this time is underground fire and the corresponding warning information is issued.

[0081] S550: If the smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is not greater than the third preset value, no warning information is issued.

[0082] Specifically, when the collected smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is not greater than the third preset value, it means that there is no wildfire near the transmission line at this time, and the warning conditions are not met. The wildfire warning information transmitted by the remote sensing surface detection satellite may be caused by other reasons, and there is no need to issue a wildfire warning information. Exemplarily, when the smoke concentration information within a certain range is 2% OBS / M, the hydrogen sulfide concentration information is 6ppm, and the temperature information is 25℃, it means that the smoke concentration information is less than the first preset value of 5% OBS / M, the hydrogen sulfide concentration information is less than the second preset value of 10ppm, and the temperature information is less than the third preset value of 60℃. It can be judged that there is no wildfire near the transmission line at this time, and no wildfire warning information is issued at this time.

[0083] Optional, Figure 6 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 6 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0084] S610. Receive wildfire warning information transmitted by satellite.

[0085] S620. Control the UAV to detect the fire point according to the wildfire warning information.

[0086] S630, controlling the sensors on the drone to collect temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information at the fire point according to the wildfire warning information.

[0087] S640: If the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value, and the temperature information is greater than the third preset value, determine the type of wildfire and whether to issue a warning message based on the humidity information and the fourth preset value.

[0088] S650: If the humidity information is greater than the fourth preset value, determine that the wildfire type is an underground fire and issue a warning message.

[0089] Specifically, when the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value and the temperature information is greater than the third preset value, if the humidity information is greater than the fourth preset value, it can be determined that the type of wildfire at this time is underground fire and a corresponding warning message is issued. Under the premise that the smoke concentration is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value and the temperature information is greater than the third preset value, the type of wildfire is determined by further determining the type of wildfire based on the relationship between the humidity information and the fourth preset value. If the humidity information is greater than the fourth preset value, it means that the type of wildfire at this time is underground fire. Exemplarily, if the temperature information collected by the sensor at this time is 65%, which is greater than the fourth preset value of 60%, it means that the type of wildfire at this time is underground fire, and a corresponding warning message is issued.

[0090] S660: If the humidity information is not greater than the fourth preset value, determine the type of wildfire and whether to issue a warning message based on the temperature information and the fifth preset value.

[0091] Specifically, when the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value and the temperature information is greater than the third preset value, if the humidity information is not greater than the fourth preset value, the type of wildfire cannot be determined at this time, and it is necessary to further determine the type of wildfire based on the relationship between the temperature information and the fifth preset value. Among them, the fifth preset value is greater than the third preset value, and the fifth preset value can be set according to actual needs. Exemplarily, the fifth preset value can be 900°C. Under the premise that the smoke concentration is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value and the temperature information is greater than the third preset value, if the humidity information is less than or equal to the fourth preset value, the type of wildfire cannot be determined at this time, and it is necessary to further determine the type of wildfire based on the relationship between the temperature information and the fifth preset value.

[0092] Optional, Figure 7 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 7 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0093] S710. Receive wildfire warning information transmitted by satellite.

[0094] S720. Control the UAV to detect the fire point according to the wildfire warning information.

[0095] S730. Control the sensors on the drone to collect temperature information, humidity information, smoke concentration information, and hydrogen sulfide concentration information at the fire point according to the wildfire warning information.

[0096] S740: If the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value, and the temperature information is greater than the third preset value, determine the type of wildfire and whether to issue a warning message based on the humidity information and the fourth preset value.

[0097] S750: If the humidity information is not greater than the fourth preset value, determine the type of wildfire and whether to issue a warning message based on the temperature information and the fifth preset value.

[0098] S760: If the temperature information is greater than or equal to the fifth preset value, determine that the wildfire type is a crown fire and issue a warning message.

[0099] Specifically, under the premise that the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value, and the temperature information is greater than the third preset value, and the humidity information is not greater than the fourth preset value, the relationship between the temperature information and the fifth preset value is determined. By further determining the relationship between the temperature information and the fifth preset value, the type of wildfire and whether it is necessary to issue an early warning message are determined. If the temperature information is greater than or equal to the fifth preset value, it indicates that the wildfire type is a crown fire and a corresponding early warning message is issued. For example, if the temperature information is 1100°C at this time, which is greater than the fifth preset value of 900°C, it indicates that the wildfire type is a crown fire and a corresponding alarm message is issued.

[0100] S770: If the temperature information is less than the fifth preset value, determine that the wildfire type is a surface fire and issue a warning message.

[0101] Specifically, under the premise that the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration is greater than the second preset value, and the temperature information is greater than the third preset value, and the humidity information is not greater than the fourth preset value. The type of wildfire is determined by judging the relationship between the temperature information and the fifth preset value. If the temperature information is less than the fifth preset value, it means that the wildfire type is a surface fire and a corresponding warning message is issued. For example, if the temperature information is 600°C at this time, which is less than the fifth preset value of 900°C, it means that the wildfire type is a surface fire and a corresponding alarm message is issued.

[0102] Optionally, the warning information may include the location of the fire and the type of wildfire.

[0103] Specifically, after confirming that a wildfire has occurred near a power transmission line, relevant personnel can be notified in a timely manner by issuing an early warning message, which includes the specific location and type of wildfire. After a wildfire occurs, the type and location of the wildfire are promptly notified to relevant personnel so that they can take corresponding fire-fighting measures to reduce the damage caused by the wildfire.

[0104] Optional, Figure 8 A flowchart of another wildfire monitoring method provided by an embodiment of the present invention. Figure 8 , the forest fire monitoring method provided by the embodiment of the present invention includes:

[0105] S8110, remote sensing surface detection satellite detects whether there is a ground fire on the surface.

[0106] S8120. If a ground fire occurs, activate the drone cruise device to determine whether the fire is spreading rapidly, whether the fire is extremely large, and whether there is thick smoke. At the same time, receive satellite weather signals and determine whether it is a thunderstorm or high temperature weather.

[0107] S8130. If the fire starts rapidly, the fire is extremely large, and is accompanied by thick smoke, and there is a thunderstorm or high temperature weather, it will be preliminarily determined to be a natural fire.

[0108] S8140. If the fire is not spreading rapidly, the fire is not large, there is no thick smoke, and there is no thunderstorm or high temperature weather, it is preliminarily determined to be a man-made fire.

[0109] S8150: Is the smoke concentration within the range greater than 2-5% OBS / M, or is the hydrogen sulfide concentration greater than 10ppm?

[0110] S8160: If the smoke concentration within the range is greater than 2-5% OBS / M, or the hydrogen sulfide concentration is greater than 10ppm, ignore the convection effect and determine whether the sensor critical temperature is greater than 60℃ based on the thermal radiation at the ignition point under normal pressure.

[0111] S8170. If the smoke concentration within the range is not greater than 2-5% OBS / M, or the hydrogen sulfide concentration is not greater than 10ppm, ignore the convection effect and determine whether the sensor critical temperature is greater than 60°C based on the thermal radiation at the ignition point under normal pressure.

[0112] S8180: If the smoke concentration in the range is greater than 2-5% OBS / M and the critical temperature of the sensor is greater than 60°C, or the hydrogen sulfide concentration is greater than 10 ppm and the critical temperature of the sensor is greater than 60°C, determine whether the humidity around the sensor is greater than 60%.

[0113] S8190: If the smoke concentration in the range is greater than 2-5% OBS / M and the critical temperature of the sensor is not greater than 60°C, or the hydrogen sulfide concentration is greater than 10ppm and the critical temperature of the sensor is not greater than 60°C, it is determined to be a crop fire and an early warning is issued.

[0114] S8200: If the smoke concentration in the range is not greater than 2-5% OBS / M and the critical temperature of the sensor is greater than 60°C, or the hydrogen sulfide concentration is not greater than 10ppm and the critical temperature of the sensor is greater than 60°C, it is determined to be an underground fire and an early warning is issued.

[0115] S8210: If the smoke concentration in the range is not greater than 2-5% OBS / M and the critical temperature of the sensor is not greater than 60°C, or the hydrogen sulfide concentration is not greater than 10ppm and the critical temperature of the sensor is not greater than 60°C, and the warning is not reached, the system is in a safe state.

[0116] S8220: If the humidity around the sensor is greater than 60%, it is determined to be an underground fire and an early warning message is issued.

[0117] S8230: If the humidity around the sensor is not greater than 60%, ignore the convection effect and determine whether the ignition point temperature is greater than or equal to 900°C under normal pressure.

[0118] S8240: If the temperature of the ignition point is greater than or equal to 900°C, it is determined to be a crown or fire and a warning message is issued.

[0119] S8250: If the temperature of the ignition point is less than 900°C, it is determined to be a surface fire and an early warning message is issued.

[0120] The wildfire monitoring method provided by the embodiment of the present invention collects temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information at the fire point through a drone carrying a sensor, and judges the type of wildfire based on the above wildfire information. Different wildfire information represents different wildfire types, and issues corresponding early warning information to notify relevant personnel to take corresponding fire-fighting measures. Not only can the location and type of wildfire be accurately and timely judged, improving the accuracy of monitoring results, but also relevant personnel can be notified in a timely manner, realizing real-time monitoring of transmission lines and greatly reducing losses.

[0121] The embodiment of the present invention also provides a wildfire monitoring device. Fig. 9 The following is a schematic diagram of the structure of a wildfire monitoring device provided by an embodiment of the present invention. Fig. 9 As shown, the mountain fire monitoring device 10 includes:

[0122] The information receiving module 11 is used to receive wildfire warning information transmitted by satellite.

[0123] The cruise collection module 12 is used to control the UAV to detect the fire point according to the wildfire warning information and collect the wildfire information at the fire point.

[0124] The control module 13 is used to determine the type of wildfire and whether to issue a warning message according to the wildfire information.

[0125] The embodiment of the present invention receives the wildfire warning information transmitted by the wildfire satellite monitoring equipment through the information receiving module, and then the cruise collection module controls the drone carrying the sensor to determine the fire point and the wildfire information of the fire point according to the wildfire warning information, and finally the control module determines the wildfire type and whether to issue a warning information according to the wildfire information collected by the sensor. There is no need for maintenance workers to conduct daily inspections, which reduces the inspection costs, and the power transmission line is warned at the first time of the wildfire, which improves the real-time performance of the wildfire monitoring device, expands the fire monitoring range, and improves the accuracy of wildfire monitoring.

[0126] The wildfire monitoring device provided in the embodiment of the present invention can execute the wildfire monitoring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0127] According to the same inventive concept, an embodiment of the present invention also provides a drone nest mountain fire monitoring system, including a drone and a drone nest, wherein the drone nest includes a mountain fire monitoring device provided by any of the above embodiments. The drone is equipped with at least one sensor, which may be a temperature sensor, a humidity sensor, a smoke concentration sensor, and a hydrogen sulfide concentration sensor.

[0128] The drone nest wildfire monitoring system provided by the embodiment of the present invention controls the drone carrying the sensor to determine the accurate fire point and the wildfire information of the fire point after receiving the wildfire warning information transmitted by the remote sensing surface detection satellite, and then uses the control module of the drone nest to determine the wildfire type and whether to issue a warning information based on the wildfire information. The problem of difficult inspection and low efficiency is solved. The use of the drone nest control module to determine the wildfire type not only simplifies the structure of the system, but also avoids the influence of the harsh environment on the electromagnetic signal, making the monitoring results more accurate and reducing property losses.

[0129] An unmanned aerial vehicle nest wildfire monitoring system provided by an embodiment of the present invention can achieve the same technical effect as a wildfire monitoring method provided by the above-mentioned embodiment of the invention, and will not be repeated here.

[0130] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A forest fire monitoring method, characterized in that: Applied to a mountain fire monitoring system for a drone nest, the system includes a drone and a drone nest, the drone is equipped with at least one sensor, and the mountain fire monitoring method includes: Receive wildfire warning information transmitted by satellite; Controlling the drone to detect the fire point according to the wildfire warning information, and collecting wildfire information at the fire point; The wildfire type and whether to issue a warning message are determined based on the wildfire information.

2. The wildfire monitoring method according to claim 1, characterized in that: The collecting of the wildfire information at the fire point includes: According to the wildfire warning information, the sensor on the drone is controlled to collect temperature information, humidity information, smoke concentration information and hydrogen sulfide concentration information at the fire point.

3. The wildfire monitoring method according to claim 2, characterized in that: Determining the type of wildfire and whether to issue warning information based on the wildfire information includes: The wildfire type and whether to issue warning information are determined according to the temperature information, the humidity information, the smoke concentration information and the hydrogen sulfide concentration information.

4. The wildfire monitoring method according to claim 3, characterized in that: Determining the wildfire type and whether to issue warning information according to the temperature information, the humidity information, the smoke concentration information, and the hydrogen sulfide concentration information includes: If the smoke concentration information is greater than the first preset value or the hydrogen sulfide concentration information is greater than the second preset value, and the temperature information is greater than the third preset value, the wildfire type and whether to issue a warning information are determined according to the humidity information and the fourth preset value; If the smoke concentration information is greater than a first preset value or the hydrogen sulfide concentration information is greater than a second preset value, and the temperature information is not greater than a third preset value, the forest fire type is determined to be a crop fire and a warning message is issued.

5. The wildfire monitoring method according to claim 3, characterized in that: Determining the type of wildfire and whether to issue warning information according to the temperature information, the humidity information, the smoke concentration information, and the hydrogen sulfide concentration information further includes: If the smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is greater than the third preset value, the wildfire type is determined to be an underground fire and a warning message is issued; If the smoke concentration information is not greater than the first preset value or the hydrogen sulfide concentration information is not greater than the second preset value, and the temperature information is not greater than the third preset value, no warning information is issued.

6. The wildfire monitoring method according to claim 4, characterized in that: Determining the wildfire type and whether to issue warning information according to the humidity information and the fourth preset value includes: If the humidity information is greater than the fourth preset value, determining that the wildfire type is an underground fire and issuing a warning message; If the humidity information is not greater than the fourth preset value, determining the wildfire type and whether to issue a warning message according to the temperature information and the fifth preset value; Wherein, the fifth preset value is greater than the third preset value.

7. The wildfire monitoring method according to claim 6, characterized in that: Determining the wildfire type and whether to issue warning information according to the temperature information and the fifth preset value includes: If the temperature information is greater than or equal to the fifth preset value, determining that the wildfire type is a crown fire and issuing a warning message; If the temperature information is less than the fifth preset value, the wildfire type is determined to be a surface fire and a warning message is issued.

8. The wildfire monitoring method according to claim 1, characterized in that: The warning information includes: the location of the fire point and the type of wildfire.

9. A forest fire monitoring device, characterized in that: Integrated in a drone nest, the drone nest is used in conjunction with a drone, and the device includes: An information receiving module, used to receive wildfire warning information transmitted by satellite; A cruise collection module, used to control the UAV to detect the fire point according to the wildfire warning information, and collect wildfire information at the fire point; The control module is used to determine the type of wildfire and whether to issue a warning message according to the wildfire information.

10. A drone nest mountain fire monitoring system, characterized in that: include: A drone and a drone nest, wherein the drone nest includes the wildfire monitoring device according to claim 9; wherein the drone is equipped with at least one sensor; the sensor includes at least one of a temperature sensor, a humidity sensor, a smoke concentration sensor, and a hydrogen sulfide concentration sensor.

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