Fire extinguishing operation method and system cooperatively controlled by unmanned aerial vehicle

Abstract

The invention relates to the technical field of fire prevention and control, and discloses an unmanned aerial vehicle cooperative control fire extinguishing operation method and system, and the method comprises the steps: determining the target geographic position parameter of a fire source region according to the observation parameters corresponding to a tower monitoring device and / or an investigation unmanned aerial vehicle when a fire behavior is monitored in a target region; fire extinguishing operation parameters for the fire source area are determined according to the target geographic position parameters and the fire scene image data of the fire source area; the fire extinguishing unmanned aerial vehicle is controlled to fly to the fire source area so as to perform networking operation with the investigation unmanned aerial vehicle, and after networking is completed, the fire extinguishing unmanned aerial vehicle is controlled to perform fire extinguishing operation on the fire source area through the investigation unmanned aerial vehicle and according to the fire extinguishing flight control parameters and bomb dropping parameters of the fire extinguishing unmanned aerial vehicle, so that manual control in the fire extinguishing operation process is reduced, and the fire extinguishing efficiency is improved. And an effective cooperative combat system between the unmanned aerial vehicles is formed, and the overall fire extinguishing operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of fire prevention and control technology, and in particular to a method and system for fire extinguishing operations using drone-assisted control. Background Art

[0002] Currently, most fires that can be effectively controlled are small to medium-sized fires, while large fires are often difficult to control effectively. Furthermore, fire suppression is most effective within the first three minutes of a fire's occurrence; this three-minute window is considered the golden period for fire suppression. However, existing forest fire patrols mainly rely on manual patrols and drones. These systems utilize multi-source data acquisition and processing technologies to monitor forest areas in real time, aiming to promptly detect fire sources or potential hazards. Once an anomaly is detected, the system will quickly transmit early warning information to firefighters and firefighting drones, providing crucial information support for subsequent firefighting operations.

[0003] However, this early warning mechanism has revealed many problems in practical applications: On the one hand, firefighting drones and other equipment are limited by manual control during missions, requiring operators to remotely and manually control them for firefighting operations. This not only demands extremely high skills and reaction speed from the operators, but also makes it difficult to respond quickly and accurately to large-scale, high-intensity forest fires, hindering rapid mobile response to the fire and the ability to control the fire within 3 minutes to "smother it up early and extinguish it completely." On the other hand, firefighting drones often operate in a "lone wolf" manner during firefighting operations, failing to form an effective collaborative combat system, which greatly reduces firefighting efficiency. Therefore, a method to improve the efficiency of firefighting operations is urgently needed. Summary of the Invention

[0004] This invention provides a method and system for firefighting operations using drone collaborative control, which reduces human intervention during firefighting operations and forms an effective collaborative combat system among drones, improving the overall efficiency of firefighting operations. It enables the control of small and medium-sized fires within 3 minutes, solving the problem of "fighting small, fighting early, and fighting fires quickly".

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a method for firefighting operations using drone-assisted collaborative control, the method comprising: When the preset tower monitoring equipment and / or reconnaissance drone detects a fire in the target area, the first observation parameters of the tower monitoring equipment and / or the second observation parameters of the reconnaissance drone are obtained, and the target geographical location parameters of the fire source area in the target area are determined based on the first observation parameters and / or the second observation parameters. The system acquires fire scene image data of the target equipment for the fire source area, and determines fire extinguishing operation parameters for the fire source area based on the target geographical location parameters and the fire scene image data. The target equipment includes at least the reconnaissance drone that has flown to the fire source area. The fire extinguishing operation parameters for the fire source area include at least one target hangar required for the fire source area, and the fire extinguishing flight control parameters and bombing parameters for each fire extinguishing drone in each target hangar. All firefighting drones within the specified firefighting operation parameters are controlled to fly from all the target hangars to the fire source area, so that the reconnaissance drones and all the firefighting drones can form a network. After the network operation is completed, the reconnaissance drones control all the firefighting drones to carry out firefighting operations in the fire source area according to the firefighting flight control parameters and bombing parameters of all the firefighting drones.

[0006] A second aspect of this invention discloses a firefighting operation system with unmanned aerial vehicle (UAV) collaborative control, the system comprising: The acquisition module is used to acquire the first observation parameters of the pole monitoring equipment and / or the second observation parameters of the reconnaissance drone when the preset pole monitoring equipment and / or reconnaissance drone monitor a fire in the target area; The determination module is used to determine the target geographical location parameters of the fire source area in the target area based on the first observation parameters and / or the second observation parameters; The acquisition module is further configured to acquire fire scene image data of the fire source area from the target device; the target device includes at least the reconnaissance drone that has flown to the fire source area; The determining module is further configured to determine firefighting operation parameters for the fire source area based on the target geographical location parameters and the fire scene image data; the firefighting operation parameters for the fire source area include at least one target hangar required for the fire source area, and the firefighting flight control parameters and bombing parameters for each firefighting drone in each target hangar; The control module is used to control all the fire-fighting drones within the range of the fire-fighting operation parameters to fly from all the target hangars to the fire source area, so that the reconnaissance drones and all the fire-fighting drones can form a network; after the network operation is completed, the reconnaissance drones, based on the fire-fighting flight control parameters and bombing parameters of all the fire-fighting drones, control all the fire-fighting drones to carry out fire-fighting operations in the fire source area.

[0007] A third aspect of this invention discloses another firefighting system with collaborative control of unmanned aerial vehicles (UAVs), the system comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the firefighting operation method of UAV cooperative control disclosed in the first aspect of the present invention.

[0008] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the firefighting operation method of UAV collaborative control disclosed in the first aspect of the present invention.

[0009] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, when a fire is detected in a target area, the target geographical location parameters of the fire source area are determined based on the observation parameters corresponding to the tower monitoring equipment and / or the reconnaissance drone. Based on the target geographical location parameters and fire scene image data of the fire source area, firefighting operation parameters for the fire source area are determined. The firefighting drone is controlled to fly to the fire source area to form a network with the reconnaissance drone. After the network is completed, the firefighting drone is controlled to perform firefighting operations in the fire source area based on the firefighting flight control parameters and bombing parameters of the reconnaissance drone. This reduces human intervention during the firefighting operation and forms an effective collaborative combat system between drones, improving the overall efficiency of the firefighting operation. It can complete the process from fire detection to firefighting drone deployment and completion of the firefighting mission within 3 minutes, effectively solving the problem of "suppressing small fires, suppressing them early, and suppressing them completely." Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating a method for firefighting operations using drone collaborative control, as disclosed in an embodiment of the present invention. Figure 2 This is a flowchart illustrating another method for firefighting operations using drone collaborative control, as disclosed in an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a firefighting operation system with unmanned aerial vehicle (UAV) collaborative control disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another firefighting operation system with UAV collaborative control disclosed in an embodiment of the present invention; Figure 5This is a schematic diagram of another firefighting operation system with UAV collaborative control disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of a UAV networking process disclosed in an embodiment of the present invention. Detailed Implementation

[0012] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0014] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0015] This invention discloses a method and system for firefighting operations using drone collaborative control, which reduces human intervention during firefighting operations and forms an effective collaborative combat system among drones, thereby improving the overall efficiency of firefighting operations.

[0016] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for firefighting operations using drone-assisted collaborative control, as disclosed in an embodiment of the present invention. Figure 1The described drone-based collaborative firefighting method can be applied to various fire scenarios, such as forests, sea surfaces, hillsides, and towns, etc., and this invention is not limited in its application. Optionally, this method can be implemented by a collaborative firefighting control system, which can be integrated into intelligent terminal devices (such as smart computers, smartphones, tablets, fire command and control platforms, host computers, etc.), or it can be a local server or cloud server used to process the drone-based collaborative firefighting operation process, etc., and this invention is not limited in its application. Figure 1 As shown, the firefighting operation method using drone-assisted collaborative control may include the following operations: 101. When the preset tower monitoring equipment and / or reconnaissance drone detects a fire in the target area, the first observation parameters of the tower monitoring equipment and / or the second observation parameters of the reconnaissance drone are obtained, and the target geographical location parameters of the fire source area in the target area are determined based on the first observation parameters and / or the second observation parameters.

[0017] In this embodiment of the invention, optionally, the pole monitoring equipment may include monitoring devices installed on iron towers, poles, or observation towers, etc., and the monitoring equipment may include one or more of the following: visible light camera, infrared thermal imaging equipment, laser rangefinder, spectral camera, etc. Further optionally, the reconnaissance drone may be of the following type: multi-rotor, fixed-wing, compound-wing, etc., and the number may be one or more, and the reconnaissance drone may carry various payload devices, such as one or more of the following: visible light camera, infrared thermal imaging equipment, laser rangefinder, spectral camera, megaphone, searchlight, etc.

[0018] Furthermore, the first observation parameters of the tower monitoring equipment include the observation height parameter, the observation pitch angle parameter, and the observation horizontal angle parameter, while the second observation parameters of the reconnaissance drone include the body position parameter, the pod frame angle parameter, and the first distance parameter between the drone and the fire source area in the target area.

[0019] Furthermore, the daily fire monitoring deployment process in target areas can be understood as follows: Based on historical data assessments of fire-prone areas, or areas where fires are likely to cause significant losses (such as fire-prone forests, sea surfaces, hillsides, and towns), dense deployment of pole monitoring equipment is carried out to achieve comprehensive fire monitoring coverage. Simultaneously, to compensate for blind spots in the pole monitoring equipment, multiple hangars (each equipped with reconnaissance drones and / or firefighting drones) are distributed near the target area. By combining the scheduling of reconnaissance drones in each hangar, high-frequency inspections can be conducted in key areas, improving the efficiency of discovering and accurately locating fire sources. Moreover, these reconnaissance drones can receive secondary verification commands from the fire control system, quickly arriving above the fire source detected by the pole monitoring equipment to search for and accurately locate the fire source area, thereby facilitating efficient fire source location and firefighting operations.

[0020] For example, after a reconnaissance drone takes off, it can analyze visible light and infrared thermal images in real time. Once a fire is detected, it immediately verifies the identification results of the visible light and infrared images (if both identify it as a fire source, the confidence level of the fire source is high. For example, glare may cause a visible light camera to misidentify a fire source, but an infrared camera can eliminate glare, reducing the probability of false alarms), thereby improving the identification rate. After the reconnaissance drone confirms a fire source, it immediately calculates the geographical coordinates of the fire source based on the drone's position, the frame angle of the pod equipment, and the distance to the fire target. Then, it reports the warning data (including images near the fire source and the geographical coordinates of the fire source area) to the fire control system via 4G / 5G / 6G or satellite communication links. In this way, the fire control system can perform efficient analysis based on the warning data and the geographical coordinates and images of the fire source area transmitted by the tower monitoring equipment. In addition, if the reconnaissance drone detects personnel on the ground through infrared thermal imaging, it can also use its onboard loudspeaker to drive them away.

[0021] 102. Obtain fire scene image data of the target equipment for the fire source area, and determine the fire extinguishing operation parameters for the fire source area based on the target geographical location parameters and the fire scene image data.

[0022] In this embodiment of the invention, the target device includes a reconnaissance drone that has flown to the fire source area, or a reconnaissance drone that has flown to the fire source area and a pole monitoring device.

[0023] Further, the fire extinguishing operation parameters for the fire source area include at least one target hangar required for the fire source area (for example, g target hangars close to the fire source area are determined from h hangars in the target area, where g < h), and the fire extinguishing flight control parameters of each fire extinguishing UAV in each target hangar (such as one or more of flight speed, flight direction, flight route, hovering position, hovering duration, flight mode, etc.) and bombing parameters (such as one or more of bombing quantity parameter, bombing path parameter, bombing position parameter, bombing direction parameter, bombing type parameter, bombing frequency parameter, and bombing relative speed parameter, etc.).

[0024] Furthermore, in order to achieve the control of "stamping out small fires, stamping out early fires, and stamping out completely" within 3 minutes, the distributed setting of the target hangars can be combined, so that the target hangars are distributed with a radius not exceeding 5 kilometers to cover the fire source area within a range not exceeding 5 kilometers, thereby greatly shortening the UAV fire extinguishing operation time, improving the operation mobility of the fire extinguishing UAVs, and achieving the completion of the fire extinguishing task by the large-load fire extinguishing UAVs within 3 minutes from the occurrence of the fire.

[0025] 103. Control all fire extinguishing UAVs within the fire extinguishing operation parameter range to fly from all target hangars to the fire source area, so as to perform networking operations between the reconnaissance UAV and all fire extinguishing UAVs. After completing the networking operation, through the reconnaissance UAV, and according to the fire extinguishing flight control parameters and bombing parameters of all fire extinguishing UAVs, control all fire extinguishing UAVs to perform fire extinguishing operations on the fire source area.

[0026] In the embodiment of the present invention, after completing the networking operation, the reconnaissance UAV can obtain the identity information of the fire extinguishing UAVs from the fire control system. After completing the verification using the identity information of the fire extinguishing UAVs, it can send corresponding instructions to the fire extinguishing UAVs and receive the transmission data of the fire extinguishing UAVs, thereby realizing the process of controlling the fire extinguishing UAVs to perform fire extinguishing operations on the fire source area according to the fire extinguishing flight control parameters and bombing parameters of the fire extinguishing UAVs.

[0027] In the embodiment of the present invention, further, controlling all fire extinguishing UAVs to fly to the fire source area in step 103 to perform networking operations between the reconnaissance UAV and all fire extinguishing UAVs includes: Obtain target networking reference parameters matching the reconnaissance UAV and all fire extinguishing UAVs; Determine the communication parameters corresponding to each fire extinguishing UAV according to the target networking reference parameters; According to the communication fire extinguishing flight control parameters corresponding to all fire extinguishing UAVs, control all fire extinguishing UAVs to fly to the corresponding networking node positions in the fire source area, so as to perform networking operations between the reconnaissance UAV and all fire extinguishing UAVs.

[0028] In this optional embodiment, the target networking reference parameters may include at least one of the following: signal coverage parameters of the fire source area, first position parameters of the reconnaissance drone, first communication capability parameters, second position parameters of all firefighting drones, and second communication capability parameters. The signal coverage parameters may include one or more of the following: signal coverage range parameters, signal coverage strength parameters, signal coverage type parameters, etc.; both the first and second communication capability parameters may include one or more of the following: corresponding communication type parameters, receiveable signal strength parameters, signal transmission strength parameters, etc.

[0029] Furthermore, the communication parameters corresponding to each firefighting drone include the communication target parameters corresponding to the firefighting drone and the communication firefighting flight control parameters. The communication target parameters corresponding to the firefighting drone include reconnaissance drones, or include reconnaissance drones and target communication firefighting drones (i.e., firefighting drones other than the firefighting drone itself that need to network with the firefighting drone).

[0030] For example, such as Figure 6 As shown, after receiving the firefighting command from the hangar, the firefighting drone is equipped with the corresponding number of fire extinguishing bombs. The drone then proceeds along its flight path to the corresponding network node location above the fire. Once both the reconnaissance and firefighting drones reach the fire area, they can communicate via 4G / 5G / 6G networks. For areas without 4G / 5G / 6G signal coverage, a mesh network can be used. Because the drones are equipped with mesh self-organizing network link devices, multiple drones entering the effective communication range of the mesh devices (typically several kilometers) can automatically form a local area network, enabling mutual communication.

[0031] As can be seen, implementing this invention integrates tower monitoring equipment and reconnaissance drones to construct a comprehensive and highly efficient fire monitoring and extinguishing system, enabling rapid detection and precise location of fire sources and significantly improving fire response speed. Simultaneously, by acquiring target geographical location parameters and fire scene image data of the fire source area, precise firefighting operation parameters can be formulated to ensure the targetedness and effectiveness of firefighting operations. Furthermore, through network operation, a tight communication network is formed between the reconnaissance drones and all firefighting drones, enabling real-time information sharing and precise command transmission, further enhancing the coordination and efficiency of firefighting operations. Overall, this invention effectively improves the accuracy of fire monitoring and the efficiency of firefighting operations, providing strong technical support for the prevention and control of small and medium-sized fires in target areas prone to fires, and effectively solving the problem of controlling fires within the golden three-minute window of occurrence—"suppressing small fires, suppressing them early, and extinguishing them completely."

[0032] In an optional embodiment, step 101, determining the target geographical location parameters of the fire source area in the target area based on the first observation parameter and / or the second observation parameter, includes: When the first observation parameter and the second observation parameter are obtained, the first geographical location parameter of the fire source area is determined according to the first observation parameter, and the second geographical location parameter of the fire source area is determined according to the second observation parameter. Based on the first geographical location parameter and the second geographical location parameter, the target geographical location parameter of the fire source area is determined.

[0033] In this optional embodiment, further, determining the first geographical location parameter of the fire source area based on the first observation parameter includes: Obtain the basic equipment parameters of the tower monitoring equipment and the pixel coordinate parameters of the fire source area in the target area; Based on the pixel size parameters and pixel coordinate parameters, the image coordinate parameters of the fire source area are determined, and based on the observation height parameters and observation pitch angle parameters, the second distance parameters between the tower monitoring equipment and the fire source area are determined. Based on the second distance parameter, image coordinate parameter, device focal length parameter, and device latitude and longitude parameter, the target latitude and longitude parameters of the fire source area are calculated as the first geographical location parameter of the fire source area.

[0034] In this optional embodiment, the basic equipment parameters include pixel size parameters, equipment focal length parameters, and equipment latitude and longitude parameters. This can be understood as follows: First, based on the pixel size parameters dx and dy of the tower monitoring equipment, the pixel coordinate parameters (u, v) of the fire source area are converted into image coordinate parameters (x, y), where x = u * dx, y = v * dy. Simultaneously, based on the observation height parameter Hc and observation pitch angle parameter φ of the tower monitoring equipment, the second distance parameter Z between the tower monitoring equipment and the fire source area is calculated (Z = |OP| = Hc / tan(φ), where O is the optical center of the tower monitoring equipment, and P is the target point in the fire source area). Then, based on the second distance parameter Z, the image coordinate parameters (x, y), the equipment focal length parameter f, and the equipment latitude and longitude parameters lat (equipment latitude) and lon (equipment longitude), the target latitude and longitude parameters t_lat (target latitude parameter of the fire source area) and t_lon (target longitude parameter of the fire source area) of the fire source area are calculated.

[0035] As can be seen, this optional embodiment first converts the pixel coordinates of the fire source area into image coordinates using the pixel size of the tower monitoring equipment, and calculates the distance between the equipment and the fire source by combining the observation height and pitch angle of the tower monitoring equipment. Then, it fuses the equipment's focal length and latitude / longitude parameters to calculate the first geographical location parameter of the fire source area. Simultaneously, based on the reconnaissance UAV's body position parameters, pod frame angle parameters, and the first distance parameter, the second geographical location parameter of the fire source area is calculated. Finally, by combining the two, the target geographical location parameter of the fire source area is determined. This not only significantly improves the accuracy of fire source positioning and effectively overcomes the limitations of single-parameter positioning, but also improves the accuracy and stability of fire source positioning through multi-parameter fusion and calculation, providing accurate spatial information support for subsequent firefighting operations and contributing to more efficient and precise fire prevention and rescue.

[0036] In another optional embodiment, the target latitude and longitude parameters of the fire source area are calculated based on the second distance parameter, image coordinate parameters, device focal length parameters, and device latitude and longitude parameters, including: Based on the second distance parameter, the device focal length parameter, and the image coordinate parameter, determine the coordinate parameters to be converted for the fire source area in the device coordinate system that matches the tower monitoring device; Based on the observed pitch angle parameters and observed horizontal angle parameters, the Euler angle parameters of the tower monitoring equipment are determined, and the observation rotation matrix of the tower monitoring equipment is calculated based on the Euler angle parameters. Based on the observation rotation matrix and the preset translation matrix between the equipment coordinate system and the Earth coordinate system, the coordinate transformation matrix corresponding to the fire source area is determined, and based on the coordinate parameters to be transformed and the coordinate transformation matrix, the Earth coordinate parameters of the fire source area in the Earth coordinate system are determined. Based on Earth coordinate parameters, equipment latitude and longitude parameters, and Earth radius parameters, determine the target latitude and longitude parameters of the fire source area.

[0037] In this optional embodiment, the calculation process for the target latitude and longitude parameters of the fire source area is as follows: First, based on the second distance parameter Z, the image coordinate parameters (x, y), and the device focal length parameter f, the initial coordinate parameters (X, Y) of the fire source area in the device coordinate system matching the tower monitoring equipment are calculated. Subsequently, based on the initial coordinate parameters (X, Y), the coordinate parameters to be transformed for the fire source region in the device coordinate system are determined. .

[0038] At the same time, based on the observed pitch angle parameter φ and the observed horizontal angle parameter α of the tower monitoring equipment, the Euler angle parameters of the tower monitoring equipment are determined. Based on the Euler angle parameter, the observation rotation matrix of the tower monitoring equipment is calculated. .in, ,as well as: ; in, .

[0039] Then, based on the observed rotation matrix The translation matrix between the preset device coordinate system and the Earth coordinate system Calculate the coordinate transformation matrix ,in, And based on the coordinate parameters to be transformed. and coordinate transformation matrix Determine the Earth coordinate parameters of the fire source region in an Earth coordinate system (such as the NE-G coordinate system). ,in, .

[0040] Finally, based on Earth coordinate parameters The latitude and longitude parameters lat and lon of the equipment, as well as the Earth's radius parameter R, can be used to determine the target latitude and longitude parameters t_lat and t_lon of the fire source area, where t_lat = (lat + Xn / R) and t_lon = lon + Yn / R / cos(t_lat).

[0041] As can be seen, this optional embodiment can first determine the initial coordinates of the fire source in the device coordinate system, then construct an observation rotation matrix through Euler angle parameters, and obtain a coordinate transformation matrix by combining the translation relationship between the device and the Earth coordinate system. Finally, the device coordinates are converted into Earth coordinates and the target latitude and longitude of the fire source area are calculated. In this way, by using the geometric relationship of the observation data and the principle of spatial transformation, the reliability and accuracy of fire source location are significantly improved, and the errors caused by single parameters or simple estimations are reduced. This is conducive to providing more scientific and accurate spatial positioning support for fire monitoring and emergency response.

[0042] In yet another optional embodiment, the method further includes: Before controlling all firefighting drones to fly to the fire source area, determine the ammunition loading parameters of all firefighting drones based on the target geographical location parameters and fire scene image data; Based on the ammunition loading parameters of all firefighting drones, ammunition loading operations were performed on all firefighting drones.

[0043] In this optional embodiment, the ammunition loading parameters may include at least one of the following: ammunition type parameters, ammunition quantity parameters, and ammunition weight parameters. For example, based on the area of ​​the fire source region where the fire is more intense and the burning area is larger, some fire-fighting drones can be assigned high-efficiency dry powder fire extinguishing bombs, and it can be determined that these fire-fighting drones need to carry N dry powder bombs, each weighing M kilograms; while for some areas where the fire is relatively smaller and the smoke is denser, some fire-fighting drones can be assigned water-based fire extinguishing bombs, and it can be determined that these fire-fighting drones need to carry L dry powder bombs, each weighing J kilograms. Subsequently, a robotic arm can quickly and accurately load ammunition onto all fire-fighting drones based on these precise ammunition loading parameters to ensure that the fire-fighting drones can fly to the fire scene in optimal condition and engage in fire-fighting operations.

[0044] As can be seen, this optional embodiment can determine the ammunition loading parameters based on target geographical location parameters and fire scene image data before controlling the fire-fighting drone to fly to the fire source area, and then load the ammunition onto the drone according to the loading parameters. This allows for the selection of more targeted fire-fighting ammunition for areas with different fire intensities and smoke concentrations within the fire source area, thereby quickly and effectively controlling the fire and reducing the losses caused by the fire. In addition, precise ammunition loading can also ensure the flight safety of the drone, reducing the impact on the drone's flight performance and stability caused by improper ammunition loading, and ensuring that the entire fire-fighting operation can be carried out safely, orderly, and efficiently.

[0045] In yet another optional embodiment, the method further includes: Before a fire occurs in the target area, obtain the hangar parameters for each of the multiple pre-set hangars; Obtain the basic parameters of all fire extinguishing shells to be loaded; Based on the hangar parameters of all hangars and the basic parameters of all fire extinguishing grenades, predict the parameters that will be affected after loading all fire extinguishing grenades. Based on the parameters affected by loading all fire extinguishing shells, determine the periodic loading parameters for all fire extinguishing shells. Based on the periodic loading parameters corresponding to all fire extinguishing grenades, pre-loading operations are performed on all fire extinguishing drones in all hangars.

[0046] In this optional embodiment, in addition to loading the firefighting drone with ammunition after receiving the firefighting operation command but before the firefighting operation, the firefighting drone can also be pre-loaded with ammunition before a fire occurs in the target area, so that it can be ready to be deployed to the firefighting operation as soon as the firefighting operation command is issued.

[0047] Optionally, the basic parameters include at least one of the following: fire extinguishing bomb type parameters, fire extinguishing bomb contents parameters, and fire extinguishing bomb mechanical structure parameters; hangar parameters include hangar geographical location parameters and / or hangar environmental parameters (such as hangar temperature and humidity parameters, hangar size parameters, etc.).

[0048] Further optional, the parameters affected after loading include at least one of the following: parameters of moisture absorption of contents after loading, parameters of deterioration of contents after loading, and parameters of damage to the outer casing after loading; the parameters of periodic loading include parameters of periodic loading time and parameters of periodic loading quantity.

[0049] For example, the basic parameters of all the fire extinguishing bombs to be mounted can be obtained from the database. These fire extinguishing bombs are of various types, including dry powder fire extinguishing bombs and water-based fire extinguishing bombs. The contents of each type of fire extinguishing bomb, such as the composition of the dry powder and the concentration of the water-based solution, as well as the mechanical structure parameters, such as the shell material and size, are recorded in detail.

[0050] Next, the system performs a comprehensive analysis based on the hangar parameters of each hangar. Different hangars have different geographical locations; some are near the coast with high humidity, while others are inland and drier. Furthermore, the temperature and humidity parameters of the hangars vary depending on the operation of the air conditioning system, and the hangar size determines the number of drones and fire extinguishing bombs it can accommodate. Based on these hangar parameters and the basic parameters of the fire extinguishing bombs, the system predicts the parameters that will be affected after loading all fire extinguishing bombs. For example, in a hangar with high humidity, the moisture content parameters of water-based fire extinguishing bombs will show a higher risk after loading, potentially leading to solution dilution; while in a hangar with higher temperatures, the deterioration parameters of the contents of dry powder fire extinguishing bombs may increase after loading, affecting the fire extinguishing effect.

[0051] Subsequently, based on these predicted parameters of impact after loading, the system further determines the periodic loading parameters for all fire extinguishing bombs. For water-based fire extinguishing bombs with a high risk of moisture absorption, in hangars with high humidity, the periodic loading time parameter is set to a shorter cycle, such as checking and replacing every 3 days; while for dry powder fire extinguishing bombs in dry hangars with a low risk of deterioration, the periodic loading time parameter can be set to check every 10 days. The periodic loading quantity parameter can be reasonably allocated according to the UAV sortie frequency and historical regional fire conditions.

[0052] Finally, staff or robotic arms pre-load all fire-fighting drones in all hangars with fire extinguishing munitions according to the periodic loading parameters for all fire extinguishing munitions, to ensure that the drones can quickly deploy in combat with fire extinguishing munitions in good condition when a fire occurs.

[0053] As can be seen, this optional embodiment can determine the pre-loading operation method based on multi-parameter comprehensive analysis. It can detect various problems that may occur during the loading process of fire extinguishing bombs in advance, such as moisture absorption, deterioration of contents, and damage to the outer shell. This allows for targeted preventive measures to be taken, which not only effectively shortens the response time required for subsequent fire extinguishing operations, but also effectively ensures the quality and performance of fire extinguishing bombs in subsequent fire extinguishing operations, thus ensuring the success rate of fire extinguishing drone operations.

[0054] In yet another optional embodiment, the method further includes: During firefighting operations, acquire the current status parameters of all firefighting drones; Based on the current status parameters of all firefighting drones, identify all drones whose current status parameters meet the preset drone recovery conditions and obtain the current position parameters of all drones to be recovered. Obtain the target hangar parameters for each of the multiple preset hangars; For each drone to be recovered, based on the target hangar parameters of all hangars, the current position parameters of the drone to be recovered, and the current status parameters, a recovery hangar that matches the drone to be recovered is determined from all hangars, and the drone to be recovered is recovered through the recovery hangar.

[0055] In this optional embodiment, the current status parameters may include at least one of the following: current remaining power parameters, current fault parameters, and current remaining fire extinguishing bomb parameters; the target hangar parameters may include hangar geographical location parameters and hangar status parameters (such as hangar spatial status, number of drones to be recovered in the hangar, etc.).

[0056] For example, during firefighting operations, the fire command system acquires the real-time status parameters of all firefighting drones. Some drones, due to prolonged flight, show low remaining battery levels; several drones encountered obstacles during flight, exhibiting mechanical malfunctions as indicated by the current fault parameters; and others, after multiple rounds of bomb drops, have very few remaining fire extinguishing bombs. The system then acquires the target hangar parameters from multiple pre-set hangars. These hangars are located in different geographical areas around the fire site. Some hangars are close to the fire, allowing for rapid drone reception; others, though farther away, have good space to accommodate the drones to be recovered, and the number of drones to be recovered is relatively small. The system then performs a comprehensive analysis and matching based on the target hangar parameters, the current location parameters of the drones to be recovered, and their current status parameters. For example, for a drone whose battery is about to run out and located on the east side of the fire, the system prioritizes selecting a hangar that is close to the east side of the fire and in good condition as the recovery hangar. For another drone with mechanical failure and a large number of remaining fire extinguishing bombs, considering the convenience of repair and reloading, a hangar with professional repair equipment and sufficient fire extinguishing bomb reserves is selected for recovery. Thus, after determining the recovery hangar, wireless communication commands can be used to instruct the hangar to perform the recovery operation on the corresponding drone, and finally, the drone flies back to the designated hangar along a preset route.

[0057] As can be seen, this optional embodiment can realize the dynamic recovery of firefighting drones during firefighting operations. This is conducive to improving the accuracy and efficiency of the recovery of firefighting drones, and also facilitates the smooth operation of the hangar. It provides strong support for the subsequent maintenance, arming, and re-deployment of drones, thereby improving the efficiency and success rate of the entire firefighting and rescue operation.

[0058] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another method for firefighting operations using drone-assisted collaborative control, as disclosed in an embodiment of the present invention. Figure 2 The described drone-based collaborative firefighting method can be applied to various fire scenarios, such as forests, sea surfaces, hillsides, and towns, etc., and this invention is not limited in its application. Optionally, this method can be implemented by a collaborative firefighting control system, which can be integrated into intelligent terminal devices (such as smart computers, smartphones, tablets, fire command and control platforms, host computers, etc.), or it can be a local server or cloud server used to process the drone-based collaborative firefighting operation process, etc., and this invention is not limited in its application. Figure 2As shown, the firefighting operation method using drone-assisted collaborative control may include the following operations: 201. When the preset tower monitoring equipment and / or reconnaissance drone detects a fire in the target area, the first observation parameters of the tower monitoring equipment and / or the second observation parameters of the reconnaissance drone are obtained, and the target geographical location parameters of the fire source area in the target area are determined based on the first observation parameters and / or the second observation parameters.

[0059] 202. Acquire fire scene image data of the target equipment for the fire source area, and analyze the target characteristic parameters of the fire source area based on the fire scene image data.

[0060] In this embodiment of the invention, the target feature parameters include fire source feature parameters and smoke feature parameters. Optionally, the fire source feature parameters include at least one of the following: fire line length parameter, fire area parameter, flame height parameter, flame brightness parameter, flame color parameter, fire spread direction parameter, and fire temperature distribution parameter; the smoke feature parameters include at least one of the following: smoke type parameter, smoke concentration parameter, and smoke direction parameter.

[0061] 203. Obtain the environmental parameters of the fire source area, and determine the impact on the fire source area based on the environmental parameters and target characteristic parameters.

[0062] In this embodiment of the invention, the environmental parameters may optionally include at least one of temperature and humidity parameters, wind direction parameters, wind speed parameters, light intensity parameters, precipitation parameters, terrain parameters, and flammable target distribution parameters. The affected conditions include the impact on the ignition source and the impact on smoke, such as the predicted future time period, due to the influence of high light intensity, high wind speed, etc., the expansion of the ignition source area, the increase in temperature, the increase in fire intensity, the increase in smoke concentration, the change in smoke direction, etc.

[0063] 204. Based on the affected situation and target characteristic parameters, determine the risk level parameters of the fire source area, and based on the risk level parameters, determine the required parameters for firefighting drones in the fire source area.

[0064] In this embodiment of the invention, the fire-fighting drone requirement parameters include the number of all fire-fighting drones required for the fire source area and the deployment type parameters (such as multi-rotor, fixed-wing, compound-wing, unmanned helicopter, etc., which can be one type or multiple types).

[0065] Furthermore, the risk level parameters of the fire source area can be determined by the fire control system. Reconnaissance drones can loiter above the fire source for extended periods, tracking the target. Simultaneously, relying on visible light and infrared thermal imaging equipment, they collect high-resolution images of the fire scene. Combined with intelligent mosaic algorithms, the mosaic results are overlaid onto a GIS map to support the fire control system's analysis of fire source / smoke characteristic parameters. This allows the fire control system to accurately assess the risk level parameters of the fire source area by incorporating environmental parameters. For example, the fire control system can use a dynamic decision-making model built based on reinforcement learning to extract dynamic features such as fire line length, flame area, and fire spread direction from fire images. Combined with infrared thermal imaging data, it can quantify the fire temperature distribution and, along with real-time environmental parameters, conduct a risk assessment.

[0066] Furthermore, the fire control system can determine the number of fire-fighting drones and the deployment type parameters based on the risk level parameter (equivalent to a weighting parameter) and other parameters, such as the fire area parameter, the effective fire extinguishing area of ​​the fire extinguishing bombs, and the maximum number of fire extinguishing bombs that each fire-fighting drone can carry.

[0067] 205. Determine the firefighting operation parameters for the fire source area based on the target's geographical location parameters, the impact situation, the target's characteristic parameters, and the firefighting drone's required parameters.

[0068] 206. Control all firefighting drones within the range of firefighting operation parameters to fly from all target hangars to the fire source area, so that the reconnaissance drones and all firefighting drones can form a network. After the network operation is completed, control all firefighting drones to carry out firefighting operations in the fire source area through the reconnaissance drones and according to the firefighting flight control parameters and bombing parameters of all firefighting drones.

[0069] In this embodiment of the invention, for other descriptions of steps 201 and 206, please refer to the detailed description of steps 101 and 103 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0070] As can be seen, implementing the embodiments of the present invention can first utilize the collaborative monitoring of tower monitoring equipment and reconnaissance drones to locate the geographical location of the fire source; then, using intelligent fire scene image analysis technology, target features of the fire source area are extracted, and combined with environmental parameters, the risk level of the fire source area is assessed to determine the type and number of fire-fighting drones required for the fire source area. Based on the real-time updated fire source location, target features, and environmental impact data, fire-fighting operation parameters are automatically generated. This helps to improve the reliability and accuracy of determining fire-fighting operation parameters for the fire source area, thereby improving the rationality of fire-fighting resource allocation and facilitating the realization of an efficient and intelligent drone fire-fighting operation process.

[0071] In an optional embodiment, step 205 above, which determines the firefighting operation parameters for the fire source area based on target geographical location parameters, affected conditions, target characteristic parameters, and firefighting drone requirements, includes: Based on the target geographical location parameters, the affected situation, and the target characteristic parameters, the fire source area is divided into multiple target sub-areas. Then, based on the preset set of fire extinguishing bomb type parameters and the fire extinguishing area parameter set, the fire extinguishing bomb requirement parameters corresponding to each target sub-area are determined. Based on the deployment type parameters of each firefighting drone, the target capability parameters of each firefighting drone are determined. Based on the fire extinguishing ammunition requirements parameters corresponding to all target sub-areas and the target capability parameters of all firefighting drones, the target sub-area corresponding to each firefighting drone's firefighting operation, the firefighting flight control parameters for the corresponding target sub-area, and the ammunition dropping parameters are determined.

[0072] In this optional embodiment, it can be understood that, based on the current fire distribution, fire / smoke change trend, fire area, etc., the fire source area is divided into M target sub-areas. Based on the regional geographical location parameters, regional impact, regional characteristic parameters, preset fire extinguishing bomb type parameter set, and fire extinguishing bomb extinguishing area parameter set of each target sub-area, the number and type of bombs to be dropped are planned for each target sub-area. Then, combined with the target capability parameters of the fire extinguishing drone, the bombing route, bomb quantity, bombing method, etc. of the corresponding target sub-area are planned.

[0073] Optionally, the fire extinguishing grenade requirement parameters include at least one of the following: fire extinguishing grenade quantity requirement parameters, fire extinguishing grenade type requirement parameters, and fire extinguishing grenade weight requirement parameters; the target capability parameters include at least one of the following: flight capability parameters, obstacle avoidance capability parameters, load capacity parameters, and hovering capability parameters.

[0074] Optionally, each firefighting drone can correspond to one or more target sub-regions. The firefighting flight control parameters for each firefighting drone targeting a specific target sub-region include at least one of the following: flight speed, flight direction, flight path, hovering position, hovering duration, and flight mode. The bombing parameters for each firefighting drone targeting a specific target sub-region include at least one of the following: bomb quantity, bombing path, bombing position, bombing direction, bombing type, bombing frequency, and relative bombing speed.

[0075] As can be seen, this optional embodiment can scientifically divide the fire source area into multiple target sub-regions based on the fire source's geographical location, the impact situation, and target characteristic parameters, and determine the fire extinguishing bomb demand plan for each target sub-region by combining the fire extinguishing bomb performance parameters; at the same time, it matches the core capability parameters such as flight, load, and obstacle avoidance of the UAV according to its type, and dynamically plans the operating sub-region, bombing strategy, and fire extinguishing flight control strategy for each UAV. In this way, it can ensure the precise matching of fire extinguishing resources with fire demand, which not only reduces resource waste but also improves fire extinguishing efficiency. Moreover, through multi-parameter collaborative optimization, it significantly enhances the flexibility and response capability of fire extinguishing operations in complex fire scene environments.

[0076] In another alternative embodiment, the method further includes: During firefighting operations, the system receives real-time image data of the fire source area transmitted by reconnaissance drones, as well as the target information of all firefighting drones. Analyze the current characteristic parameters of the fire source area based on the current fire scene image data; Based on the first current feature parameters of all the already operated sub-regions, determine whether there are any sub-regions that do not meet the preset operation effect conditions (i.e., sub-regions that need to be reoperated or re-operated when the fire reignites or is not completely extinguished). When the judgment result is negative, based on the second current feature parameters of all non-operational sub-areas and the target status of all firefighting drones, update the target sub-areas, firefighting flight control parameters and bombing parameters corresponding to the corresponding target sub-areas of all firefighting drones, so as to control all firefighting drones to continue firefighting operations in all non-operational sub-areas according to the updated firefighting flight control parameters and bombing parameters of all firefighting drones. When the judgment result is yes, based on the first current characteristic parameters of the heavily operated sub-region, the second current characteristic parameters of all unoperated sub-regions, and the target status of all firefighting drones, update the target sub-regions, firefighting flight control parameters for the corresponding target sub-regions, and bombing parameters of all firefighting drones, so as to control all firefighting drones to continue firefighting operations in all unoperated and heavily operated sub-regions according to the updated firefighting flight control parameters and bombing parameters of all firefighting drones.

[0077] In this optional embodiment, the target situation may include at least one of the following: remaining fire extinguishing ammunition status, drone recovery status, and drone replenishment status. Drone recovery status can be understood as follows: during operation, the fire command system can determine whether a fire extinguishing drone needs to be recovered based on its battery level, fault status, and remaining fire extinguishing ammunition parameters. If so, based on its current location and flight capabilities, a target hangar is determined for the drone, and it is recovered from the hangar for charging / repairing, maintenance, and replenishment of fire extinguishing ammunition. If a fire extinguishing drone is not safe to land in the hangar during or after operation, it can land at a pre-set nearest alternate landing point. Drone replenishment status can be understood as follows: during operation, the fire command system can determine the number, type, and ammunition parameters of fire extinguishing drones that need to be replenished based on factors such as the increase in fire area, fire intensity, smoke concentration, fault status of existing fire extinguishing drones, fire extinguishing effect parameters of already operated sub-areas, and environmental changes in the fire area.

[0078] Furthermore, the current characteristic parameters of the fire source area include the first current characteristic parameters of all operated sub-areas in all target sub-areas and the second current characteristic parameters of all unoperated sub-areas. Both the first and second current characteristic parameters include the corresponding current fire source characteristic parameters and current smoke characteristic parameters, such as at least one of the following: current fire line length parameter, current fire area parameter, current flame height parameter, current flame brightness parameter, current flame color parameter, current fire spread direction parameter, current fire temperature distribution parameter, current smoke type parameter, current smoke concentration parameter, current smoke direction parameter, etc.

[0079] For example, reconnaissance drones can dynamically plan the continued operation sub-area, firefighting flight control parameters, and bombing parameters for each firefighting drone in the fire source area based on the current characteristic parameters of the operational / non-operational sub-areas in real time, combined with the target situation corresponding to all firefighting drones. This enables dynamic operation, effectively improving the flexibility of firefighting operations and thus helping to ensure that each target sub-area achieves excellent firefighting results.

[0080] Next, once the number of unattended and heavily-attended sub-areas is determined to be zero, the firefighting mission can be considered complete. The reconnaissance drone can then continue to monitor the fire scene and assess the firefighting effect. This can be done by using onboard visible light, infrared, or spectral equipment to analyze the fire source and check for any remaining fire sources or localized high-temperature areas. If so, reconnaissance continues; otherwise, the fire is considered extinguished. If the fire is extinguished and there is no risk of reignition, the results can be reported to the fire control system, and patrol missions can continue. If the fire is not yet extinguished, the latest fire situation will be reported as an early warning.

[0081] As can be seen, this optional embodiment can receive real-time fire scene image data transmitted by reconnaissance drones during the firefighting process, dynamically analyze the fire source / smoke characteristic parameters of the operated and unoperated sub-areas, and combine real-time information such as the remaining ammunition and recovery status of the firefighting drones to identify sub-areas that need to be reoperated. Then, by dynamically adjusting the target area, flight control parameters and bombing strategy of each firefighting drone, it ensures accurate coverage of the unoperated areas and implements enhanced firefighting in the reoperated areas. This is conducive to forming a closed-loop control system of "monitoring-evaluation-adjustment-execution", which significantly improves the flexibility and adaptability of firefighting operations, effectively avoids resource waste and firefighting blind spots, and ensures the thoroughness of the firefighting effect through the fire scene final state verification mechanism. It provides a complete dynamic decision-making solution for efficient and safe firefighting in complex fire scene environments.

[0082] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of a firefighting system with drone collaborative control, as disclosed in an embodiment of the present invention. Figure 3 As shown, the firefighting system controlled by the drone can include: The acquisition module 301 is used to acquire the first observation parameters of the tower monitoring equipment and / or the second observation parameters of the reconnaissance drone when the preset tower monitoring equipment and / or reconnaissance drone monitors a fire in the target area; The determination module 302 is used to determine the target geographical location parameters of the fire source area in the target area based on the first observation parameters and / or the second observation parameters; The acquisition module 301 is also used to acquire fire scene image data of the fire source area from the target device; the target device includes at least a reconnaissance drone that has flown to the fire source area; The determination module 302 is also used to determine the fire extinguishing operation parameters for the fire source area based on the target geographical location parameters and fire scene image data; The control module 303 is used to control all fire-fighting drones within the range of fire-fighting operation parameters to fly from all target hangars to the fire source area, so as to enable the reconnaissance drones and all fire-fighting drones to form a network. After the network operation is completed, the reconnaissance drones control all fire-fighting drones to carry out fire-fighting operations in the fire source area according to the fire-fighting flight control parameters and bombing parameters of all fire-fighting drones.

[0083] In this embodiment of the invention, the fire extinguishing operation parameters for the fire source area include at least one target hangar required for the fire source area, and the fire extinguishing flight control parameters and bombing parameters for each fire extinguishing drone in each target hangar.

[0084] Furthermore, the control module 303 controls all firefighting drones to fly to the fire source area, so that the reconnaissance drones and all firefighting drones can network together in the following ways: Acquire target networking reference parameters that match reconnaissance drones and all firefighting drones; Based on the target network reference parameters, determine the corresponding communication parameters for each firefighting drone; Based on the communication flight control parameters of all firefighting drones, control all firefighting drones to fly to the corresponding network node position in the fire source area, so that reconnaissance drones and all firefighting drones can form a network.

[0085] In this optional embodiment, the target networking reference parameters include at least one of the following: signal coverage parameters of the fire source area, first position parameters of the reconnaissance drone, first communication capability parameters, second position parameters of all firefighting drones, and second communication capability parameters; the communication parameters corresponding to each firefighting drone include the communication object parameters corresponding to the firefighting drone and the communication firefighting flight control parameters, and the communication object parameters corresponding to the firefighting drone include the reconnaissance drone, or include the reconnaissance drone and the target communication firefighting drone.

[0086] It is evident that implementation Figure 3The described drone-based collaborative firefighting system integrates tower monitoring equipment with reconnaissance drones to construct a comprehensive and highly efficient fire monitoring and suppression system. This enables rapid detection and precise location of fire sources, significantly improving fire response speed. Simultaneously, by acquiring target geographical location parameters and fire scene image data of the fire source area, firefighting operation parameters can be precisely formulated to ensure the targeted and effective nature of firefighting operations. Furthermore, through network operation, a tight communication network is formed between the reconnaissance drones and all firefighting drones, enabling real-time information sharing and precise command transmission, further enhancing the coordination and efficiency of firefighting operations. Overall, this invention effectively improves the accuracy of fire monitoring and the efficiency of firefighting operations, providing strong technical support for fire prevention and control in fire-prone target areas.

[0087] In an optional embodiment, the first observation parameters include observation altitude parameters, observation pitch angle parameters, and observation horizontal angle parameters, and the second observation parameters include body position parameters, pod frame angle parameters, and a first distance parameter between the pod and the fire source area in the target area. Specifically, the method by which the determining module 302 determines the target geographical location parameters of the fire source area in the target region based on the first observation parameters and / or the second observation parameters includes: When the first observation parameter and the second observation parameter are obtained, the first geographical location parameter of the fire source area is determined according to the first observation parameter, and the second geographical location parameter of the fire source area is determined according to the second observation parameter. Based on the first geographical location parameter and the second geographical location parameter, determine the target geographical location parameter of the fire source area; Among them, the first geographical location parameters of the fire source area are determined based on the first observation parameters, including: Obtain the basic equipment parameters of the tower monitoring equipment and the pixel coordinate parameters of the fire source area in the target area; the basic equipment parameters include pixel size parameters, equipment focal length parameters, and equipment latitude and longitude parameters; Based on the pixel size parameters and pixel coordinate parameters, the image coordinate parameters of the fire source area are determined, and based on the observation height parameters and observation pitch angle parameters, the second distance parameters between the tower monitoring equipment and the fire source area are determined. Based on the second distance parameter, image coordinate parameter, device focal length parameter, and device latitude and longitude parameter, the target latitude and longitude parameters of the fire source area are calculated as the first geographical location parameter of the fire source area.

[0088] In this optional embodiment, the basic equipment parameters include pixel size parameters, equipment focal length parameters, and equipment latitude and longitude parameters.

[0089] It is evident that implementation Figure 4The described UAV-coordinated firefighting system first converts the pixel coordinates of the fire source area into image coordinates using the pixel size of the tower monitoring equipment. Then, it calculates the distance between the equipment and the fire source by combining the observation height and pitch angle of the tower monitoring equipment. Next, it fuses the equipment's focal length and latitude / longitude parameters to calculate the first geographical location parameter of the fire source area. Simultaneously, based on the reconnaissance UAV's body position parameters, pod frame angle parameters, and the first distance parameter, it calculates the second geographical location parameter of the fire source area. Finally, it combines both parameters to determine the target geographical location parameter of the fire source area. This not only significantly improves the accuracy of fire source location and effectively overcomes the limitations of single-parameter location, but also enhances the accuracy and stability of fire source location through multi-parameter fusion and calculation. This provides accurate spatial information support for subsequent firefighting operations, contributing to more efficient and precise fire prevention and rescue.

[0090] In another optional embodiment, the method by which the determining module 302 calculates the target latitude and longitude parameters of the fire source area based on the second distance parameter, image coordinate parameters, device focal length parameters, and device latitude and longitude parameters specifically includes: Based on the second distance parameter, the device focal length parameter, and the image coordinate parameter, determine the coordinate parameters to be converted for the fire source area in the device coordinate system that matches the tower monitoring device; Based on the observed pitch angle parameters and observed horizontal angle parameters, the Euler angle parameters of the tower monitoring equipment are determined, and the observation rotation matrix of the tower monitoring equipment is calculated based on the Euler angle parameters. Based on the observation rotation matrix and the preset translation matrix between the equipment coordinate system and the Earth coordinate system, the coordinate transformation matrix corresponding to the fire source area is determined, and based on the coordinate parameters to be transformed and the coordinate transformation matrix, the Earth coordinate parameters of the fire source area in the Earth coordinate system are determined. Based on Earth coordinate parameters, equipment latitude and longitude parameters, and Earth radius parameters, determine the target latitude and longitude parameters of the fire source area.

[0091] In this optional embodiment, the coordinate parameters to be transformed for the fire source region are: ; in, (x, y) are the image coordinate parameters of the fire source area, f is the device focal length parameter, and Z is the second distance parameter; And, the observation rotation matrix of the tower monitoring equipment is: ; in, ; Ax, Ay, and Az are determined using the Euler angle parameters [AxAyAz] of the tower monitoring equipment. φ is the observation pitch angle parameter, and α is the observation horizontal angle parameter.

[0092] Furthermore, the Earth coordinate parameters of the fire source region are as follows: ; in, Let be the coordinate transformation matrix corresponding to the fire source region, and , It is a translation matrix; Furthermore, the target latitude parameter t_lat and target longitude parameter t_lon in the target latitude and longitude parameters of the fire source area are respectively: t_lat = (lat + Xn / R), t_lon = lon + Yn / R / cos(t_lat); Where lat is the latitude parameter of the equipment in the latitude and longitude parameters, lon is the longitude parameter of the equipment in the latitude and longitude parameters, and R is the Earth radius parameter.

[0093] It is evident that implementation Figure 4 The described UAV-coordinated firefighting system first determines the initial coordinates of the fire source in the equipment coordinate system, then constructs an observation rotation matrix using Euler angle parameters, and obtains a coordinate transformation matrix by combining the translation relationship between the equipment and the Earth coordinate system. Finally, it converts the equipment coordinates into Earth coordinates and calculates the target latitude and longitude of the fire source area. In this way, by using the geometric relationship of the observation data and the principle of spatial transformation, the reliability and accuracy of fire source positioning are significantly improved, and the errors caused by single parameters or simple estimations are reduced. This is conducive to providing more scientific and accurate spatial positioning support for fire monitoring and emergency response.

[0094] In another optional embodiment, the method by which the determining module 302 determines the fire extinguishing operation parameters for the fire source area based on the target geographical location parameters and fire scene image data specifically includes: Analyze the target characteristic parameters of the fire source area based on fire scene image data; Obtain environmental parameters of the fire source area, and determine the impact on the fire source area based on the environmental parameters and target characteristic parameters; Based on the affected situation and target characteristic parameters, determine the risk level parameters of the fire source area, and based on the risk level parameters, determine the required parameters for firefighting drones in the fire source area. Based on the target's geographical location parameters, the impact situation, the target's characteristic parameters, and the requirements of firefighting drones, determine the firefighting operation parameters for the fire source area.

[0095] In this optional embodiment, the target characteristic parameters include fire source characteristic parameters and smoke characteristic parameters; the environmental parameters include at least one of temperature and humidity parameters, wind direction parameters, wind speed parameters, light intensity parameters, precipitation parameters, terrain parameters, and flammable target distribution parameters; the affected conditions include the fire source affected conditions and the smoke affected conditions; the fire-fighting drone requirement parameters include the number of all fire-fighting drones required in the fire source area and the deployment type parameters.

[0096] It is evident that implementation Figure 4 The described drone-based collaborative firefighting system first uses the collaborative monitoring of tower monitoring equipment and reconnaissance drones to locate the fire source. Then, it uses intelligent fire scene image analysis technology to extract target features of the fire source area and, combined with environmental parameters, assesses the risk level of the fire source area to determine the type and number of firefighting drones required. Based on real-time updated data on the fire source location, target features, and environmental impact, it automatically generates firefighting operation parameters. This improves the reliability and accuracy of determining firefighting operation parameters for the fire source area, thereby enhancing the rationality of firefighting resource allocation and facilitating efficient and intelligent drone-based firefighting operations.

[0097] In another optional embodiment, the method by which the determining module 302 determines the firefighting operation parameters for the fire source area based on the target geographical location parameters, the affected situation, the target characteristic parameters, and the firefighting drone requirement parameters specifically includes: Based on the target geographical location parameters, the affected situation, and the target characteristic parameters, the fire source area is divided into multiple target sub-areas. Then, based on the preset set of fire extinguishing bomb type parameters and the fire extinguishing area parameter set, the fire extinguishing bomb requirement parameters corresponding to each target sub-area are determined. Based on the deployment type parameters of each firefighting drone, the target capability parameters of each firefighting drone are determined. Based on the fire extinguishing ammunition requirements parameters corresponding to all target sub-areas and the target capability parameters of all firefighting drones, the target sub-area corresponding to each firefighting drone's firefighting operation, the firefighting flight control parameters for the corresponding target sub-area, and the ammunition dropping parameters are determined.

[0098] In this optional embodiment, the fire extinguishing grenade requirement parameters include at least one of the following: fire extinguishing grenade quantity requirement parameters, fire extinguishing grenade type requirement parameters, and fire extinguishing grenade weight requirement parameters; the target capability parameters include at least one of the following: flight capability parameters, obstacle avoidance capability parameters, load capacity parameters, and hovering capability parameters.

[0099] It is evident that implementation Figure 4The described UAV-based collaborative firefighting system can scientifically divide the fire source area into multiple target sub-regions based on the fire source's geographical location, the impact situation, and target characteristic parameters. It also determines the required fire extinguishing bombs for each target sub-region by combining fire extinguishing bomb performance parameters. Simultaneously, it matches the UAV's core capabilities such as flight, payload, and obstacle avoidance according to its type, dynamically planning the operational sub-region, bombing strategy, and firefighting flight control strategy for each UAV. This ensures precise matching of firefighting resources with fire situation requirements, reducing resource waste and improving firefighting efficiency. Furthermore, through multi-parameter collaborative optimization, it significantly enhances the flexibility and responsiveness of firefighting operations in complex fire environments.

[0100] In yet another optional embodiment, the system further includes: The receiving module 304 is used to receive real-time fire scene image data of the fire source area transmitted by the reconnaissance drone and the target information of all fire-fighting drones during the fire-fighting operation. Analysis module 305 analyzes the current characteristic parameters of the fire source area based on the current fire scene image data; The judgment module 306 is used to determine, based on the first current feature parameters of all the already worked sub-regions, whether there are any reworked sub-regions that do not meet the preset work effect conditions among all the already worked sub-regions; The control module 303 is further configured to, when the judgment result of the judgment module 306 is negative, update the target sub-regions, firefighting flight control parameters, and bombing parameters corresponding to all firefighting drones based on the second current characteristic parameters of all non-operational sub-regions and the target status of all firefighting drones, so as to control all firefighting drones to continue firefighting operations on all non-operational sub-regions based on the updated firefighting flight control parameters and bombing parameters of all firefighting drones; when the judgment result of the judgment module 306 is positive, update the target sub-regions, firefighting flight control parameters, and bombing parameters corresponding to all firefighting drones based on the first current characteristic parameters of the reoperational sub-regions, the second current characteristic parameters of all non-operational sub-regions, and the target status of all firefighting drones, so as to control all firefighting drones to continue firefighting operations on all non-operational sub-regions and reoperational sub-regions based on the updated firefighting flight control parameters and bombing parameters of all firefighting drones.

[0101] In this optional embodiment, the target situation includes at least one of the following: remaining fire extinguishing bomb situation, drone recovery situation, and drone replenishment situation; the current characteristic parameters of the fire source area include the first current characteristic parameters of all operated sub-areas in all target sub-areas and the second current characteristic parameters of all unoperated sub-areas, and both the first current characteristic parameters and the second current characteristic parameters include the corresponding current fire source characteristic parameters and current smoke characteristic parameters.

[0102] It is evident that implementation Figure 4 The described UAV-coordinated firefighting system can receive real-time fire scene image data transmitted by reconnaissance UAVs during the firefighting process, dynamically analyze the fire source / smoke characteristic parameters of operated and unoperated sub-areas, and combine real-time information such as the remaining ammunition and recovery status of firefighting UAVs to identify sub-areas requiring reoperation. Then, by dynamically adjusting the target area, flight control parameters, and bombing strategy of each firefighting UAV, it ensures accurate coverage of unoperated areas and implements enhanced firefighting in heavily operated areas. This facilitates the formation of a closed-loop control system of "monitoring-evaluation-adjustment-execution," significantly improving the flexibility and adaptability of firefighting operations, effectively avoiding resource waste and firefighting blind spots, and ensuring the thoroughness of firefighting results through a fire scene final state verification mechanism. It provides a complete dynamic decision-making solution for efficient and safe firefighting in complex fire scene environments.

[0103] In yet another optional embodiment, the determining module 302 is further configured to: Before the control module 303 controls all firefighting drones to fly to the fire source area, the ammunition loading parameters of all firefighting drones are determined based on the target geographical location parameters and fire scene image data. In addition, the system also includes: The ammunition loading module 307 is used to load ammunition onto all firefighting drones based on their ammunition loading parameters.

[0104] In this optional embodiment, the ammunition loading parameters include at least one of the following: ammunition type parameters, ammunition quantity parameters, and ammunition weight parameters.

[0105] It is evident that implementation Figure 4 The described drone-based collaborative firefighting system determines the ammunition loading parameters based on target geographical location parameters and fire scene image data before controlling the firefighting drone to fly to the fire source area. By loading the drone with ammunition according to these parameters, it can select more targeted fire extinguishing ammunition for areas with different fire intensities and smoke concentrations within the fire source area, thereby quickly and effectively controlling the fire and reducing losses. Furthermore, precise ammunition loading ensures drone flight safety, reducing the impact on drone flight performance and stability caused by improper ammunition loading, thus ensuring the entire firefighting operation can be conducted safely, orderly, and efficiently.

[0106] In yet another optional embodiment, the acquisition module 301 is further configured to: Before a fire occurs in the target area, obtain the hangar parameters for each of the multiple pre-set hangars; obtain the basic parameters for all fire extinguishing shells to be loaded. In addition, the system also includes: The prediction module 308 is used to predict the parameters affected by loading all fire extinguishing shells based on the hangar parameters of all hangars and the basic parameters of all fire extinguishing shells. The determination module 302 is also used to determine the periodic loading parameters of all fire extinguishing shells based on the affected parameters after loading of all fire extinguishing shells. The ammunition loading module 307 is also used to pre-load all fire-fighting drones in all hangars according to the periodic ammunition loading parameters corresponding to all fire-fighting ammunitions.

[0107] In this optional embodiment, the hangar parameters include hangar geographical location parameters and / or hangar environmental parameters; the basic parameters include at least one of the following: fire extinguishing bomb type parameters, fire extinguishing bomb contents parameters, and fire extinguishing bomb mechanical structure parameters; the parameters affected after loading the bomb include at least one of the following: fire extinguishing bomb contents moisture parameters, fire extinguishing bomb contents deterioration parameters, and fire extinguishing bomb casing damage parameters; the periodic loading parameters include periodic loading time parameters and periodic loading quantity parameters.

[0108] It is evident that implementation Figure 4 The described UAV-coordinated firefighting system can pre-load extinguishing bombs based on multi-parameter comprehensive analysis. It can detect various problems that may occur during the loading process, such as moisture absorption, deterioration of contents, and damage to the outer shell. This allows for targeted preventative measures to be taken, effectively shortening the response time required for subsequent firefighting operations and ensuring the quality and performance of the extinguishing bombs during the subsequent firefighting process, thus guaranteeing the success rate of UAV firefighting operations.

[0109] In yet another optional embodiment, the acquisition module 301 is further configured to: During firefighting operations, acquire the current status parameters of all firefighting drones; The determination module 302 is also used to determine, based on the current status parameters of all firefighting drones, all drones whose current status parameters meet the preset drone recovery conditions, and to obtain the current position parameters of all drones to be recovered. The acquisition module 301 is also used to acquire the target hangar parameters for each of the multiple preset hangars; In addition, the system also includes: The recovery module 309 is used to determine the recovery hangar that matches the drone to be recovered from all hangars based on the target hangar parameters, the current position parameters and current status parameters of the drone to be recovered, and to perform the recovery operation on the drone to be recovered through the recovery hangar.

[0110] In this optional embodiment, the current status parameters include at least one of the current remaining power parameters, current fault parameters, and current remaining fire extinguishing bomb parameters; the target hangar parameters include hangar geographical location parameters and hangar status parameters.

[0111] It is evident that implementation Figure 4 The described drone-based collaborative firefighting system enables dynamic recovery of firefighting drones during firefighting operations. This improves the accuracy and efficiency of drone recovery and facilitates smooth hangar operations, providing strong support for subsequent drone maintenance, arming, and redeployment, thereby enhancing the overall effectiveness and success rate of the firefighting and rescue operation.

[0112] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of another firefighting system with drone collaborative control disclosed in an embodiment of the present invention. Figure 5 As shown, the firefighting system controlled by the drone can include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the firefighting operation method of UAV cooperative control described in Embodiment 1 or Embodiment 2 of the present invention.

[0113] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the firefighting operation method of UAV collaborative control described in Embodiment 1 or Embodiment 2 of this invention.

[0114] Example 6 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the drone-coordinated firefighting operation method described in Embodiment 1 or Embodiment 2.

[0115] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0116] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0117] Finally, it should be noted that the method and system for firefighting operations using UAV collaborative control disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for firefighting operations using unmanned aerial vehicles (UAVs) in collaborative control, characterized in that, The method includes: When the preset tower monitoring equipment and / or reconnaissance drone detects a fire in the target area, the first observation parameters of the tower monitoring equipment and / or the second observation parameters of the reconnaissance drone are obtained, and the target geographical location parameters of the fire source area in the target area are determined based on the first observation parameters and / or the second observation parameters. The system acquires fire scene image data of the target equipment for the fire source area, and determines fire extinguishing operation parameters for the fire source area based on the target geographical location parameters and the fire scene image data. The target equipment includes at least the reconnaissance drone that has flown to the fire source area. The fire extinguishing operation parameters for the fire source area include at least one target hangar required for the fire source area, and the fire extinguishing flight control parameters and bombing parameters for each fire extinguishing drone in each target hangar. All firefighting drones within the specified firefighting operation parameters are controlled to fly from all the target hangars to the fire source area, so that the reconnaissance drones and all the firefighting drones can form a network. After the network operation is completed, the reconnaissance drones control all the firefighting drones to carry out firefighting operations in the fire source area according to the firefighting flight control parameters and bombing parameters of all the firefighting drones.

2. The method for firefighting operations using UAV collaborative control according to claim 1, characterized in that, The first observation parameters include observation altitude parameters, observation pitch angle parameters, and observation horizontal angle parameters; the second observation parameters include aircraft position parameters, pod frame angle parameters, and a first distance parameter between the aircraft and the fire source area in the target area. The step of determining the target geographical location parameters of the fire source area in the target area based on the first observation parameters and / or the second observation parameters includes: When the first observation parameter and the second observation parameter are obtained, the first geographical location parameter of the fire source area is determined according to the first observation parameter, and the second geographical location parameter of the fire source area is determined according to the second observation parameter. Based on the first geographical location parameter and the second geographical location parameter, the target geographical location parameter of the fire source area is determined; The step of determining the first geographical location parameter of the fire source area based on the first observation parameter includes: Obtain the basic equipment parameters of the tower monitoring device and the pixel coordinate parameters of the fire source area in the target area; the basic equipment parameters include pixel size parameters, device focal length parameters, and device latitude and longitude parameters; Based on the pixel size parameters and the pixel coordinate parameters, the image coordinate parameters of the fire source area are determined, and based on the observation height parameters and the observation pitch angle parameters, the second distance parameters between the tower monitoring equipment and the fire source area are determined. Based on the second distance parameter, the image coordinate parameter, the device focal length parameter, and the device latitude and longitude parameter, the target latitude and longitude parameter of the fire source area is calculated as the first geographical location parameter of the fire source area.

3. The method for firefighting operations using UAV collaborative control according to claim 2, characterized in that, The step of calculating the target latitude and longitude parameters of the fire source area based on the second distance parameter, the image coordinate parameter, the device focal length parameter, and the device latitude and longitude parameters includes: Based on the second distance parameter, the device focal length parameter, and the image coordinate parameter, determine the coordinate parameters to be converted for the fire source area in the device coordinate system that matches the tower monitoring device; Based on the observed pitch angle parameters and the observed horizontal angle parameters, the Euler angle parameters of the tower monitoring equipment are determined, and the observation rotation matrix of the tower monitoring equipment is calculated based on the Euler angle parameters. Based on the observation rotation matrix and the preset translation matrix between the device coordinate system and the Earth coordinate system, the coordinate transformation matrix corresponding to the fire source area is determined, and based on the coordinate parameters to be transformed and the coordinate transformation matrix, the Earth coordinate parameters of the fire source area in the Earth coordinate system are determined. The target latitude and longitude parameters of the fire source area are determined based on the Earth coordinate parameters, the device latitude and longitude parameters, and the Earth radius parameters.

4. The method for firefighting operations using UAV collaborative control according to claim 3, characterized in that, The coordinate parameters to be converted for the fire source area are: ; in, (x, y) are the image coordinate parameters of the fire source area, f is the focal length parameter of the device, and Z is the second distance parameter; Furthermore, the observation rotation matrix of the tower monitoring equipment is: ; in, ; Ax, Ay, and Az are determined by the Euler angle parameters [AxAyAz] of the tower monitoring equipment, where... φ is the observation pitch angle parameter, and α is the observation horizontal angle parameter.

5. The method for firefighting operations using UAV collaborative control according to claim 4, characterized in that, The Earth coordinate parameters of the fire source area are: ； in, Let be the coordinate transformation matrix corresponding to the fire source region, and , Let be the translation matrix; Furthermore, the target latitude parameter t_lat and the target longitude parameter t_lon in the target latitude and longitude parameters of the fire source area are respectively: t_lat = (lat + Xn / R), t_lon = lon + Yn / R / cos(t_lat); Wherein, lat is the latitude parameter of the device in the latitude and longitude parameters, lon is the longitude parameter of the device in the latitude and longitude parameters, and R is the Earth radius parameter.

6. The method for firefighting operations using drone-assisted collaborative control according to any one of claims 1-5, characterized in that, The step of determining firefighting operation parameters for the fire source area based on the target geographical location parameters and the fire scene image data includes: Based on the fire scene image data, analyze the target feature parameters of the fire source area; the target feature parameters include fire source feature parameters and smoke feature parameters. The environmental parameters of the fire source area are obtained, and the impact on the fire source area is determined based on the environmental parameters and the target characteristic parameters. The environmental parameters include at least one of temperature and humidity parameters, wind direction parameters, wind speed parameters, light intensity parameters, precipitation parameters, terrain parameters, and flammable target distribution parameters. The impact includes the impact on the fire source and the impact on the smoke. Based on the affected conditions and the target characteristic parameters, the risk level parameters of the fire source area are determined, and based on the risk level parameters, the fire-fighting drone demand parameters of the fire source area are determined; the fire-fighting drone demand parameters include the total number of all fire-fighting drones required for the fire source area and the deployment type parameters. Based on the target geographical location parameters, the affected conditions, the target characteristic parameters, and the firefighting drone requirements, firefighting operation parameters for the fire source area are determined.

7. The method for firefighting operations using UAV collaborative control according to claim 6, characterized in that, The step of determining firefighting operation parameters for the fire source area based on the target geographical location parameters, the affected situation, the target characteristic parameters, and the firefighting drone requirements parameters includes: Based on the target geographical location parameters, the affected situation, and the target characteristic parameters, the fire source area is divided into multiple target sub-regions. Then, based on a preset set of fire extinguishing grenade type parameters and a set of fire extinguishing grenade extinguishing area parameters, the fire extinguishing grenade requirement parameters for each target sub-region are determined. The fire extinguishing grenade requirement parameters include at least one of fire extinguishing grenade quantity requirement parameters, fire extinguishing grenade type requirement parameters, and fire extinguishing grenade weight requirement parameters. Based on the deployment type parameters of each firefighting drone, the target capability parameters of each firefighting drone are determined. Based on the fire extinguishing ammunition requirement parameters corresponding to all target sub-regions and the target capability parameters of all firefighting drones, the target sub-regions for each firefighting drone's firefighting operation, the firefighting flight control parameters for the corresponding target sub-regions, and the ammunition dropping parameters are determined. The target capability parameters include at least one of flight capability parameters, obstacle avoidance capability parameters, load capacity parameters, and hovering capability parameters.

8. The method for firefighting operations using drone collaborative control according to any one of claims 1-5, characterized in that, The control of all the firefighting drones to fly to the fire source area, so as to enable the reconnaissance drones and all the firefighting drones to form a network, includes: Obtain target networking reference parameters that match the reconnaissance drone and all the firefighting drones; the target networking reference parameters include at least one of the signal coverage parameters of the fire source area, the first position parameters of the reconnaissance drone, the first communication capability parameters, the second position parameters of all the firefighting drones, and the second communication capability parameters. Based on the target networking reference parameters, the communication parameters corresponding to each firefighting drone are determined; the communication parameters corresponding to each firefighting drone include the communication object parameters corresponding to the firefighting drone and the communication firefighting flight control parameters. The communication object parameters corresponding to the firefighting drone include the reconnaissance drone, or include the reconnaissance drone and the target communication firefighting drone. Based on the communication and flight control parameters corresponding to all the firefighting drones, control all the firefighting drones to fly to the corresponding network node position in the fire source area, so that the reconnaissance drone and all the firefighting drones can perform network operations.

9. The method for firefighting operations using UAV collaborative control according to claim 7, characterized in that, The method further includes: During the firefighting operation, the system receives real-time fire scene image data of the fire source area transmitted by the reconnaissance drone, as well as target information corresponding to all firefighting drones. The target information includes at least one of the following: remaining fire extinguishing bombs, drone recovery status, and drone replenishment status. Based on the current fire scene image data, the current characteristic parameters of the fire source area are analyzed; the current characteristic parameters of the fire source area include the first current characteristic parameters of all operated sub-areas in all target sub-areas and the second current characteristic parameters of all unoperated sub-areas, and the first current characteristic parameters and the second current characteristic parameters both include the corresponding current fire source characteristic parameters and current smoke characteristic parameters; Based on the first current feature parameters of all the already-operated sub-regions, determine whether there are any re-operation sub-regions in all the already-operated sub-regions that do not meet the preset operation effect conditions; When the judgment result is negative, based on the second current feature parameters of all the unoperated sub-areas and the target situation corresponding to all the fire-fighting drones, update the target sub-areas corresponding to all the fire-fighting drones, the fire-fighting flight control parameters for the corresponding target sub-areas, and the bombing parameters, so as to control all the fire-fighting drones to continue fire-fighting operations in all the unoperated sub-areas according to the updated fire-fighting flight control parameters and bombing parameters of all the fire-fighting drones; When the judgment result is yes, based on the first current characteristic parameters of the heavily operated sub-region, the second current characteristic parameters of all the unoperated sub-regions, and the target status corresponding to all the firefighting drones, the target sub-regions, firefighting flight control parameters for the corresponding target sub-regions, and bombing parameters of all the firefighting drones are updated, so as to control all the firefighting drones to continue firefighting operations in all the unoperated sub-regions and the heavily operated sub-regions according to the updated firefighting flight control parameters and bombing parameters of all the firefighting drones.

10. The method for firefighting operations using unmanned aerial vehicle (UAV) collaborative control according to any one of claims 1-5, characterized in that, The method further includes: Before controlling all the firefighting drones to fly to the fire source area, the ammunition loading parameters of all the firefighting drones are determined based on the target geographical location parameters and the fire scene image data; the ammunition loading parameters include at least one of the ammunition type parameters, ammunition quantity parameters, and ammunition weight parameters. Based on the ammunition loading parameters of all the firefighting drones, ammunition loading operations are performed on all the firefighting drones.

11. The method for firefighting operations using drone cooperative control according to any one of claims 1-5, characterized in that, The method further includes: Before a fire occurs in the target area, acquire hangar parameters for each of a set of pre-defined hangars; the hangar parameters include hangar geographical location parameters and / or hangar environmental parameters. Obtain the basic parameters of all fire extinguishing shells to be loaded; the basic parameters include at least one of the following: fire extinguishing shell type parameters, fire extinguishing shell contents parameters, and fire extinguishing shell mechanical structure parameters. Based on the hangar parameters of all the aforementioned hangars and the basic parameters of all the aforementioned fire extinguishing grenades, predict the parameters that will be affected after loading all the aforementioned fire extinguishing grenades; the parameters that will be affected after loading include at least one of the following: parameters of moisture absorption of contents after loading, parameters of deterioration of contents after loading, and parameters of damage to the outer shell after loading. Based on the affected parameters after loading all the fire extinguishing shells, determine the periodic loading parameters for all the fire extinguishing shells; the periodic loading parameters include the periodic loading time parameter and the periodic loading quantity parameter. Based on the periodic loading parameters corresponding to all the fire extinguishing grenades, pre-loading operations are performed on all fire extinguishing drones in all the hangars.

12. The method for firefighting operations using UAV collaborative control according to any one of claims 1-5, characterized in that, The method further includes: During the firefighting operation, the current status parameters of all the firefighting drones are acquired; the current status parameters include at least one of the following: current remaining power parameters, current fault parameters, and current remaining fire extinguishing bomb parameters. Based on the current status parameters of all the firefighting drones, identify all the drones to be recovered whose current status parameters meet the preset drone recovery conditions, and obtain the current position parameters of all the drones to be recovered. Obtain target hangar parameters for each of the preset multiple hangars; the target hangar parameters include hangar geographical location parameters and hangar status parameters; For each of the drones to be recovered, a recovery hangar that matches the drone is determined from all the hangars based on the target hangar parameters of all the hangars, the current position parameters of the drone to be recovered, and the drone to be recovered is recovered through the recovery hangar.

13. A firefighting operation system with unmanned aerial vehicle (UAV) collaborative control, characterized in that, The system includes: The acquisition module is used to acquire the first observation parameters of the pole monitoring equipment and / or the second observation parameters of the reconnaissance drone when the preset pole monitoring equipment and / or reconnaissance drone monitor a fire in the target area; The determination module is used to determine the target geographical location parameters of the fire source area in the target area based on the first observation parameters and / or the second observation parameters; The acquisition module is further configured to acquire fire scene image data of the fire source area from the target device; the target device includes at least the reconnaissance drone that has flown to the fire source area; The determining module is further configured to determine firefighting operation parameters for the fire source area based on the target geographical location parameters and the fire scene image data; the firefighting operation parameters for the fire source area include at least one target hangar required for the fire source area, and the firefighting flight control parameters and bombing parameters for each firefighting drone in each target hangar; The control module is used to control all the fire-fighting drones within the range of the fire-fighting operation parameters to fly from all the target hangars to the fire source area, so that the reconnaissance drones and all the fire-fighting drones can form a network; after the network operation is completed, the reconnaissance drones, based on the fire-fighting flight control parameters and bombing parameters of all the fire-fighting drones, control all the fire-fighting drones to carry out fire-fighting operations in the fire source area.

14. A firefighting operation system with unmanned aerial vehicle (UAV) collaborative control, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the firefighting operation method of UAV cooperative control as described in any one of claims 1-12.

15. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the firefighting operation method of drone collaborative control as described in any one of claims 1-12.

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