Control method of firefighting drone, firefighting drone and storage medium

Abstract

The present invention discloses a control method of a firefighting drone, a firefighting drone and a storage medium, wherein the control method of the firefighting drone comprises: determining a fire area, and controlling the firefighting drone to fly to the fire area; determining a target firefighting point according to fire information of each position point in the fire area, wherein the fire information comprises at least one of fire temperature, smoke concentration and fire image; and controlling the firefighting drone to fly to the target firefighting point to drop firefighting bombs. The present invention solves the problem of low efficiency of dropping bombs by manually controlling firefighting drones, realizes autonomous dropping bombs by firefighting drones, and can effectively improve firefighting efficiency and firefighting effect.

Description

Technical Field

[0001] The present invention relates to the technical field of fire fighting and extinguishing, and in particular to a control method of a firefighting drone, a firefighting drone and a storage medium. Background Art

[0002] With the rise of drone technology, drone applications are becoming more and more widespread, including in the field of firefighting. Firefighting drones on the market have functions such as dropping fire-fighting bombs. The drones fly to the fire area and drop fire-fighting bombs to extinguish the fire.

[0003] However, current drones are controlled by ground personnel when extinguishing fires. The operator visually or by watching the fire scene images sent back by the drone, initiates the control command through the ground control device, and transmits the wireless information to the drone to control the drone's flight and bombing. For large fire scenes, this kind of manual bombing is not efficient and affects the fire extinguishing effect. Summary of the invention

[0004] The present invention solves the problem of low bomb dropping efficiency of manually controlled fire-fighting drones by providing a control method for fire-fighting drones, fire-fighting drones and storage media, and realizes autonomous bomb dropping and fire extinguishing by fire-fighting drones, which can effectively improve fire-fighting efficiency and enhance fire-fighting effects.

[0005] The present invention provides a control method for a firefighting drone, the control method for the firefighting drone comprising:

[0006] Determine the fire area and control the firefighting drone to fly to the fire area;

[0007] Determine a target fire extinguishing point according to fire information of each location point in the fire area, wherein the fire information includes at least one of fire temperature, smoke concentration and fire image;

[0008] The firefighting drone is controlled to fly to the target fire-fighting point to drop fire-fighting bombs.

[0009] Furthermore, the step of determining the fire area and controlling the firefighting drone to fly to the fire area includes:

[0010] Sensing a preset monitoring range by an infrared temperature sensor to obtain a thermal image and temperature value of the preset monitoring range;

[0011] Identifying the surface temperature of each monitoring area within the preset monitoring range according to the thermal energy image and the temperature value;

[0012] Determine the monitoring area where the surface temperature is greater than or equal to the warning temperature threshold as the fire area;

[0013] Controlling the firefighting drone to fly to the fire area;

[0014] or,

[0015] The steps of determining the fire area and controlling the firefighting drone to fly to the fire area include:

[0016] Determine the navigation coordinates of the fire area according to the ground navigation information;

[0017] According to the navigation coordinates, the firefighting drone is controlled to fly to the fire area.

[0018] Furthermore, the fire information includes fire temperature; and the step of determining the target fire extinguishing point according to the fire information of each location point in the fire area includes:

[0019] Determine the current location point according to a preset planning path, wherein the preset planning path is based on the layout of the fire area from the periphery to the center;

[0020] When the fire temperature at the current position point is greater than or equal to a first preset temperature threshold, the current position point is determined as the target fire extinguishing point.

[0021] Furthermore, after the step of determining the current position point as the target fire extinguishing point when the fire temperature at the current position point is greater than or equal to the first preset temperature threshold, the method further includes:

[0022] When the fire temperature at the current location is less than the first preset temperature threshold, the process returns to the step of determining the current location according to the preset planned path.

[0023] Furthermore, the fire information also includes smoke concentration; after the step of determining the current location point according to the preset planned path, it also includes:

[0024] When the smoke concentration at the current position is greater than or equal to a first preset concentration threshold, determining the current position as the target fire extinguishing point;

[0025] When the fire temperature at the current position is greater than or equal to a second preset temperature threshold and the smoke concentration at the current position is greater than or equal to a second preset concentration threshold, the current position is determined as the target fire extinguishing point, wherein the second preset temperature threshold is less than the first preset temperature threshold, and the second preset concentration threshold is less than the first preset concentration threshold;

[0026] When the fire temperature at the current location is less than the second preset temperature threshold and / or the smoke concentration at the current location is less than the second preset concentration threshold, return to the step of determining the current location according to the preset planned path.

[0027] Furthermore, the fire information further includes a fire image; after the step of determining the current position point as the target fire extinguishing point when the fire temperature at the current position point is greater than or equal to a first preset temperature threshold, the method further includes:

[0028] When red exists in the fire image, determining the current position point as the target fire extinguishing point;

[0029] When there is no red in the fire image, the process returns to the step of determining the current position point according to the preset planned path.

[0030] Furthermore, the step of controlling the firefighting drone to fly to the target fire extinguishing point and dropping fire extinguishing bombs includes:

[0031] Controlling the firefighting drone to fly to the target fire extinguishing point and hovering in the air;

[0032] The range-finding sensor emits a laser to the ground and receives the reflected laser to obtain the hovering height of the firefighting drone;

[0033] The firefighting drone is controlled to adjust the hovering height and drop the fire extinguishing bomb to the target fire extinguishing point.

[0034] Furthermore, after the step of controlling the firefighting drone to fly to the target fire extinguishing point and dropping fire extinguishing bombs, the method further includes:

[0035] When the fire-extinguishing bombs are released, the fire-fighting drone is controlled to return to the flight platform;

[0036] When the fire extinguishing bomb is loaded, the method returns to the step of determining the fire area and controlling the firefighting drone to fly to the fire area.

[0037] The present invention also provides a firefighting drone, which includes: a memory, a processor, and a control program for the firefighting drone stored in the memory and executable on the processor. When the control program for the firefighting drone is executed by the processor, the steps of the control method for the firefighting drone as described above are implemented.

[0038] The present invention also provides a storage medium, on which a control program for a fire-fighting drone is stored. When the control program for the fire-fighting drone is executed by a processor, the steps of the control method for the fire-fighting drone as described above are implemented.

[0039] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0040] In the technical solution of the present invention, according to the determined fire area, the firefighting drone is controlled to fly to the fire area. At the same time, according to the fire information of each position point in the fire area, the fire information includes at least one of the fire temperature, smoke concentration and fire image. Through the collected fire temperature, smoke concentration and fire image data or a combination of data, the fire situation at the fire scene is automatically judged, and the route of the firefighting drone is reasonably planned accordingly, so that the firefighting drone flies to the target fire extinguishing point in a certain order to drop fire extinguishing bombs. The present invention can realize that the firefighting drone can autonomously determine the fire area, quickly determine the fire extinguishing target, and autonomously fly to the fire scene to drop bombs to extinguish the fire without the need for control by the operator on the ground, which can effectively improve the fire extinguishing efficiency and enhance the fire extinguishing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the terminal structure of the hardware operating environment involved in an embodiment of the present invention;

[0042] Figure 2 This is a flow chart of a first embodiment of a control method for a firefighting drone according to the present invention;

[0043] Figure 3 This is a detailed flow chart of step S10 in the second embodiment of the control method of the fire-fighting drone of the present invention;

[0044] Figure 4 This is a detailed flow chart of step S10 in the third embodiment of the control method of the fire-fighting drone of the present invention;

[0045] Figure 5 This is a detailed flow chart of step S20 in the fourth embodiment of the control method of the fire-fighting drone of the present invention;

[0046] Figure 6 This is a detailed flow chart of step S20 in the fifth embodiment of the control method of the fire-fighting drone of the present invention;

[0047] Figure 7 This is a detailed flow chart of step S20 in the sixth embodiment of the control method of the fire-fighting drone of the present invention;

[0048] Figure 8 This is a detailed flow chart of step S20 in the seventh embodiment of the control method of the fire-fighting drone of the present invention;

[0049] Fig. 9 This is a detailed flow chart of step S30 in the eighth embodiment of the control method of the fire-fighting drone of the present invention;

[0050] Fig.10 This is a flow chart of a ninth embodiment of a control method for a firefighting drone according to the present invention;

[0051] Fig.11 This is a structural schematic diagram of an embodiment of a firefighting drone of the present invention;

[0052] Fig.12 for Fig.11 A schematic diagram of the structure of a firefighting drone from another perspective;

[0053] Fig.13 for Fig.11 Another perspective structural diagram of the firefighting drone;

[0054] Fig.14 for Fig.11 Schematic diagram of the structure of the chassis and base frame of the firefighting drone;

[0055] Fig.15 for Fig.14 The enlarged schematic diagram of point A in the middle;

[0056] Fig.16 for Fig.11 Schematic diagram of the structure of the buckles and slots of the fire-fighting drone. DETAILED DESCRIPTION

[0057] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0058] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0059] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present invention.

[0060] The terminal in the embodiment of the present invention is a firefighting drone.

[0061] like Figure 1As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0062] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a control program for the firefighting drone.

[0063] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the control program of the firefighting drone stored in the memory 1005 and perform the following steps:

[0064] Determine the fire area and control the firefighting drone to fly to the fire area;

[0065] Determine a target fire extinguishing point according to fire information of each location point in the fire area, wherein the fire information includes at least one of fire temperature, smoke concentration and fire image;

[0066] The firefighting drone is controlled to fly to the target fire-fighting point to drop fire-fighting bombs.

[0067] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0068] Sensing a preset monitoring range by an infrared temperature sensor to obtain a thermal image and temperature value of the preset monitoring range;

[0069] Identifying the surface temperature of each monitoring area within the preset monitoring range according to the thermal energy image and the temperature value;

[0070] Determine the monitoring area where the surface temperature is greater than or equal to the warning temperature threshold as the fire area;

[0071] Controlling the firefighting drone to fly to the fire area;

[0072] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0073] Determine the navigation coordinates of the fire area according to the ground navigation information;

[0074] According to the navigation coordinates, the firefighting drone is controlled to fly to the fire area.

[0075] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0076] Determine the current location point according to a preset planning path, wherein the preset planning path is based on the layout of the fire area from the periphery to the center;

[0077] When the fire temperature at the current position point is greater than or equal to a first preset temperature threshold, the current position point is determined as the target fire extinguishing point.

[0078] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0079] When the fire temperature at the current location is less than the first preset temperature threshold, the process returns to the step of determining the current location according to the preset planned path.

[0080] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0081] When the smoke concentration at the current position is greater than or equal to a first preset concentration threshold, determining the current position as the target fire extinguishing point;

[0082] When the fire temperature at the current position is greater than or equal to a second preset temperature threshold and the smoke concentration at the current position is greater than or equal to a second preset concentration threshold, the current position is determined as the target fire extinguishing point, wherein the second preset temperature threshold is less than the first preset temperature threshold, and the second preset concentration threshold is less than the first preset concentration threshold;

[0083] When the fire temperature at the current location is less than the second preset temperature threshold and / or the smoke concentration at the current location is less than the second preset concentration threshold, return to the step of determining the current location according to the preset planned path.

[0084] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0085] When red exists in the fire image, determining the current position point as the target fire extinguishing point;

[0086] When there is no red in the fire image, the process returns to the step of determining the current position point according to the preset planned path.

[0087] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0088] Controlling the firefighting drone to fly to the target fire extinguishing point and hovering in the air;

[0089] The range-finding sensor emits a laser to the ground and receives the reflected laser to obtain the hovering height of the firefighting drone;

[0090] The firefighting drone is controlled to adjust the hovering height and drop the fire extinguishing bomb to the target fire extinguishing point.

[0091] Further, the processor 1001 may call the control program of the firefighting drone stored in the memory 1005, and further perform the following operations:

[0092] When the fire-extinguishing bombs are released, the fire-fighting drone is controlled to return to the flight platform;

[0093] When the fire extinguishing bomb is loaded, the method returns to the step of determining the fire area and controlling the firefighting drone to fly to the fire area.

[0094] Embodiment 1

[0095] Reference Figure 2 , a first embodiment of the control method of the fire-fighting drone of the present invention, the control method of the fire-fighting drone comprises:

[0096] S10, determining the fire area, and controlling the firefighting drone to fly to the fire area;

[0097] S20, determining a target fire extinguishing point according to fire information of each location point in the fire area, wherein the fire information includes at least one of fire temperature, smoke concentration and fire image;

[0098] S30, controlling the firefighting drone to fly to the target fire-fighting point to drop fire-fighting bombs.

[0099] See also Figures 11 to 13In this embodiment, the firefighting drone 100 includes a drone body 10 and a base frame 20. The drone body 10 is provided with a processor, and the processor is used to control the flight of the drone body 10; the base frame 20 is loaded with a fire extinguishing bomb 30, and the processor is also used to control the loosening of the fire extinguishing bomb 30. The drone body 10 includes a main body 11, a rotating driving member 12 and a rotor 13. The rotating driving member 12 is arranged on the main body 11, and the rotor 13 is arranged at the driving end of the rotating driving member 12. At the same time, the processor is arranged on the main body 11, and the control program of the firefighting drone 100 stored in the memory can be called to control the rotation driving member 12 to work. The rotating driving member 12 drives the rotor 13 to rotate, and the autonomous flight and hovering of the drone body 10 can be realized. The fire extinguishing bomb 30 is loaded on the base frame 20. After the processor starts the bombing command, the base frame 20 will release the fire extinguishing bomb 30. When extinguishing a fire, the firefighting drone 100 loaded with the fire extinguishing bomb 30 flies to the fire scene, starts the bombing operation, and releases the fire extinguishing bomb 30, thereby realizing fire extinguishing.

[0100] See also Figures 11 to 13 According to the actual use needs, one or more of the temperature sensor 113, smoke and dust sensor 112 and infrared camera 115 can be installed on the drone body 10, which are used to sense the fire temperature, smoke and dust concentration and fire image respectively. It is possible to automatically judge the fire situation at the fire scene through one or a combination of the collected fire temperature, smoke and dust concentration and fire image data, and reasonably determine the first fire extinguishing point, the second fire extinguishing point, the third fire extinguishing point..., and these multiple fire extinguishing points are arranged in sequence to form a topographic map of the fire extinguishing points at the fire scene, and then plan the route of the fire-fighting drone, so that the fire-fighting drone can drop bombs and extinguish the fire in a certain order according to the preset planned path, which can improve the fire extinguishing effect. Among them, the temperature data, smoke and dust data and image data of each fire extinguishing point are synchronously retained before and after the fire is extinguished.

[0101] Therefore, the present invention can enable the fire-fighting drone to autonomously determine the fire area, quickly judge the fire-fighting target, and autonomously fly to the fire scene to drop bombs to extinguish the fire, without the need for ground-based control by operators, which can effectively improve fire-fighting efficiency and enhance fire-fighting effects.

[0102] Embodiment 2

[0103] Reference Figure 3 The second embodiment of the control method of the fire-fighting drone of the present invention is based on the above-mentioned first embodiment, and the step S10 includes:

[0104] S11, sensing a preset monitoring range through an infrared temperature sensor, and obtaining a thermal energy image and a temperature value of the preset monitoring range;

[0105] S12, identifying the surface temperature of each monitoring area within the preset monitoring range according to the thermal energy image and the temperature value;

[0106] S13, determining the monitoring area where the surface temperature is greater than or equal to the warning temperature threshold as the fire area;

[0107] S14, controlling the firefighting drone to fly to the fire area;

[0108] In this embodiment, the infrared temperature sensor is used to sense the surface temperature distribution within the preset monitoring range to generate a temperature gradient change image about the preset monitoring range, and transmit it to the processor so that the processor can automatically identify the area where the fire source is located. In addition, since infrared thermal imaging can display the temperature field of an object and form a thermal image of the target surface temperature distribution, it can timely detect "temperature anomalies", quickly and effectively discover these hidden fires, and accurately determine the location and scope of the fire, so as to achieve early prevention and early extinguishing. Among them, the identification of the fire area can be achieved by setting the early warning temperature threshold. When the surface temperature of a certain monitoring area exceeds the early warning temperature line, it can be judged that a fire has occurred. In this way, the firefighting drone can autonomously discover the fire area, quickly determine the fire extinguishing target, and autonomously fly to the fire scene to drop bombs to extinguish the fire without the need for control by the operator on the ground. It can effectively improve the efficiency of fire extinguishing, improve the fire extinguishing effect, quickly complete the fire extinguishing task, and quickly proceed to the next task state.

[0109] Embodiment 3

[0110] Reference Figure 4 The third embodiment of the control method of the fire-fighting drone of the present invention is based on the above-mentioned first embodiment, and the step S10 includes:

[0111] S15. Determine the navigation coordinates of the fire area according to the ground navigation information;

[0112] S16. Control the firefighting drone to fly to the fire area according to the navigation coordinates.

[0113] In this embodiment, in the case of pre-discovery of the fire area, the fire area can also be determined by ground navigation information based on the navigation coordinates of the fire area. A positioning device is correspondingly provided on the firefighting drone (the infrared temperature sensor can be omitted), and the positioning methods include GPS, Beidou system, etc. The positioning device receives signals transmitted by satellites and uses these signals for navigation and positioning. The navigation coordinates are each parameter that determines the position of the carrier, and the typical parameters are longitude and latitude. In this way, the fire extinguishing target can be quickly and accurately locked through the navigation coordinates, and autonomously fly to the fire scene to drop bombs to extinguish the fire, which can effectively improve the efficiency of fire extinguishing and enhance the fire extinguishing effect.

[0114] Embodiment 4

[0115] Reference Figure 5 The fourth embodiment of the control method of the fire-fighting drone of the present invention is based on any one of the first to third embodiments above, wherein the fire information includes the fire temperature; and the step S20 includes:

[0116] S21, determining the current location point according to a preset planned path, wherein the preset planned path is based on the layout of the fire area from the periphery to the center;

[0117] S22, determining whether the fire temperature at the current location is greater than or equal to a first preset temperature threshold;

[0118] When the fire temperature at the current position is greater than or equal to the first preset temperature threshold, step S23 is executed to determine the current position as the target fire extinguishing point.

[0119] In this embodiment, the preset planned path is the route of the firefighting drone in the fire area. The preset planned path is arranged from the periphery of the fire area to the center of the fire area. At the same time, the preset planned path can also be arranged in a clockwise or counterclockwise direction. The preset planned path is composed of multiple position points arranged in the above order. When the firefighting drone moves to each position point, it will judge whether to use the corresponding fire information sensed at the position point as the target fire extinguishing point. When the preset conditions are met, it is judged as the target fire extinguishing point for bombing and fire extinguishing, otherwise it will not be used for fire extinguishing. Taking the firefighting drone equipped with a temperature sensor as an example, when the firefighting drone moves to the previous position point, if the sensed fire temperature is greater than or equal to the first preset temperature threshold, it is judged to be used as the target fire extinguishing point for bombing and fire extinguishing, and then it moves to the next position point to make a new judgment, and repeats this process.

[0120] Embodiment 5

[0121] Reference Figure 6 The fifth embodiment of the control method of the fire-fighting drone of the present invention is based on the fourth embodiment, and after step S22, the method further includes:

[0122] When the fire temperature at the current location is less than the first preset temperature threshold, the process returns to step S21.

[0123] When the firefighting drone is only equipped with a temperature sensor (without a smoke and dust sensor and an infrared camera), the only indicator for the firefighting drone to determine whether the current position point is a target fire extinguishing point is the fire temperature (without smoke and dust concentration and fire image). Therefore, when the firefighting drone moves to the previous position point, if the sensed fire temperature is less than the first preset temperature threshold, it will directly move to the next position point to make a new judgment, and repeat this process.

[0124] Embodiment 6

[0125] Reference Figure 7 The sixth embodiment of the control method of the fire-fighting drone of the present invention is based on the fourth embodiment, wherein the fire information further includes smoke concentration; and after step S22, the following steps are further included:

[0126] When the fire temperature at the current location is less than the first preset temperature threshold, executing step S24, determining whether the smoke concentration at the current location is greater than or equal to the first preset concentration threshold;

[0127] When the smoke concentration at the current location is greater than or equal to the first preset concentration threshold, executing step S23;

[0128] When the smoke concentration at the current location is less than the first preset concentration threshold, executing step S25, determining whether the fire temperature at the current location is greater than or equal to a second preset temperature threshold;

[0129] When the fire temperature at the current location is greater than or equal to the second preset temperature threshold, executing step S26, determining whether the smoke concentration at the current location is greater than or equal to the second preset concentration threshold;

[0130] When the fire temperature at the current location is less than the second preset temperature threshold, returning to execute step S21;

[0131] When the smoke concentration at the current location is greater than or equal to the second preset concentration threshold, executing step S23;

[0132] When the smoke concentration at the current position is less than the second preset concentration threshold, the process returns to step S21.

[0133] In this embodiment, the firefighting drone is provided with both a temperature sensor and a smoke and dust sensor. The firefighting drone determines whether the current position point is a target fire extinguishing point based on a combination of fire temperature and smoke concentration indicators. Among them, when the firefighting drone moves to the previous position point, one of the three conditions must be met to determine whether it is a target fire extinguishing point: Condition 1, the sensed fire temperature is greater than or equal to the first preset temperature threshold; Condition 2, the sensed smoke concentration is greater than or equal to the first preset concentration threshold; Condition 3, the sensed fire temperature is greater than the second preset temperature threshold and the sensed smoke concentration is greater than the first preset concentration threshold. If none of them are met, the drone moves to the next position point and re-judges, and repeats this process. By combining the temperature and smoke concentration as the two indicators for judgment, the judgment can be more accurate, which is conducive to improving the efficiency of fire extinguishing and enhancing the fire extinguishing effect.

[0134] Specifically, the data of the smoke and dust sensor device is the Y value, and the data of the temperature sensor device is the T value.

[0135] For smoke and dust sensor device data: set Y0 as the zero boundary point, Y0-Y2 as the amplitude range below the zero boundary point, and Y1 as the center point of the amplitude range; when the smoke and dust sensor data is less than Y0 and greater than or equal to Y1, take the positive value DY; when the smoke and dust sensor data is less than Y1 and greater than or equal to Y2, take the negative value DY;

[0136] For the temperature sensor device data: set T0 as the zero boundary point, T0-T2 as the amplitude area below the zero boundary point, and T1 as the center point of the amplitude area; when the temperature sensor data is less than T0 and greater than or equal to T1, take a positive value DT; when the temperature sensor data is less than T1 and greater than or equal to T2, take a negative value DT;

[0137] When the Y and T data are obtained, there is a point data greater than or equal to zero, and the target fire extinguishing point is determined;

[0138] When both Y and T fall within the amplitude range and DY+DT is greater than or equal to 0, the target fire extinguishing point is determined;

[0139] If neither of the above two situations occurs, the firefighting drone will continue to move and judge, giving priority to flying in an environment with a higher temperature.

[0140] Embodiment 7

[0141] Reference Figure 8 The seventh embodiment of the control method of the fire-fighting drone of the present invention is based on the fourth embodiment, wherein the fire information further includes a fire image; and after step S22, the following steps are further included:

[0142] When the fire temperature at the current position is less than the first preset temperature threshold, executing step S27, determining whether red exists in the fire image;

[0143] When red exists in the fire image, executing step S23;

[0144] When there is no red in the fire image, the process returns to step S21.

[0145] In this embodiment, the firefighting drone is provided with a temperature sensor and an infrared camera at the same time. When the firefighting drone moves to the previous position point and uses it as the target fire extinguishing point to drop bombs to extinguish the fire, the fire image of the previous position point is also obtained through the infrared camera to further comprehensively judge the fire extinguishing effect and ensure the effectiveness of fire extinguishing. For example, the fire image is red before dropping bombs to extinguish the fire, but there is no red after the fire is extinguished. If there is still red in the fire image after dropping bombs to extinguish the fire, it indicates that the degree of fire extinguishing is insufficient. At this time, the firefighting drone will continue to drop bombs to extinguish the fire at the previous position point until there is no red in the fire image, indicating that the fire at the previous position point is successfully extinguished. Then it moves to the next position point to make a new judgment, and repeats this process.

[0146] Embodiment 8

[0147] Reference Fig. 9 The eighth embodiment of the control method of the fire-fighting drone of the present invention is based on any one of the first to seventh embodiments above, and the step S30 includes:

[0148] S31, controlling the firefighting drone to fly to the target fire extinguishing point and hovering in the air;

[0149] S32, emitting a laser to the ground through a ranging sensor and receiving the reflected laser to obtain the hovering height of the firefighting drone;

[0150] S33, controlling the firefighting drone to adjust the hovering height, and dropping the fire extinguishing bomb to the target fire extinguishing point.

[0151] See also Figures 12 to 13 The base frame 15 and the base frame 20 of the drone body 10 are provided with through holes for the ranging sensor 114 to extend out. The ranging sensor 114 is close to the base frame 20 and the fire extinguishing bomb 30, so that the detected bombing distance is more accurate. The ranging sensor is specifically a laser ranging sensor, which can emit laser to the ground and receive the reflected laser. The control unit identifies the height of the firefighting drone from the ground by the time required for the laser to be emitted and reflected back, so as to select a suitable bombing height. After the fire extinguishing bomb is dropped and exploded, a fire extinguishing point with a radius is formed, thereby extinguishing the fire.

[0152] Embodiment 9

[0153] Reference Fig.10 The ninth embodiment of the control method of the fire-fighting drone of the present invention is based on any one of the first to seventh embodiments above, and further includes after step S30:

[0154] S40, when the fire-extinguishing bomb is released, controlling the firefighting drone to return to the flight platform;

[0155] S50, determining whether the fire extinguishing bomb has been loaded;

[0156] When the fire extinguishing bomb is loaded, the process returns to step S10.

[0157] In this embodiment, the firefighting drone can install a proximity sensor on the base frame at the position corresponding to the fire-extinguishing bomb. In this way, the firefighting drone can automatically identify and record the number of bombs dropped when dropping bombs. When the firefighting drone identifies that all the fire-extinguishing bombs on the base frame have been dropped, it will autonomously return to the flight platform to resupply the fire-extinguishing bombs. After the flight platform is loaded with fire-extinguishing bombs, the firefighting drone can also be identified by the proximity sensor. The firefighting drone will subsequently autonomously fly to the fire scene and enter each position point in turn according to the preset planned path to determine whether there is a fire re-ignition phenomenon. The judgment standard for fire re-ignition is the same as the judgment standard for the target fire extinguishing point. After the fire at the current position point is extinguished, the fire at the next position point will be extinguished.

[0158] See also Figures 14 to 16 In one embodiment, one of the drone body 10 and the base frame 20 is provided with a buckle 40, and the other is provided with a slot 50, and the buckle 40 is engaged with the slot 50. As an implementation mode, the base frame 20 is loaded with a plurality of fire extinguishing bombs 30, for example, a plurality of fire extinguishing bombs 30 are arranged in a rectangular form of rows and columns, which can improve the fire extinguishing effect of the fire-fighting drone 100 in a single-trip flight. The fire extinguishing bombs 30 are sand and stone fire extinguishing bombs 30 and dry powder fire extinguishing bombs 30. Among them, by engaging the buckle 40 and the slot 50, a detachable connection between the base frame 20 and the drone body 10 can be achieved. Therefore, firefighters can load all the fire-extinguishing bombs 30 onto the base frame 20 in advance. After the fire-fighting drone 100 returns to the flight platform, the base frame 20 after dropping the bombs can be removed from the fire-fighting drone 100 by separating the buckle 40 and the slot 50. Then, the base frame 20 loaded with fire-extinguishing bombs 30 can be quickly installed on the fire-fighting drone 100 by connecting the buckle 40 and the slot 50. In this way, the time it takes for the fire-fighting drone 100 to load the fire-extinguishing bombs 30 can be effectively shortened, the loading speed can be increased, and the working interval of the fire-fighting drone 100 can be reduced, thereby improving the fire-fighting effect.

[0159] Specifically, the buckle 40 includes a base 41, a clamping member 42, an elastic member 43 and a pressing member 444. The clamping member 42 and the base 41 are movably arranged; the elastic member 43 abuts between the base 41 and the clamping member 42; the pressing member 444 is arranged on the clamping member 42, and the pressing member 444 is located on the side of the clamping member 42 away from the elastic member 43.

[0160] The buckle 40 is provided on the drone body 10 and the slot 50 is provided on the base frame 20 as an example for explanation. The drone body 10 includes a support foot 14, and the main body 11 of the drone body 10 is provided on the support foot 14, and the support foot 14 is used to support the drone body 10 to stay on the ground. At the same time, the drone body 10 is provided with a base frame 15 at the support foot 14, and the base frame 15 is provided horizontally, and the buckle 40 is provided on the base frame 15. Further, the base 41 is fixed on the base frame 15, the clamping member 42 is slidably connected to the base frame 15, and the pressing member 444 is a handle structure, and the pressing member 444 extends beyond the edge of the base frame 15, and the end of the pressing member 444 is provided with a vertically extending pressing portion 441, which can widen the area for finger pressing to enhance the comfort of pressing. The length of the clamping member 42 is greater than that of the base 41 . A mounting post 431 is provided between the clamping member 42 and the base 41 . The elastic member 43 is a spring and is sleeved on the mounting post 431 , so that the spring can be positioned.

[0161] When installing the base 20 on the drone body 10, first press the pressing member 444 toward the base 41 to move the clamping member 42 closer to the base 41. At this time, the elastic member 43 is compressed, and then the base 20 is lifted in a direction parallel to the base 15, so that the clamping member 42 is aligned with the card slot 50, and the clamping member 42 is inserted into the card slot 50. Finally, the pressing member 444 is released, and the elastic member 43 is reset at this time, so that the clamping member 42 moves away from the base 41 and is clamped in the card slot 50, thereby completing the installation of the base 20 and the base 15. The disassembly process is the opposite and will not be repeated. It can be understood that the number of buckles 40 and card slots 50 can be set to multiple to improve the firmness of the installation.

[0162] Specifically, the free end of the clamping member 42 is bent in a direction away from the elastic member 43 to form a clamping end, and a guide surface 422 is provided on the side of the clamping end facing away from the elastic member 43; wherein, when the clamping member 42 moves toward the slot 50, the guide surface 422 abuts against the notch of the slot 50 to compress the elastic member 43.

[0163] In this embodiment, one end of the clamping member 42 is slidably connected to the base frame 15, and the other end of the clamping member 42 is a free end. The free end of the clamping member 42 is bent into a hook 421 structure, and the hook 421 structure is used to clamp the slot 50 after the clamping member 42 is inserted into the slot 50, so as to firmly install the base frame 20 on the base frame 15 of the drone body 10. In addition, a chamfered structure is provided at the end of the hook 421 to form an inclined guide surface 422, and the guide surface 422 is reduced from top to bottom. The guide surface 422 can abut against the edge of the notch of the slot 50 when the base frame 15 is assembled to the base frame 20 upward, and as the base frame 15 is gradually lifted upward, the guide surface 422 slides downward, thereby pushing the clamping member 42 to squeeze the elastic member 43. In this way, the buckle 40 and the slot 50 can be snapped together without pressing the pressing member 444, which can facilitate the installation of the base frame 20 and the bottom frame 15 of the drone body 10 and improve the installation speed.

[0164] Specifically, a loading piece is provided on the base frame 20 , and the loading piece is detachably connected to the fire extinguishing bomb 30 ; the processor is connected to the loading piece and is used to control the loading piece to release the fire extinguishing bomb 30 .

[0165] In this embodiment, the number of the loading parts corresponds to the capacity of the fire extinguishing bomb 30 of the fire-fighting drone 100, that is, one loading part carries one fire extinguishing bomb 30. In addition, the processor on the drone body 10 is connected to the clamping part for control, such as through a wired connection or a wireless connection, to control the clamping part to release the fire extinguishing bomb 30 to achieve the bombing operation.

[0166] Specifically, the loading part includes a telescopic driving part and a suspension part, the telescopic driving part is arranged on the base frame 20, and the suspension part is arranged at the driving end of the telescopic driving part; the processor is connected to the telescopic driving part, and is used to control the telescopic driving part to drive the suspension part to move, so as to suspend or loosen the fire extinguishing bomb 30; or, the loading part includes a telescopic driving part and a clamping part, the telescopic driving part is arranged on the base frame 20, and the clamping part is arranged at the driving end of the telescopic driving part; the processor is connected to the telescopic driving part, and is used to control the telescopic driving part to drive the clamping part to move, so as to clamp or loosen the fire extinguishing bomb 30.

[0167] As an implementation mode, the suspension parts can be arranged opposite to each other in pairs, and corresponding hanging rings are arranged on the fire extinguishing bomb 30. The relative suspension parts are driven closer to each other by the telescopic driving part, so that the suspension can be inserted into the hanging ring, and the relative suspension parts are made to abut against each other, so that the fire extinguishing bomb 30 is suspended on the base frame 20; when the bomb needs to be dropped, the relative suspension parts are driven away from each other by the telescopic driving part, so that the suspension parts can be withdrawn from the hanging ring, so that the fire extinguishing bomb 30 is dropped.

[0168] As another embodiment, the clamping members can be arranged opposite to each other in pairs, and the clamping members can be driven to approach each other by the telescopic driving member, so that the clamping members can clamp the fire extinguishing bomb 30, thereby fixing the fire extinguishing bomb 30 on the base frame 20; when the bomb needs to be dropped, the telescopic driving member can drive the relative clamping members away from each other, so that the clamping members can release the fire extinguishing bomb 30, thereby dropping the fire extinguishing bomb 30.

[0169] Since the system introduced in the embodiment of the present invention is a system used to implement the method of the embodiment of the present invention, based on the method introduced in the embodiment of the present invention, those skilled in the art can understand the specific structure and deformation of the system, so it is not repeated here. All systems used in the method of the embodiment of the present invention belong to the scope of protection of the present invention.

[0170] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

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

[0172] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0173] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0174] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0175] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A control method for a firefighting drone, characterized in that: The control method of the fire-fighting drone includes: Determine the fire area and control the firefighting drone to fly to the fire area, including: sensing a preset monitoring range through an infrared temperature sensor to obtain a thermal image and temperature value of the preset monitoring range; identifying the surface temperature of each monitoring area within the preset monitoring range according to the thermal image and temperature value; determining the monitoring area where the surface temperature is greater than or equal to the warning temperature threshold as the fire area; and controlling the firefighting drone to fly to the fire area; The fire situation in the fire area is judged by collecting one or a combination of fire temperature, smoke concentration and fire image data, and multiple fire extinguishing points are determined according to the fire situation. The multiple fire extinguishing points are arranged in sequence to form a fire extinguishing point topographic map of the fire area, and then the route of the fire-fighting drone is planned, so that the fire-fighting drone can drop bombs and extinguish the fire in a certain order according to the preset planned path; Determine the current location point according to a preset planning path, wherein the preset planning path is based on the layout of the fire area from the periphery to the center; Detecting the fire temperature at the current location through a temperature sensor, and determining the current location as a target fire extinguishing point when the fire temperature at the current location is greater than or equal to a first preset temperature threshold; When the fire temperature at the current position is less than the first preset temperature threshold, determining that red exists in the fire image; When red exists in the fire image, determining the current position point as the target fire extinguishing point; When there is no red in the fire image, returning to the step of determining the current position point according to the preset planned path; Controlling the firefighting drone to fly to the target fire extinguishing point and hovering in the air; The range-finding sensor emits a laser to the ground and receives the reflected laser to obtain the hovering height of the firefighting drone; The firefighting drone is controlled to adjust the hovering height, and the fire-extinguishing bomb is dropped to the target fire-extinguishing point, so that a fire-extinguishing point with a radius is formed after the fire-extinguishing bomb is dropped and exploded.

2. The control method of the firefighting drone according to claim 1, characterized in that: The steps of determining the fire area and controlling the firefighting drone to fly to the fire area include: Determine the navigation coordinates of the fire area according to the ground navigation information; According to the navigation coordinates, the firefighting drone is controlled to fly to the fire area.

3. The control method of the firefighting drone according to claim 1 or 2, characterized in that: After the step of controlling the firefighting drone to fly to the target fire extinguishing point and dropping fire extinguishing bombs, the method further includes: When the fire-extinguishing bombs are released, the fire-fighting drone is controlled to return to the flight platform; When the fire extinguishing bomb is loaded, the method returns to the step of determining the fire area and controlling the firefighting drone to fly to the fire area.

4. A firefighting drone, characterized in that: The firefighting drone comprises: a memory, a processor, and a control program for the firefighting drone stored in the memory and executable on the processor. When the control program for the firefighting drone is executed by the processor, the steps of the control method for the firefighting drone as claimed in any one of claims 1 to 3 are implemented.

5. A storage medium, characterized in that: The storage medium stores a control program for a firefighting drone, and when the control program for the firefighting drone is executed by a processor, the steps of the control method for a firefighting drone according to any one of claims 1 to 3 are implemented.

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