Group cooperation fire extinguishing method and group cooperation fire extinguishing system

Abstract

The invention relates to the technical field of fire fighting equipment, and discloses a group cooperation fire extinguishing method and a group cooperation fire extinguishing system. The method is applied to a group cooperation fire extinguishing system, the group cooperation fire extinguishing system comprises an investigation fire extinguishing robot, an investigation unmanned aerial vehicle, a fire fighting equipment group and a centralized control platform, and the method comprises the steps that when the investigation fire extinguishing robot detects a fire source in the inspection process, the position information of the fire source is determined, and the position information of the fire source is sent to the investigation unmanned aerial vehicle; the centralized control platform determines the fire behavior level of the fire source based on the first image and the second image; the centralized control platform determines a fire extinguishing strategy according to the fire behavior level; and the centralized control platform divides the fire source according to a plurality of heights in the position information of the fire source under the condition of determining that the group cooperation instruction needs to be sent, and sends the group cooperation instruction to different fire-fighting equipment in the fire-fighting equipment group based on a division result. According to the method, collaborative operation between different types of fire fighting equipment can be achieved, and the application range of the fire extinguishing method is widened.

Description

Technical Field

[0001] The present application relates to the technical field of fire-fighting equipment, and specifically to a group collaborative fire-fighting method and a group collaborative fire-fighting system. Background Art

[0002] In the event of a fire accident in an inflammable and explosive storage area or a chemical plant, the high temperature, highly toxic, thick smoke, and the possibility of explosion pose a serious threat to the lives of firefighters, and even cause heavy casualties. According to statistics, among the types of operations that cause the death of firefighters, fire fighting accounts for 64.52%, and the direct casualties caused by explosions, poisoning, deflagration, and collapses that are likely to occur near the fire source site account for 82.64% of the casualties in fire fighting. In the face of the increasing number of casualties of firefighters in fire accidents and the requirements of the manufacturing power strategy, the application of fire-fighting robots has become the focus of attention. Fire-fighting robots can replace firefighters to enter the dangerous rescue site and perform tasks such as disaster reconnaissance and fire source extinguishing in special environments, with the characteristics of intelligence, high efficiency, and reduction of life casualties.

[0003] However, at present, the collaborative positioning and autonomous operation methods of fire-fighting robots in complex environments are mainly limited to the collaboration of the same type of ground fire-fighting robots, with a small scope of application. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a group collaborative fire-fighting method and a group collaborative fire-fighting system to solve the technical problem of the small scope of application of the fire-fighting method of fire-fighting robots in the prior art.

[0005] To achieve the above purpose, the first aspect of the present application provides a group collaborative fire-fighting method, which is applied to a group collaborative fire-fighting system. The group collaborative fire-fighting system includes a reconnaissance and fire-fighting robot, a reconnaissance unmanned aerial vehicle, a group of fire-fighting equipment, and a centralized control platform. The method includes:

[0006] When the reconnaissance and fire-fighting robot detects a fire source during the patrol, it determines the location information of the fire source and sends the location information of the fire source to the reconnaissance unmanned aerial vehicle so that the reconnaissance unmanned aerial vehicle reaches the fire source;

[0007] The centralized control platform determines the fire level based on the first image and the second image, where the first image is sent after the reconnaissance and fire-fighting robot collects an image of the fire source, and the second image is sent after the reconnaissance unmanned aerial vehicle collects an image of the fire source;

[0008] The centralized control platform determines a fire-fighting strategy according to the fire level, where the fire-fighting strategy includes whether to send a group collaboration instruction;

[0009] When the centralized control platform determines that it is necessary to send a group cooperation instruction, it divides the fire source according to multiple heights in the position information of the fire source, and sends a group cooperation instruction to different fire-fighting equipment in the fire-fighting equipment group based on the division result, so that different fire-fighting equipment in the fire-fighting equipment group extinguish different areas of the fire source respectively.

[0010] In the embodiment of the present application, the centralized control platform determines the fire level of the fire source based on the first image and the second image, including:

[0011] The centralized control platform determines the front view size of the fire source according to the first image;

[0012] Determine the top view size of the fire source according to the second image;

[0013] Determine the volume of the fire source according to the front view size and the top view size;

[0014] Determine the fire level of the fire source according to the volume of the fire source, the preset volume judgment standard and the set of key area positions.

[0015] In the embodiment of the present application, the fire levels include level one, level two, level three and level four;

[0016] The centralized control platform determines the fire extinguishing strategy according to the fire level, including:

[0017] When the fire level is level one, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire-fighting robot and / or the reconnaissance UAV. Among them, the reconnaissance instruction is used to control the reconnaissance and fire-fighting robot and / or the reconnaissance UAV to send the on-site situation of the fire source to the centralized control platform in real time;

[0018] When the fire level is level two, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire-fighting robot and / or the reconnaissance UAV, and dials a preset alarm phone number;

[0019] When the fire level is level three or level four, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire-fighting robot and / or the reconnaissance UAV, dials a preset alarm phone number, and determines that it is necessary to send a group cooperation instruction to the fire-fighting equipment group.

[0020] In the embodiment of the present application, the fire-fighting equipment group includes fire trucks, fire UAV transport vehicles and fire-fighting robots. The fire UAV transport vehicle carries multiple fire UAVs;

[0021] When the centralized control platform determines that it is necessary to send a group cooperation instruction, it divides the fire source according to multiple heights in the position information of the fire source, and sends a group cooperation instruction to different fire-fighting equipment in the fire-fighting equipment group based on the division result, so that different fire-fighting equipment in the fire-fighting equipment group extinguish different areas of the fire source respectively, including:

[0022] When the centralized control platform determines that it is necessary to send a group collaboration instruction, it determines the plane height of the plane where the fire-fighting equipment group is located according to the coordinates of the fire truck, the coordinates of the fire-fighting drone transport vehicle, and the coordinates of the fire-fighting robot.

[0023] According to multiple heights in the position information of the fire source and the plane height, determine the relative height of each fire source.

[0024] According to the relative height of each fire source, determine the corresponding fire-fighting task execution equipment, where the fire-fighting task execution equipment is at least one of the fire-fighting equipment group.

[0025] According to the position information of each fire source, determine the target position of each fire-fighting task execution equipment.

[0026] Send the corresponding group collaboration instruction to the fire-fighting task execution equipment, so that the fire-fighting task execution equipment reaches the corresponding target position and extinguishes the fire in the corresponding fire source area.

[0027] In the embodiment of the present application, determining the corresponding fire-fighting task execution equipment according to the relative height of each fire source includes:

[0028] According to the relative height of each fire source, determine the corresponding fire-fighting area level.

[0029] When the fire-fighting area level is a low-level fire-fighting area, determine that the fire-fighting task execution equipment is a fire-fighting robot.

[0030] When the fire-fighting area level is a middle-level fire-fighting area, determine that the fire-fighting task execution equipment is a fire-fighting drone.

[0031] When the fire-fighting area level is a high-level fire-fighting area, determine that the fire-fighting task execution equipment is a fire truck.

[0032] In the embodiment of the present application, the method further includes:

[0033] After any one of the fire-fighting task execution equipment completes extinguishing the fire in the corresponding fire source area, assist other fire-fighting task execution equipment to extinguish the fire based on a preset collaboration rule, where the preset collaboration rule includes:

[0034] The fire truck's fire-fighting assistance area includes the low-level fire-fighting area and the middle-level fire-fighting area, the fire-fighting drone's fire-fighting assistance area includes the low-level fire-fighting area and the high-level fire-fighting area, and the fire-fighting robot's fire-fighting assistance area includes the middle-level fire-fighting area.

[0035] In the embodiment of the present application, the method further includes:

[0036] When the reconnaissance fire-fighting robot detects a fire source during the inspection process, it also determines the envelope circle coordinates with the position information of the fire source as the center and the envelope radius as the radius.

[0037] Jet fire extinguishing materials based on envelope circle coordinates.

[0038] The second aspect of the present application provides a group collaborative fire extinguishing system, including:

[0039] A reconnaissance and fire extinguishing robot, configured to determine the location information of a fire source when detecting the fire source during patrol, and send the location information of the fire source to a reconnaissance UAV so that the reconnaissance UAV can reach the fire source;

[0040] The reconnaissance and fire extinguishing robot is also configured to perform image acquisition on the fire source to obtain a first image;

[0041] A reconnaissance UAV, configured to reach the fire source according to the location information of the fire source sent by the reconnaissance and fire extinguishing robot, and perform image acquisition on the fire source to obtain a second image;

[0042] A centralized control platform, configured to receive and determine the fire level of the fire source based on the first image and the second image;

[0043] The centralized control platform is also configured to determine a fire extinguishing strategy according to the fire level, where the fire extinguishing strategy includes whether to send a group collaboration instruction;

[0044] The centralized control platform is also configured to, when it is determined that a group collaboration instruction needs to be sent, divide the fire source according to multiple heights in the location information of the fire source, and send group collaboration instructions to different fire fighting devices in the group of fire fighting devices based on the division result;

[0045] A group of fire fighting devices, including multiple different fire fighting devices, configured to extinguish fires in different areas of the fire source respectively based on the group collaboration instruction.

[0046] In the embodiment of the present application, the reconnaissance and fire extinguishing robot includes:

[0047] A first positioning device;

[0048] A first fire source detection component, including a first lidar and a first image acquisition device;

[0049] A pan-tilt head, provided with the first fire source detection component;

[0050] A spraying device, configured to spray fire extinguishing materials.

[0051] In the embodiment of the present application, the reconnaissance UAV includes:

[0052] A second positioning device;

[0053] A second fire source detection component, including a second lidar and a second image acquisition device.

[0054] In an embodiment of the present application, the group of fire-fighting equipment includes fire trucks, fire-fighting drone transporters, and fire-fighting robots. The fire-fighting drone transporters carry multiple fire-fighting drones.

[0055] Through the above technical solution, the group cooperation fire extinguishing method provided by the embodiment of the present application uses the reconnaissance and fire extinguishing robot and the reconnaissance drone to cooperate in reconnaissance of the fire source. The centralized control platform divides the fire level of the fire source to determine different fire extinguishing strategies, and when group cooperation is required, divides the fire source based on height to determine different fire-fighting equipment, realizing the cooperative operation between different types of fire-fighting equipment and improving the applicable range of the fire extinguishing method.

[0056] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0057] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0058] Figure 1 Schematically shows a flowchart of a group cooperation fire extinguishing method according to an embodiment of the present application;

[0059] Figure 2 Schematically shows a schematic diagram of an envelope circle according to an embodiment of the present application;

[0060] Figure 3 Schematically shows a schematic diagram of the structure of a group cooperation fire extinguishing system according to an embodiment of the present application.

[0061] Description of the Reference Numerals in the Drawings

[0062] 300 Group cooperation fire extinguishing system 310 Reconnaissance and fire extinguishing robot

[0063] 320 Reconnaissance drone 330 Centralized control platform

[0064] 340 Group of fire-fighting equipment 341 Fire truck

[0065] 342 Fire-fighting drone transporter 342a Fire-fighting drone

[0066] 343 Fire-fighting robot Detailed Description of the Embodiments

[0067] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope protected by this application.

[0068] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0069] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then the directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0070] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0071] Figure 1 Schematically shown is a flowchart of a method for collaborative group fire extinguishing according to an embodiment of this application. As Figure 1 shown, the embodiments of this application provide a method for collaborative group fire extinguishing, which is applied to a collaborative group fire extinguishing system. The collaborative group fire extinguishing system includes reconnaissance and fire extinguishing robots, reconnaissance drones, a group of fire-fighting equipment, and a centralized control platform. This method may include the following steps 110-step 140.

[0072] Step 110: When a reconnaissance and fire extinguishing robot detects a fire source during patrol, determine the location information of the fire source, and send the location information of the fire source to the reconnaissance drone so that the reconnaissance drone can reach the fire source.

[0073] In the embodiments of the present application, the reconnaissance and fire-fighting robot is responsible for performing patrol inspections to detect a fire source in a timely manner. When a fire source is detected, the position information of the fire source is first determined, and then the position information of the fire source is sent to the reconnaissance UAV, so that the reconnaissance UAV can quickly and timely reach the fire source, thereby assisting the reconnaissance and fire-fighting robot to perform subsequent actions.

[0074] The reconnaissance and fire-fighting robot can obtain the initial position information by using its own fire source detection component, and then obtain the position information after coordinate conversion. The fire source detection component can include a dual-light camera and a lidar. In the embodiments of the present application, unless otherwise specified, the position information refers to the position in the geodetic coordinate system, which needs to be obtained by using a transformation matrix on the basis of the initial position information obtained by the corresponding component. It can be understood that the transformation matrices of each component are different and can be obtained through pre-calibration.

[0075] It should be noted that the reconnaissance and fire-fighting robot can be provided with a UWB (Ultra Wide Band) receiver to follow the UWB transmitter carried by the patrol personnel, and combined with its own positioning module, to form a patrol point dataset [x i , y i , z i . After certain preprocessing (such as smoothing processing), the reference patrol path L1 can be obtained. Subsequently, the patrol inspection can be carried out according to the reference patrol path L1. At the same time, based on the annotation of the path patrol path L1 by the operator, a set S1 of key area positions of the path patrol path L1 is formed. It can be understood that the set S1 of key area positions is generally the area positions that need to be focused on. For example, the distance from flammable and explosive dangerous goods is relatively close, and the fire sources detected at the set S1 of key area positions are more dangerous than the fire sources detected at other positions.

[0076] In addition, in the embodiments of the present application, the devices in the group cooperation fire-fighting system can perform networking communication with each other.

[0077] On this basis, in an optional implementation manner, the method further includes:

[0078] When the reconnaissance and fire-fighting robot detects a fire source during the patrol inspection, it also determines the envelope circle coordinates with the position information of the fire source as the center and the envelope radius as the radius;

[0079] Spray fire extinguishing materials based on the envelope circle coordinates.

[0080] Specifically, when the reconnaissance and fire-fighting robot detects a fire source, it can first perform certain processing on the fire source. Schematically, an envelope circle can be constructed with the position information of the fire source as the center and the envelope radius as the radius to obtain the envelope circle coordinates. Then, based on the envelope circle coordinates, the fire-fighting material carried by itself is sprayed to form a fire-fighting isolation belt to prevent the fire from spreading further and reduce property losses. Please also refer to Figure 2 , Figure 2 schematically shows a schematic diagram of an envelope circle according to an embodiment of the present application. As Figure 2 shown, [x f , y f , z f represents the position information of the fire source, R represents the envelope radius, and [x c , y c , z c represents the envelope circle coordinates. The determination method of the envelope circle coordinates can refer to the following formulas (1)-(3):

[0081]

[0082]

[0083] In the formula, M3 represents the transformation matrix for converting the coordinate system of the reconnaissance and fire-fighting robot itself to the geodetic coordinate system, θ represents the heading angle of the reconnaissance and fire-fighting robot, [x t , y t , Z t represents the coordinates of the reconnaissance and fire-fighting robot in the geodetic coordinate system, [x s , y s , z s represents the initial position information of the reconnaissance and fire-fighting robot obtained by the fire source detection component, M2 represents the transformation matrix between the coordinate system of the dual-light camera in the fire source detection component and the chassis coordinate system of the reconnaissance and fire-fighting robot, and ∈ represents the angle between the envelope radius and the geodetic coordinate system, and the value range is [0, 360°].

[0084] It can be understood that the envelope radius can be set according to actual needs, and the embodiments of the present application do not limit this.

[0085] Step 120: The centralized control platform determines the fire level of the fire source based on the first image and the second image, where the first image is sent after the reconnaissance and fire-fighting robot performs image acquisition on the fire source, and the second image is sent after the reconnaissance UAV performs image acquisition on the fire source.

[0086] In the embodiments of the present application, both the reconnaissance and fire-fighting robot and the reconnaissance UAV perform image acquisition on the fire source, respectively obtain the first image and the second image, and respectively send the first image and the second image to the centralized control platform.

[0087] After obtaining the first image and the second image, the centralized control platform determines the fire level of the fire source based on these two images, so that in subsequent steps, corresponding processing can be performed according to different fire levels.

[0088] It can be understood that the reconnaissance and fire-fighting robot and the reconnaissance UAV can be provided with image acquisition devices to achieve image acquisition. Schematically, the image acquisition device can be a dual-light camera.

[0089] In an optional implementation manner, step 120 includes:

[0090] The centralized control platform determines the front view size of the fire source according to the first image;

[0091] Determine the top view size of the fire source according to the second image;

[0092] Determine the volume of the fire source according to the front view size and the top view size;

[0093] Determine the fire level of the fire source according to the volume of the fire source, the preset volume judgment standard, and the set of key area positions.

[0094] Specifically, since the reconnaissance and fire-fighting robot generally moves on the ground, therefore, according to the first image collected by the reconnaissance and fire-fighting robot, the front view size L1*H of the fire source can be determined, where L1 represents the first length of the fire source and H represents the height of the fire source. And the reconnaissance UAV generally moves in the air, so according to the second image collected by the reconnaissance UAV, the top view size L2*W of the fire source can be determined, where L2 represents the second length of the fire source and W represents the width of the fire source. Thus, by selecting the larger value from L1 and L2 and combining H and W, the volume of the fire source can be determined. Specifically, the following formulas (4) and (5) can be referred to:

[0095] L = max(L1, L2) (4)

[0096] V = L*W*H (5)

[0097] Among them, V represents the volume of the fire source.

[0098] The fire level of the fire source is comprehensively judged according to the volume of the fire source, the preset volume judgment standard, and the set of key area positions. Specifically, the following formulas (6)-(7) can be referred to:

[0099]

[0100] That is to say, first, based on the volume of the fire source and the preset volume judgment criteria, the original fire level is obtained. Among them, the preset volume judgment criteria include two thresholds V1 and V2, and V1 is less than V2. If the volume of the fire source is less than or equal to V1, it indicates that the volume of the fire source is small and the threat is not significant. Therefore, the original fire level is 1. If the volume of the fire source is greater than V1 and less than or equal to V2, it indicates that the volume of the fire source is average and the threat is average. Therefore, the original fire level is 2. If the volume of the fire source is greater than V2, it indicates that the volume of the fire source is large and the threat is relatively large. Therefore, the original fire level is 3. In addition, considering that if the position of the fire source is in the set of key area positions, more attention needs to be paid and the fire level is further increased.

[0101] In the embodiment of the present application, a method for determining the volume of a fire source based on an image and determining the fire level of the fire source by combining multiple pieces of information is provided, which improves the accuracy of the fire level of the fire source and provides a basis for subsequent processing.

[0102] Step 130: The centralized control platform determines a fire extinguishing strategy according to the fire level, where the fire extinguishing strategy includes whether to send a group cooperation instruction.

[0103] In the embodiment of the present application, different fire extinguishing strategies are determined according to different fire levels to improve the processing efficiency.

[0104] In an optional implementation manner, the fire levels include level one, level two, level three, and level four;

[0105] Step 130 includes:

[0106] When the fire level is level one, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire extinguishing robot and / or the reconnaissance UAV, where the reconnaissance instruction is used to control the reconnaissance and fire extinguishing robot and / or the reconnaissance UAV to send the on-site situation of the fire source to the centralized control platform in real time;

[0107] When the fire level is level two, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire extinguishing robot and / or the reconnaissance UAV, and dials a preset alarm phone number;

[0108] When the fire level is level three or level four, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire extinguishing robot and / or the reconnaissance UAV, dials a preset alarm phone number, and determines that a group cooperation instruction needs to be sent to the fire fighting equipment group.

[0109] Specifically, the level one is relatively low. At this time, only the reconnaissance and fire extinguishing robot and / or the reconnaissance UAV are used to send the on-site situation of the fire source to the centralized control platform in real time, that is, to conduct a live broadcast of the fire source, so that it can be processed in time when the fire level of the fire source changes.

[0110] The second level is average. At this time, based on the first level, it is necessary to call a preset alarm number, such as 119, to notify the fire department to extinguish the fire.

[0111] It can be understood that neither the first level nor the second level requires sending a group cooperation instruction.

[0112] The third and fourth levels are relatively high. At this time, the fire is large. Based on the second level, it is also necessary for each device in the group cooperation fire extinguishing system to provide cooperation to assist in extinguishing the fire.

[0113] In the embodiment of the present application, different fire extinguishing strategies are adopted for different fire levels, which improves the processing efficiency and avoids waste of resources.

[0114] Step 140: When the centralized control platform determines that it is necessary to send a group cooperation instruction, it divides the fire source according to multiple heights in the position information of the fire source, and sends a group cooperation instruction to different fire fighting devices in the fire fighting device group based on the division result, so that different fire fighting devices in the fire fighting device group extinguish different areas of the fire source respectively.

[0115] In the embodiment of the present application, it can be understood that there can be multiple pieces of position information of the fire source. When it is necessary to send a group cooperation instruction, it is necessary to divide the fire source based on height, so as to use different fire fighting devices to process the fire source in different areas and improve the processing efficiency.

[0116] In an optional implementation manner, the fire fighting device group includes a fire truck, a fire fighting drone transport vehicle, and a fire fighting robot, and the fire fighting drone transport vehicle carries multiple fire fighting drones;

[0117] Step 140 includes:

[0118] Step 141: When the centralized control platform determines that it is necessary to send a group cooperation instruction, it determines the plane height of the plane where the fire fighting device group is located according to the coordinates of the fire truck, the coordinates of the fire fighting drone transport vehicle, and the coordinates of the fire fighting robot;

[0119] Step 142: Determine the relative height of each fire source according to multiple heights in the position information of the fire source and the plane height;

[0120] Step 143: Determine the corresponding fire extinguishing task execution device according to the relative height of each fire source, where the fire extinguishing task execution device is at least one of the fire fighting device group;

[0121] Step 144: Determine the target position of each fire extinguishing task execution device according to the position information of each fire source;

[0122] Step 145: Send corresponding group collaboration instructions to the fire extinguishing task execution device, so that the fire extinguishing task execution device reaches the corresponding target location and extinguishes the fire in the corresponding fire source area.

[0123] Specifically, the fire fighting equipment group in the embodiment of the present application may include fire trucks, fire drone transporters, and fire fighting robots. Among them, the fire drone transporter carries multiple fire drones to improve the fire extinguishing efficiency. At this time, first determine the plane height of the fire fighting equipment group according to the coordinates of the fire truck, the coordinates of the fire drone transporter, and the coordinates of the fire fighting robot. The following formula (8) can be referred to:

[0124]

[0125] In the formula, h t represents the plane height, z ft represents the coordinate in the z direction in the coordinates of the fire truck, z fn represents the coordinate in the z direction in the coordinates of the fire drone transporter, z fr represents the coordinate in the z direction in the coordinates of the fire fighting robot.

[0126] Then, according to the difference between the multiple heights and the plane height, obtain the relative height of each fire source. The following formula (9) can be referred to:

[0127] Δh i =z f -h t (9)

[0128] In the formula, △h i represents the relative height of the fire source, z f represents the coordinate in the z direction in the position information of the fire source.

[0129] Then, according to the relative height of each fire source, select at least one from the fire fighting equipment group as the corresponding fire extinguishing task execution device.

[0130] Considering that the operation range of each fire extinguishing task execution device is limited, therefore, it is necessary to determine the target location of the fire extinguishing task execution device according to the position information of each fire source to better complete the fire extinguishing task. According to the position information of the fire source corresponding to the fire extinguishing task execution device, combined with the conversion matrix of the image acquisition device and the positioning device of each fire extinguishing task execution device, the pose point of each fire extinguishing task execution device can be determined, and then the target location of the fire extinguishing task execution device can be obtained. Specifically, the following formulas (10)-(11) can be referred to:

[0131]

[0132] Wherein, Tdis represents the working distance of the image acquisition device, vel represents the fire-fighting equipment adjustment constant, [x tri , y tri , z tri represents the pose point, [x mi , y mi , z mi represents the target position, and M i represents the transformation matrix between the image acquisition device and the positioning device of the i-th fire-fighting task execution device.

[0133] It should be noted that when it is a fire truck or a fire-fighting drone, vel = 0, and when it is a fire-fighting robot, vel = z f -h t .

[0134] Finally, the target position and the target fire source area are sent as a group cooperation instruction to the corresponding fire-fighting task execution device, so that the fire-fighting task execution device reaches the corresponding target position and extinguishes the fire in the corresponding fire source area.

[0135] In the embodiment of the present application, fires at different heights are divided, which makes up for the working area defects of each fire-fighting equipment, improves the cooperation efficiency of each cooperation, ensures the orderly and effective progress of the fire-fighting work, and at the same time has a wider application range.

[0136] In an optional implementation manner, step 143 includes:

[0137] Determine the corresponding fire-extinguishing area level according to the relative height of each fire source;

[0138] When the fire-extinguishing area level is the low-layer fire-extinguishing area, determine that the fire-fighting task execution device is a fire-fighting robot;

[0139] When the fire-extinguishing area level is the middle-layer fire-extinguishing area, determine that the fire-fighting task execution device is a fire-fighting drone;

[0140] When the fire-extinguishing area level is the high-layer fire-extinguishing area, determine that the fire-fighting task execution device is a fire truck.

[0141] Specifically, in the embodiment of the present application, a fire-fighting robot is used to extinguish fires in the low-layer fire-extinguishing area, a fire-fighting drone is used to extinguish fires in the middle-layer fire-extinguishing area, and a fire truck is used to extinguish fires in the high-layer fire-extinguishing area. Schematically, the height range of the low-layer fire-extinguishing area can be greater than or equal to 0m and less than 20m, the height range of the middle-layer fire-extinguishing area can be greater than or equal to 20m and less than 40m, and the height range of the high-layer fire-extinguishing area can be greater than or equal to 40m. It can be understood that the division method of different fire-extinguishing areas can be determined according to actual needs, and the embodiment of the present application does not limit this.

[0142] In the embodiment of the present application, the corresponding fire extinguishing area level is determined according to the relative height of the fire source, and different fire fighting equipment is allocated to different fire extinguishing area levels, realizing the collaborative operation of different fire fighting equipment.

[0143] On this basis, in an optional implementation manner, the method further includes:

[0144] After any one of the fire extinguishing task execution devices completes the fire extinguishing of the corresponding fire source area, assist other fire extinguishing task execution devices to carry out fire extinguishing based on a preset cooperation rule, where the preset cooperation rule includes:

[0145] The assistance fire extinguishing area of the fire truck includes the low-layer fire extinguishing area and the middle-layer fire extinguishing area, the assistance fire extinguishing area of the fire fighting drone includes the low-layer fire extinguishing area and the high-layer fire extinguishing area, and the assistance fire extinguishing area of the fire fighting robot includes the middle-layer fire extinguishing area.

[0146] Specifically, after any one of the fire extinguishing task execution devices completes the fire extinguishing of the corresponding fire source area, it can assist other fire source areas with more fire points to carry out fire extinguishing. In the embodiment of the present application, the fire truck can assist the low-layer fire extinguishing area and the middle-layer fire extinguishing area, the fire fighting drone can assist the low-layer fire extinguishing area and the high-layer fire extinguishing area, and the fire fighting robot can assist the middle-layer fire extinguishing area.

[0147] In the embodiment of the present application, the preset cooperation rule further improves the fire extinguishing efficiency.

[0148] The group cooperation fire extinguishing method provided by the embodiment of the present application uses the reconnaissance fire fighting robot and the reconnaissance drone to cooperate in detecting the fire source. The centralized control platform divides the fire level of the fire source to determine different fire extinguishing strategies, and when group cooperation is required, divides the fire source based on height to determine different fire fighting equipment, realizing the collaborative operation between different types of fire fighting equipment and improving the applicable range of the fire extinguishing method.

[0149] Figure 3 Schematically shows a structural diagram of a group cooperation fire extinguishing system according to an embodiment of the present application. As Figure 3 shown, in the embodiment of the present application, the group cooperation fire extinguishing system 300 includes:

[0150] The reconnaissance fire fighting robot 310 is used to determine the position information of the fire source when detecting the fire source during the patrol process, and send the position information of the fire source to the reconnaissance drone 320 so that the reconnaissance drone reaches the fire source;

[0151] The reconnaissance fire fighting robot 310 is further used to collect an image of the fire source to obtain a first image;

[0152] The reconnaissance UAV 320 is used to reach the fire source according to the position information of the fire source sent by the reconnaissance and fire-fighting robot 310, and collect images of the fire source to obtain a second image;

[0153] The centralized control platform 330 is used to receive and determine the fire level of the fire source based on the first image and the second image;

[0154] The centralized control platform 330 is also used to determine a fire-fighting strategy according to the fire level, wherein the fire-fighting strategy includes whether to send a group cooperation instruction;

[0155] The centralized control platform 330 is also used to, when it is determined that a group cooperation instruction needs to be sent, divide the fire source according to multiple heights in the position information of the fire source, and send group cooperation instructions to different fire-fighting devices in the fire-fighting device group based on the division result;

[0156] The fire-fighting device group 340 includes multiple different fire-fighting devices, and is used to extinguish different areas of the fire source respectively based on the group cooperation instruction.

[0157] The group cooperation fire-fighting system provided by the embodiments of the present application can implement each process of the group cooperation fire-fighting method in the method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0158] In an optional implementation manner, the reconnaissance and fire-fighting robot 310 includes:

[0159] The first positioning device;

[0160] The first fire source detection component, including a first lidar and a first image acquisition device;

[0161] The pan-tilt head is provided with the first fire source detection component;

[0162] The spraying device is used to spray fire-fighting materials.

[0163] Specifically, the first positioning device is used to determine the position of the reconnaissance and fire-fighting robot 310 itself, and the first fire source detection component is used to determine the position information of the fire source. Schematically, the first positioning device can be an RTK (Real-time kinematic) device, and the first image acquisition device can be a dual-light camera. The first fire source detection component is arranged on the pan-tilt head to improve the stability of the first fire source detection component. The spraying device sprays fire-fighting materials to form an envelope circle.

[0164] In an optional implementation manner, the reconnaissance UAV includes:

[0165] The second positioning device;

[0166] The second fire source detection component, including a second lidar and a second image acquisition device.

[0167] Specifically, the second positioning device is used to determine the position of the reconnaissance UAV 320 itself, and the second fire source detection component is used to determine the position information of the fire source.

[0168] In an alternative embodiment, the fire fighting equipment group 340 includes a fire truck 341, a fire fighting UAV transport vehicle 342, and a fire fighting robot 343. The fire fighting UAV transport vehicle 342 carries a plurality of fire fighting UAVs 342a.

[0169] The fire fighting equipment group provided by the embodiments of the present application includes a plurality of fire fighting equipment, which can cooperate to extinguish fires at different heights.

[0170] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0171] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more processes and / or blocks Figure 1 one or more blocks.

[0172] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one or more processes and / or blocks Figure 1 one or more blocks.

[0173] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 steps of the functions specified in one block or multiple blocks.

[0174] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0175] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0176] Computer-readable media includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0177] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the element.

[0178] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for collaborative fire extinguishing in a group, characterized in that, Applied to a group collaborative fire extinguishing system, the group collaborative fire extinguishing system includes reconnaissance and fire extinguishing robots, reconnaissance drones, a group of fire-fighting equipment, and a centralized control platform. The method includes: When the reconnaissance and fire extinguishing robot detects a fire source during patrol, determine the location information of the fire source, and send the location information of the fire source to the reconnaissance drone so that the reconnaissance drone reaches the fire source; The centralized control platform determines the fire level of the fire source based on the first image and the second image. Among them, the first image is sent after the reconnaissance and fire extinguishing robot collects an image of the fire source, and the second image is sent after the reconnaissance drone collects an image of the fire source; The centralized control platform determines a fire extinguishing strategy according to the fire level, where the fire extinguishing strategy includes whether to send a group collaboration instruction; When the centralized control platform determines that a group collaboration instruction needs to be sent, divide the fire source according to multiple heights in the location information of the fire source, and send a group collaboration instruction to different fire-fighting equipment in the group of fire-fighting equipment based on the division result, so that different fire-fighting equipment in the group of fire-fighting equipment extinguish different areas of the fire source respectively.

2. The method for collaborative fire extinguishing by a group according to claim 1, wherein The centralized control platform determines the fire level of the fire source based on the first image and the second image, including: The centralized control platform determines the front view size of the fire source according to the first image; Determine the top view size of the fire source according to the second image; Determine the volume of the fire source according to the front view size and the top view size; Determine the fire level of the fire source according to the volume of the fire source, a preset volume judgment standard, and a set of key area positions.

3. The method for collaborative fire extinguishing by a group according to claim 1, wherein The fire levels include level one, level two, level three, and level four; The centralized control platform determines a fire extinguishing strategy according to the fire level, including: When the fire level is level one, the centralized control platform sends a reconnaissance instruction to the reconnaissance and fire extinguishing robot and / or the reconnaissance drone, where the reconnaissance instruction is used to control the reconnaissance and fire extinguishing robot and / or the reconnaissance drone to send the on-site situation of the fire source to the centralized control platform in real time; When the fire level is level two, the centralized control platform sends the reconnaissance instruction to the reconnaissance and fire extinguishing robot and / or the reconnaissance drone, and dials a preset alarm phone number; When the fire level is level three or level four, the centralized control platform sends the reconnaissance instruction to the reconnaissance and fire extinguishing robot and / or the reconnaissance drone, dials a preset alarm phone number, and determines that a group collaboration instruction needs to be sent to the group of fire-fighting equipment.

4. The method for collaborative fire extinguishing by a group according to claim 1, wherein The group of fire-fighting equipment includes fire trucks, fire drone transporters, and fire extinguishing robots. The fire drone transporters carry multiple fire drones; When the centralized control platform determines that a group collaboration instruction needs to be sent, divide the fire source according to multiple heights in the location information of the fire source, and send a group collaboration instruction to different fire-fighting equipment in the group of fire-fighting equipment based on the division result, so that different fire-fighting equipment in the group of fire-fighting equipment extinguish different areas of the fire source respectively, including: When the centralized control platform determines that it is necessary to send a group cooperation instruction, it determines the plane height of the plane where the fire-fighting equipment group is located according to the coordinates of the fire truck, the coordinates of the fire-fighting drone transport vehicle, and the coordinates of the fire-fighting robot; According to the multiple heights in the position information of the fire source and the plane height, determine the relative height of each fire source; According to the relative height of each fire source, determine the corresponding fire-fighting task execution equipment, where the fire-fighting task execution equipment is at least one of the fire-fighting equipment group; According to the position information of each fire source, determine the target position of each fire-fighting task execution equipment; Send the corresponding group cooperation instruction to the fire-fighting task execution equipment, so that the fire-fighting task execution equipment reaches the corresponding target position and extinguishes the fire in the corresponding fire source area.

5. The group collaborative fire extinguishing method according to claim 4, characterized in that, The determining the corresponding fire-fighting task execution equipment according to the relative height of each fire source includes: According to the relative height of each fire source, determine the corresponding fire-fighting area level; When the fire-fighting area level is a low-level fire-fighting area, determine that the fire-fighting task execution equipment is the fire-fighting robot; When the fire-fighting area level is a middle-level fire-fighting area, determine that the fire-fighting task execution equipment is the fire-fighting drone; When the fire-fighting area level is a high-level fire-fighting area, determine that the fire-fighting task execution equipment is the fire truck.

6. The method for group collaborative fire extinguishing according to claim 5, wherein, It also includes: After any one of the fire-fighting task execution equipment completes the fire extinguishing of the corresponding fire source area, assist other fire-fighting task execution equipment to extinguish the fire based on a preset cooperation rule, where the preset cooperation rule includes: The fire truck's fire-extinguishing assistance area includes the low-level fire-fighting area and the middle-level fire-fighting area, the fire-fighting drone's fire-extinguishing assistance area includes the low-level fire-fighting area and the high-level fire-fighting area, and the fire-fighting robot's fire-extinguishing assistance area includes the middle-level fire-fighting area.

7. The method for collaborative fire extinguishing by a group according to claim 1, characterized in that It also includes: When the reconnaissance and fire-fighting robot detects the fire source during the inspection, it also determines the envelope circle coordinates with the position information of the fire source as the center and the envelope radius as the radius; Spray fire-extinguishing materials based on the envelope circle coordinates.

8. A group collaborative fire extinguishing system, characterized in that, It includes: A reconnaissance and fire-fighting robot, which is used to determine the position information of the fire source when detecting the fire source during the inspection, and send the position information of the fire source to the reconnaissance drone so that the reconnaissance drone reaches the fire source; The reconnaissance and fire-fighting robot is also used to collect an image of the fire source to obtain a first image; A reconnaissance drone, which is used to reach the fire source according to the position information of the fire source sent by the reconnaissance and fire-fighting robot and collect an image of the fire source to obtain a second image; A centralized control platform, which is used to receive and determine the fire intensity level based on the first image and the second image; The centralized control platform is also used to determine a fire-fighting strategy according to the fire intensity level, where the fire-fighting strategy includes whether it is necessary to send a group cooperation instruction; The centralized control platform is further configured to, when determining that a group cooperation instruction needs to be sent, divide the fire source according to multiple heights in the position information of the fire source, and send group cooperation instructions to different fire-fighting devices in the fire-fighting device group based on the division result; The fire-fighting device group includes multiple different fire-fighting devices, and is configured to extinguish fires in different areas of the fire source respectively based on the group cooperation instruction.

9. The group collaborative fire extinguishing system according to claim 8, wherein The reconnaissance and fire-fighting robot includes: A first positioning device; A first fire source detection component, including a first lidar and a first image acquisition device; A pan-tilt head, on which the first fire source detection component is provided; A spraying device for spraying fire-extinguishing materials.

10. The group cooperation fire extinguishing system according to claim 8, wherein The reconnaissance UAV includes: A second positioning device; A second fire source detection component, including a second lidar and a second image acquisition device.

11. The group cooperation fire extinguishing system according to claim 8, characterized in that, The fire-fighting device group includes fire trucks, fire UAV transporters, and fire-fighting robots, and the fire UAV transporters carry multiple fire UAVs.

Images