A method for controlling a formation of a drone swarm

Abstract

The present application relates to the field of unmanned aerial vehicle application, and more particularly to a kind of unmanned aerial vehicle cluster formation control method, comprising: S1, information unmanned aerial vehicle is patrolled for preset trajectory and periodically image acquisition is carried out to obtain the information image of the current area where information unmanned aerial vehicle is located;S2, central control unit determines whether there is fire source according to the comparison result of the area of heat image in information image and preset heat image area;S3, the central control unit establishes search circle according to the fire source position coordinate when determining is completed, to search the relevant position coordinate of the existence of fire source;S4, central control unit determines the number of rescue unmanned aerial vehicle to the position coordinate corresponding to the fire source heat image area according to the comparison result of single fire source heat image area and preset fire source area standard, and sets the position of the rescue unmanned aerial vehicle according to the wind speed and wind direction of the current environment detected by environment detection unit;It improves the determination speed, improves the fire extinguishing efficiency of the present application.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) applications, and more particularly to a method for controlling UAV swarm formations. Background Technology

[0002] Forest fires are the most dangerous enemy of forests and the most devastating disaster for forestry, bringing the most harmful and destructive consequences. Forest fires not only burn down vast areas of forest and harm animals within them, but also reduce the forest's reproductive capacity, cause soil depletion, damage water conservation resources, and even lead to ecological imbalance. Currently, using drone swarms for forest fire prevention is a common method, but poor monitoring efficiency and low accuracy in pinpointing fire locations remain persistent problems.

[0003] Chinese Patent Publication No. CN113426044B discloses a method for forest fire suppression using swarm drones, including the following steps: S101, constructing a single drone fire suppression mounting device; including a mounting plate, a left fire suppression box, a middle fire suppression box, a right fire suppression box, a fire suppression box bottom plate, a fire suppression box rotation shaft, and a fire suppression box electromagnetic lock; S102, multi-drone collaborative forest fire suppression path planning and implementation; including constructing a drone collaborative fire suppression path planning neural network, establishing the correspondence between forest fire intelligence parameters and drone swarm fire suppression path planning, obtaining the plan, and implementing fire suppression operations; S103, swarm drone supplementary fire suppression implementation; including setting parameters, grid division, swarm flight planning, and implementing swarm drone supplementary fire suppression planning. It is evident that the aforementioned swarm drone forest fire suppression method has the following problems: the inability to adjust drone parameters according to the actual situation of multiple fire sources leads to low accuracy in fire source determination and poor fire suppression efficiency. Summary of the Invention

[0004] To address this issue, the present invention provides a method for controlling drone swarm formations, thereby overcoming the problem in the prior art where the corresponding parameters of drones cannot be adjusted according to the actual situation of forest fire sources, resulting in poor fire extinguishing efficiency.

[0005] To achieve the above objectives, the present invention provides a method for controlling unmanned aerial vehicle (UAV) swarm formations, comprising:

[0006] S1. The information drone patrols along a preset trajectory and periodically collects images to obtain information images of the current area where the information drone is located.

[0007] S2. The central control unit determines whether there is a fire source based on the comparison between the thermal imaging area in the information image and the preset thermal imaging area. When it is determined that there is a fire source, the thermal imaging area is recorded as the central fire source thermal imaging area and the position coordinates of the information drone at this time are recorded as the fire source position coordinates.

[0008] S3. When the fire source location coordinates are determined, the central control unit establishes a search circle based on the fire source location coordinates to search for the relevant location coordinates where the fire source exists.

[0009] S4. The central control unit determines the number of rescue drones that will go to the location coordinates corresponding to the thermal imaging area of ​​the fire source based on the comparison result between the thermal imaging area of ​​a single fire source and the preset fire source area standard. It also sets the position of the rescue drones based on the wind speed and wind direction of the current environment detected by the environmental detection unit. Furthermore, it detects whether birds are flying towards the rescue drones during the rescue process and determines how to avoid them based on the number of birds and the number of rescue drones.

[0010] Furthermore, the central control unit controls the information drone to perform thermal imaging image acquisition on the ground at a set information acquisition cycle to obtain the information image of the current area of ​​the information drone. The central control unit compares the thermal imaging area S in the information image with a preset thermal imaging area to determine whether there is a fire source. The central control unit has a first preset thermal imaging area S1 and a second preset thermal imaging area S2, where 0 < S1 < S2.

[0011] If S≤S1, the central control unit determines that there is no fire source in the current area and controls the information drone to continue collecting information according to the preset trajectory;

[0012] If S1 < S ≤ S2, the central control unit initially determines that there is a fire source in the current area, controls the information drone to hover, and further determines whether there is a fire source in the current area based on the change value of the thermal imaging area in the current area.

[0013] If S2 < S, the central control unit determines that there is a fire source in the current area, records the thermal imaging area as the central fire source thermal imaging area, and records the fire source location coordinates D1 of the information drone at this time.

[0014] Furthermore, under a first preset condition, the central control unit controls the information drone to acquire thermal images of the current area at a set fire source confirmation cycle and obtains the thermal imaging area Si in the information image acquired in the i-th fire source confirmation cycle. The central control unit calculates the thermal imaging area change value ΔSi and compares ΔSi with the preset thermal imaging area change value to further determine whether there is a fire source in the current area, where ΔSi = Si - Si-1; the central control unit has a first preset thermal imaging area change value ΔSz1 and a second preset thermal imaging area change value ΔSz2, where 0 < ΔSz1 < ΔSz2.

[0015] If △Si≤△Sz1, the central control unit determines that there is no fire source in the current area and controls the information drone to continue to collect information according to the preset trajectory;

[0016] If △Sz1<△Si≤△Sz2, the central control unit determines that there may be a fire source in the current area and transmits all the acquired information images to the online manual analysis unit to issue an alarm message for manual confirmation;

[0017] If △Sz2 < △Si, the central control unit determines that there is a fire source in the current area, records the thermal imaging area as the central fire source thermal imaging area S, and records the fire source location coordinates D1 of the information UAV at this time.

[0018] The first preset condition is that the central control unit determines that S1 < S ≤ S2.

[0019] Furthermore, under the second preset condition, the central control unit confirms a search circle with a radius of M meters, using D1 as the center point. The central control unit controls the information drone to acquire thermal imaging images within the search circle to obtain information images and determines whether there is a related fire source thermal imaging area Sx larger than the second preset thermal imaging area for the x-th information image, where x = 2, 3, ..., n, and n is the total number of information images with thermal imaging areas larger than the second preset thermal imaging area. When the central control unit determines that there is a related fire source thermal imaging area Sx larger than the second preset thermal imaging area, it records the relevant position coordinates Di, i = 2, 3, ..., n.

[0020] The second preset condition is that the central control unit determines that there is a fire source in the current area.

[0021] Furthermore, under a third preset condition, the central control unit compares the thermal imaging area Sj of a single fire source with a preset fire source area standard to determine the number of rescue drones heading to the location coordinates corresponding to the thermal imaging area of ​​the fire source. The central control unit has a first preset fire source area standard S01, a second preset fire source area standard S02, a standard number of rescue drones N0, a first quantity adjustment coefficient α1, and a second quantity adjustment coefficient α2, wherein 0 < S01 < S02, 0 < N0, and 0 < α1 < α2.

[0022] If Sj≤S01, the number of rescue drones that the central control unit determines to go to the location coordinates corresponding to the thermal imaging area of ​​the fire source is set to N, where N=N0, and N is a positive integer rounded up.

[0023] If S01<Sj≤S02, the number of rescue drones determined by the central control unit to go to the location coordinates corresponding to the thermal imaging area of ​​the fire source is set to N, and N=N0×α1 is set.

[0024] If S02 < Sj, the central control unit determines the number of rescue drones that go to the location coordinates corresponding to the thermal imaging area of ​​the fire source and sets it to N, where N = N0 × α2.

[0025] Wherein, when the thermal imaging area of ​​a single fire source is the thermal imaging area of ​​the central fire source, the position coordinates are the fire source position coordinates; when the thermal imaging area of ​​a single fire source is the thermal imaging area of ​​a related fire source, the position coordinates are the related position coordinates.

[0026] The third preset condition is that the central control unit determines that there is a relevant fire source thermal imaging area Sx that is larger than the second preset thermal imaging area.

[0027] Furthermore, under the fourth preset condition, the central control unit detects the wind direction of the environment where the rescue drone is currently located through the environmental detection unit and establishes a horizontal coordinate axis with the wind direction as the positive direction, using the position coordinates as the origin, and sets the position of the rescue drone on the negative axis of the horizontal coordinate axis.

[0028] Under the fifth preset condition, the central control unit detects the wind speed V of the environment where the rescue drone is currently located through the environmental detection unit and compares V with a preset wind speed standard to determine the distance between the rescue drone and the corresponding location coordinates. The central control unit has a first preset wind speed standard V1, a second preset wind speed standard V2, a preset standard distance L0, a first distance adjustment coefficient β1, and a second distance adjustment coefficient β2, wherein 0 < V1 < V2, 0 < L0, and 0 < β1 < β2.

[0029] If V≤V1, the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L, and sets L=L0×β1;

[0030] If V1 < V ≤ V2, the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L, and sets L = L0;

[0031] If V2 < V, the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L, and sets L = L0 × β2;

[0032] The fourth preset condition is that the central control unit completes the determination of the number of rescue drones; the fifth preset condition is that the central control unit completes the establishment of a horizontal coordinate axis with the position coordinates as the origin and the wind direction as the positive direction.

[0033] Furthermore, under a sixth preset condition, the central control unit controls the rescue drone to perform water spraying rescue while simultaneously activating the radio wave detection device on the rescue drone to detect whether birds are flying towards it. If birds are detected, the central control unit compares the detected bird count B with a preset number standard to determine how to avoid them. The central control unit has a first preset bird count B1 and a second preset bird count B2, where 0 < B1 < B2.

[0034] If B≤B1, the central control unit determines that the rescue drone does not need to take cover;

[0035] If B1 < B ≤ B2, the central control unit determines the number of rescue drones heading to the coordinates of that location and further determines how to evade them.

[0036] If B2 < B, the central control unit determines that the number of birds exceeds the preset range and activates the noise-repelling device on the rescue drone to drive them away;

[0037] The sixth preset condition is that the central control unit completes the distance determination between the rescue drone and the corresponding location coordinates.

[0038] Furthermore, under the eighth preset condition, the central control unit compares the number R of rescue drones heading to the location coordinates with a preset standard number of evasive drones to determine how each rescue drone should evade. The central control unit has a first preset number of evasive drones R1, a second preset number of evasive drones R2, a preset drone spacing standard Y0, a first spacing adjustment coefficient γ1, a second spacing adjustment coefficient γ2, and a third spacing adjustment coefficient γ3, wherein 0 < R1 < R2, 0 < Y0, 0 < γ1 < 1 < γ2 < γ3.

[0039] If R≤R1, the central control unit determines to set the distance between each rescue drone to Y to avoid birds, and sets Y=Y0×γ1;

[0040] If R1 < R ≤ R2, the central control unit determines to set the distance between each rescue drone to Y to avoid birds, and sets Y = Y0 × γ2;

[0041] If R2 < R, the central control unit determines to set the distance between each rescue drone to Y to avoid birds, and sets Y = Y0 × γ3;

[0042] The eighth preset condition is B1 < B ≤ B2.

[0043] Furthermore, the online analysis unit is equipped with an audio-visual display screen to receive the judgment information from the central control unit and to enable the user to actively control the information drone and the rescue drone.

[0044] Furthermore, in step S4, when the central control unit completes the location determination of the rescue drone, the rescue drone sprays water onto its destination coordinates using a water spraying device. The rescue drone also includes:

[0045] Several propellers are evenly arranged above the rescue drone to control its flight.

[0046] A remote control chip is installed inside the rescue drone and is remotely connected to the central control unit for use by the user or the central control unit to control the rescue drone.

[0047] The noise deterrent device is located on the side of the rescue drone and is used to scare away birds.

[0048] A water tank, which is connected to the water spraying device, is used to supply water to the water spraying device;

[0049] A radio wave detection device is installed on the bottom of the rescue drone to detect birds and their numbers around the rescue drone.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention determines the presence of a fire source by comparing the area of ​​thermal imaging in the information image with a preset thermal imaging area. When it is initially determined that a fire source exists in the current area, the information drone is controlled to hover and further determine whether a fire source exists in the current area based on the change value of the thermal imaging area in the current area. At the same time, when a fire source is determined to exist, the central control unit establishes a search circle to search for relevant position coordinates, which improves the accuracy of fire source determination. In addition, the relevant position coordinates can not only detect the severity of the fire in the surrounding area, but also avoid the problem of low accuracy in fire source determination caused by the loss of the central fire source position coordinates. Furthermore, the present invention adjusts the position, number, and avoidance method of the drone according to the actual fire situation of multiple fire sources, thereby improving the fire extinguishing efficiency of the present invention.

[0051] Furthermore, the central control unit compares the thermal imaging area S in the information image with a preset thermal imaging area to determine whether a fire source exists. The central control unit has a first preset thermal imaging area S1 and a second preset thermal imaging area S2. The division of the thermal imaging area improves the determination speed of the invention while ensuring the accuracy of fire source determination, and further improves the fire extinguishing efficiency of the invention.

[0052] Furthermore, the central control unit calculates the thermal imaging area change value ΔSi and compares ΔSi with the preset thermal imaging area change value to further determine whether there is a fire source in the current area. This avoids the problem of misjudging the existence of a fire source due to inaccurate preliminary judgment. This ensures the accuracy of fire source determination while avoiding unnecessary costs and further improves the fire extinguishing efficiency of the present invention.

[0053] Furthermore, under the second preset condition, the central control unit confirms a search circle with a radius of M meters, using D1 as the center point. The central control unit controls the information drone to acquire images within the search circle and determines whether there is a related fire source thermal imaging area Sx larger than the second preset thermal imaging area for the x-th information image. For the searched fire source point, it searches for whether there are associated fire source points to better determine the fire range. At the same time, when the central control unit determines that there is a related fire source thermal imaging area Sx larger than the second preset thermal imaging area, it records the relevant position coordinates Di, avoiding the problem of poor fire extinguishing efficiency caused by the rescue drone not being able to find the central fire source point. This improves the determination speed of the invention while ensuring the accuracy of fire source point determination, and further improves the fire extinguishing efficiency of the invention.

[0054] Furthermore, the central control unit compares the thermal imaging area Sj of a single fire source with a preset fire source area standard to determine the number of rescue drones that will go to the location coordinates corresponding to the thermal imaging area of ​​the fire source. This avoids the problem of poor fire extinguishing efficiency caused by unreasonable allocation of rescue drones, thereby improving the determination speed of the invention while ensuring the accuracy of fire source determination, and further improving the fire extinguishing efficiency of the invention.

[0055] Furthermore, the central control unit determines the specific position of the rescue drone relative to its corresponding coordinates based on the wind speed and direction of the environment in which the rescue drone is located. This avoids wind resistance during water spraying rescue caused by wind speed and direction, and at the same time, it can use natural wind to enhance the fire extinguishing efficiency. This improves the determination speed of the invention while ensuring the accuracy of fire source determination, and further improves the fire extinguishing efficiency of the invention.

[0056] Furthermore, when the central control unit determines that birds are flying towards the rescue drone, it compares the detected number of birds B with a preset number standard to determine how to avoid them. This prevents the birds from colliding with the rescue drone while scattering due to the fire. At the same time, the central control unit sets corresponding avoidance methods based on the number of drones and birds, which greatly improves the avoidance efficiency. This ensures the accuracy of fire source determination while increasing the determination speed of the invention, further improving the fire extinguishing efficiency of the invention. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of a drone swarm formation control method according to an embodiment of the present invention;

[0058] Figure 2 This is a flowchart illustrating how the central control unit of this invention compares the thermal imaging area S in the information image with a preset thermal imaging area to determine whether a fire source exists.

[0059] Figure 3This is a flowchart illustrating how the central control unit, as described in this embodiment of the invention, compares ΔSi with a preset thermal imaging area change value to further determine whether there is a fire source in the current area;

[0060] Figure 4 This is a flowchart illustrating how the central control unit of this invention compares the thermal imaging area Sj of a single fire source with a preset fire source area standard to determine the number of rescue drones heading to the location coordinates corresponding to the thermal imaging area of ​​the fire source.

[0061] Figure 5 This is a front view of the structure of the rescue drone described in an embodiment of the present invention;

[0062] Figure 6 This is a top view of the structure of the rescue drone described in an embodiment of the present invention;

[0063] In the diagram, 1 is the propeller, 2 is the noise-repelling device, 3 is the water tank, 4 is the radio wave detection device, and 5 is the water spray device. Detailed Implementation

[0064] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0065] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0066] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0067] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] Please see Figure 1The diagram shown is a schematic representation of a drone swarm formation control method according to an embodiment of the present invention. The drone swarm formation control method includes:

[0069] S1. The information drone patrols along a preset trajectory and periodically collects images to obtain information images of the current area where the information drone is located.

[0070] S2. The central control unit determines whether there is a fire source based on the comparison between the thermal imaging area in the information image and the preset thermal imaging area. When it is determined that there is a fire source, the thermal imaging area is recorded as the central fire source thermal imaging area and the position coordinates of the information drone at this time are recorded as the fire source position coordinates.

[0071] S3. When the fire source location coordinates are determined, the central control unit establishes a search circle based on the fire source location coordinates to search for the relevant location coordinates where the fire source exists.

[0072] S4. The central control unit determines the number of rescue drones that will go to the location coordinates corresponding to the thermal imaging area of ​​the fire source based on the comparison result between the thermal imaging area of ​​a single fire source and the preset fire source area standard. It also sets the position of the rescue drones based on the wind speed and wind direction of the current environment detected by the environmental detection unit. Furthermore, it detects whether birds are flying towards the rescue drones during the rescue process and determines how to avoid them based on the number of birds and the number of rescue drones.

[0073] Please see Figure 2 The diagram illustrates a flowchart illustrating how the central control unit of this invention compares the thermal imaging area S in the information image with a preset thermal imaging area to determine the presence of a fire source. The central control unit controls the information drone to acquire thermal imaging images of the ground surface at a set information acquisition cycle to obtain the information image of the current area of ​​the information drone. The central control unit compares the thermal imaging area S in the information image with the preset thermal imaging area to determine the presence of a fire source. The central control unit has a first preset thermal imaging area S1 and a second preset thermal imaging area S2, where S1 = 3m². 2 S2 = 8m 2 ,

[0074] If S≤S1, the central control unit determines that there is no fire source in the current area and controls the information drone to continue collecting information according to the preset trajectory;

[0075] If S1 < S ≤ S2, the central control unit initially determines that there is a fire source in the current area, controls the information drone to hover, and further determines whether there is a fire source in the current area based on the change value of the thermal imaging area in the current area.

[0076] If S2 < S, the central control unit determines that there is a fire source in the current area, records the thermal imaging area as the central fire source thermal imaging area, and records the fire source location coordinates D1 of the information drone at this time.

[0077] Please see Figure 3 The diagram illustrates a flowchart illustrating how the central control unit of this invention compares ΔSi with a preset thermal imaging area change value to further determine whether a fire source exists in the current area. Under a first preset condition, the central control unit controls the information drone to acquire thermal imaging images of the current area at a set fire source confirmation cycle and obtains the thermal imaging area Si from the information image acquired in the i-th fire source confirmation cycle. The central control unit calculates the thermal imaging area change value ΔSi and compares ΔSi with a preset thermal imaging area change value to further determine whether a fire source exists in the current area, where ΔSi = Si - Si-1. The central control unit has a first preset thermal imaging area change value ΔSz1 and a second preset thermal imaging area change value ΔSz2, where ΔSz1 = 0.5m. 2 △Sz2=3m 2 ,

[0078] If △Si≤△Sz1, the central control unit determines that there is no fire source in the current area and controls the information drone to continue to collect information according to the preset trajectory;

[0079] If △Sz1<△Si≤△Sz2, the central control unit determines that there may be a fire source in the current area and transmits all the acquired information images to the online manual analysis unit to issue an alarm message for manual confirmation;

[0080] If △Sz2 < △Si, the central control unit determines that there is a fire source in the current area, records the thermal imaging area as the central fire source thermal imaging area S, and records the fire source location coordinates D1 of the information UAV at this time.

[0081] The first preset condition is that the central control unit determines that S1 < S ≤ S2.

[0082] Specifically, under the second preset condition, the central control unit confirms a search circle with a radius of M meters, using D1 as the center point. The central control unit controls the information drone to collect thermal imaging images within the search circle to obtain information images. For the x-th information image, it determines whether there is a related fire source thermal imaging area Sx larger than the second preset thermal imaging area, where x = 2, 3, ..., n, and n is the total number of information images with thermal imaging areas larger than the second preset thermal imaging area. When the central control unit determines that there is a related fire source thermal imaging area Sx larger than the second preset thermal imaging area, it records the relevant position coordinates Di, i = 2, 3, ..., n.

[0083] The second preset condition is that the central control unit determines that there is a fire source in the current area.

[0084] Please see Figure 4 The diagram illustrates a flowchart illustrating how the central control unit, according to an embodiment of the present invention, compares the thermal imaging area Sj of a single fire source with a preset fire source area standard to determine the number of rescue drones heading to the location coordinates corresponding to that fire source thermal imaging area. Under a third preset condition, the central control unit compares the thermal imaging area Sj of a single fire source with the preset fire source area standard to determine the number of rescue drones heading to the location coordinates corresponding to that fire source thermal imaging area. The central control unit includes a first preset fire source area standard S01, a second preset fire source area standard S02, a standard number of rescue drones N0, a first quantity adjustment coefficient α1, and a second quantity adjustment coefficient α2, where S01 = 2m. 2 S02 = 7m 2 N0 = 2, α1 = 2, α2 = 3.

[0085] If Sj≤S01, the number of rescue drones that the central control unit determines to go to the location coordinates corresponding to the thermal imaging area of ​​the fire source is set to N, where N=N0, and N is a positive integer rounded up.

[0086] If S01<Sj≤S02, the number of rescue drones determined by the central control unit to go to the location coordinates corresponding to the thermal imaging area of ​​the fire source is set to N, and N=N0×α1 is set.

[0087] If S02 < Sj, the central control unit determines the number of rescue drones that go to the location coordinates corresponding to the thermal imaging area of ​​the fire source and sets it to N, where N = N0 × α2.

[0088] Wherein, when the thermal imaging area of ​​a single fire source is the thermal imaging area of ​​the central fire source, the position coordinates are the fire source position coordinates; when the thermal imaging area of ​​a single fire source is the thermal imaging area of ​​a related fire source, the position coordinates are the related position coordinates.

[0089] The third preset condition is that the central control unit determines that there is a relevant fire source thermal imaging area Sx that is larger than the second preset thermal imaging area.

[0090] Please continue reading. Figures 1 to 4 As shown, under the fourth preset condition, the central control unit detects the wind direction of the environment where the rescue drone is currently located through the environmental detection unit and establishes a horizontal coordinate axis with the wind direction as the positive direction, using the position coordinates as the origin, and sets the position of the rescue drone on the negative axis of the horizontal coordinate axis.

[0091] Under the fifth preset condition, the central control unit detects the wind speed V of the environment where the rescue drone is currently located through the environmental detection unit and compares V with a preset wind speed standard to determine the distance between the rescue drone and the corresponding coordinates. The central control unit has a first preset wind speed standard V1, a second preset wind speed standard V2, a preset standard distance L0, a first distance adjustment coefficient β1, and a second distance adjustment coefficient β2, wherein 0 < V1 = 5 m / s, V2 = 10 m / s, L0 = 2 m, β1 = 0.8, and β2 = 1.2.

[0092] If V≤V1, the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L, and sets L=L0×β1;

[0093] If V1 < V ≤ V2, the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L, and sets L = L0;

[0094] If V2 < V, the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L, and sets L = L0 × β2;

[0095] The fourth preset condition is that the central control unit completes the determination of the number of rescue drones; the fifth preset condition is that the central control unit completes the establishment of a horizontal coordinate axis with the position coordinates as the origin and the wind direction as the positive direction.

[0096] Specifically, under a sixth preset condition, the central control unit controls the rescue drone to perform water spraying rescue while simultaneously activating the radio wave detection device 4 on the rescue drone to detect whether birds are flying towards it. If birds are detected, the central control unit compares the detected bird count B with a preset number standard to determine how to avoid them. The central control unit has a first preset bird count B1 and a second preset bird count B2, where 0 < B1 < B2.

[0097] If B≤B1, the central control unit determines that the rescue drone does not need to take cover;

[0098] If B1 < B ≤ B2, the central control unit determines the number of rescue drones heading to the coordinates of that location and further determines how to evade them.

[0099] If B2 < B, the central control unit determines that the number of birds exceeds the preset range and activates the noise driving device 2 on the rescue drone to drive them away;

[0100] The sixth preset condition is that the central control unit completes the distance determination between the rescue drone and the corresponding location coordinates.

[0101] Specifically, under the eighth preset condition, the central control unit compares the number R of rescue drones heading to the location coordinates with a preset standard number of evasive drones to determine how each rescue drone should evade. The central control unit has a first preset number of evasive drones R1, a second preset number of evasive drones R2, a preset drone spacing standard Y0, a first spacing adjustment coefficient γ1, a second spacing adjustment coefficient γ2, and a third spacing adjustment coefficient γ3, where 0 < R1 < R2, 0 < Y0, 0 < γ1 < 1 < γ2 < γ3.

[0102] If R≤R1, the central control unit determines to set the distance between each rescue drone to Y to avoid birds, and sets Y=Y0×γ1;

[0103] If R1 < R ≤ R2, the central control unit determines to set the distance between each rescue drone to Y to avoid birds, and sets Y = Y0 × γ2;

[0104] If R2 < R, the central control unit determines to set the distance between each rescue drone to Y to avoid birds, and sets Y = Y0 × γ3;

[0105] The eighth preset condition is B1 < B ≤ B2.

[0106] Specifically, the online analysis unit is equipped with an audio-visual display screen to receive the judgment information from the central control unit and to enable the user to actively control the information drone and the rescue drone.

[0107] Please see Figures 5 to 6 As shown, in step S4, when the central control unit completes the location determination of the rescue drone, the rescue drone sprays water onto its destination coordinates using a water spraying device 5. The rescue drone also includes:

[0108] Several propellers 1 are evenly arranged above the rescue drone to control the flight of the rescue drone;

[0109] A remote control chip is installed inside the rescue drone and is remotely connected to the central control unit for use by the user or the central control unit to control the rescue drone.

[0110] The noise deterrent device 2 is located on the side of the rescue drone and is used to scare away birds.

[0111] Water tank 3 is connected to the water spraying device 5 and is used to supply water to the water spraying device 5.

[0112] The radio wave detection device 4 is installed at the bottom of the rescue drone to detect birds and their numbers around the rescue drone.

[0113] Example 1

[0114] In this embodiment, the thermal imaging area S = 5m² in the information image acquired by the information drone. 2 The central control unit compares the information with a preset thermal imaging area to determine whether a fire source exists. At this time, S1 < S < S2. The central control unit initially determines that a fire source exists in the current area, controls the drone to hover, and further determines whether a fire source exists in the current area based on the change value of the thermal imaging area. The central control unit calculates the change value of the thermal imaging area ΔS3 = 2m. 2 At this time, △Sz1 < △S3 < △Sz2, the central control unit determines that there may be a fire source in the current area and transmits all the acquired information images to the online manual analysis unit to issue an alarm message for manual confirmation.

[0115] Example 2

[0116] In this embodiment, the thermal imaging area S = 5m² in the information image acquired by the information drone. 2 The central control unit compares the information with a preset thermal imaging area to determine whether a fire source exists. At this time, S1 < S < S2. The central control unit initially determines that a fire source exists in the current area, controls the drone to hover, and further determines whether a fire source exists in the current area based on the change value of the thermal imaging area. The central control unit calculates the change value of the thermal imaging area ΔS3 = 4m. 2 At this time, △Sz2 < △S3, the central control unit determines that there is a fire source in the current area, records the thermal imaging area as the central fire source thermal imaging area S, and records the fire source location coordinates D1 of the information UAV at this time.

[0117] Example 3

[0118] In this embodiment, there is a single fire source with a thermal imaging area Sj = 6m². 2 At this time, S01 < Sj < S02, the central control unit determines that the number of rescue drones heading to the location coordinates corresponding to the thermal imaging area of ​​the fire source is set to N, and N = 2 × 2 = 4. In this embodiment, the location coordinates corresponding to the thermal imaging area of ​​a single fire source are the location coordinates of the fire source. The area where the fire source location coordinates are located is in the southeast wind. The central control unit establishes a horizontal coordinate axis with the fire source location coordinates as the origin and the southeast direction as the positive direction. The position of the rescue drone is set on the negative axis of the horizontal coordinate axis. In this embodiment, the current environmental wind speed is V = 6 m / s. At this time, V1 < V < V2, and the central control unit determines that the distance between the rescue drone and the corresponding location coordinates is set to L = 2 m.

[0119] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0120] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling formation of a UAV cluster, characterized in that, The application relates to a fire source detection method and device. S1, the information unmanned plane patrols according to a preset track and periodically collects images to obtain information images of a current region where the information unmanned plane is located; S2, a central control unit determines whether a fire source exists according to a comparison result of an area of thermal imaging in the information images and a preset thermal imaging area, and records the area of thermal imaging as a central fire source thermal imaging area and records a current position coordinate of the information unmanned plane as a fire source position coordinate when it is determined that the fire source exists; S3, the central control unit establishes a search circle according to the fire source position coordinate when the determination is completed, so as to search for related position coordinates where the fire source exists; S4, the central control unit determines the number of rescue unmanned planes that go to the position coordinate corresponding to the fire source thermal imaging area according to a comparison result of the single fire source thermal imaging area and a preset fire source area standard, sets the positions of the rescue unmanned planes according to a wind speed and a wind direction of a current environment detected by an environment detection unit, and detects whether birds fly towards the rescue unmanned planes during the rescue process and determines how to avoid according to the number of birds and the number of rescue unmanned planes. 2.The method of claim 1, wherein, The central control unit controls the information unmanned plane to collect thermal imaging images of the ground surface images at a set information collection period to obtain the information images of the current region of the information unmanned plane, and compares an area S of thermal imaging in the information images with a preset thermal imaging area to determine whether a fire source exists; the central control unit is provided with a first preset thermal imaging area S1 and a second preset thermal imaging area S2, wherein 0 If S is less than or equal to S1, the central control unit determines that no fire source exists in the current region and controls the information unmanned plane to continue information collection according to the preset track; If S1 is less than S and S is less than or equal to S2, the central control unit preliminarily determines that a fire source exists in the current region, controls the information unmanned plane to hover, and further determines whether the fire source exists in the current region according to a thermal imaging area change value of the current region; If S is greater than S2, the central control unit determines that a fire source exists in the current region, records the thermal imaging area as a central fire source thermal imaging area, and records a fire source position coordinate D1 of the information unmanned plane at this moment. 3.The method of claim 2, wherein, The central control unit controls the information unmanned plane to collect thermal imaging images of the current region at a set fire source confirmation period and obtains a thermal imaging area Si in the information images obtained in the i-th fire source confirmation period, calculates a thermal imaging area change value Delta Si and compares the thermal imaging area change value Delta Si with a preset thermal imaging area change value to further determine whether a fire source exists in the current region, wherein Delta Si=S-S(i-1); the central control unit is provided with a first preset thermal imaging area change value Delta Sz1 and a second preset thermal imaging area change value Delta Sz2, wherein 0 If Delta Si is less than or equal to Delta Sz1, the central control unit determines that no fire source exists in the current region and controls the information unmanned plane to continue information collection according to the preset track; If △Sz1 < △Si ≤ △Sz2, the central control unit determines that the current region possibly has a fire source and transmits all the obtained information images to the manual online analysis unit to issue an alarm information for manual confirmation; If △Sz2 < △Si, the central control unit determines that the current region has a fire source, records the thermal imaging area of the center fire source as S and records the fire source position coordinate D1 of the information UAV at this time; The first preset condition is that the central control unit determines S1 < S ≤ S2.

4. The method of claim 3, wherein, The central control unit confirms a search circle with a radius of M meters with D1 as the center under the second preset condition, controls the information UAV to collect thermal imaging images in the search circle to obtain information images, and determines whether there is a related fire source thermal imaging area Sx greater than the second preset thermal imaging area for the xth information image, x = 2, 3, …, n, wherein n is the total number of information images with a thermal imaging area greater than the second preset thermal imaging area, and the central control unit records the related position coordinate Di when it is determined that there is a related fire source thermal imaging area Sx greater than the second preset thermal imaging area, i = 2, 3, …, n. The second preset condition is that the central control unit determines that the current region has a fire source.

5. The method of claim 4, wherein, The central control unit compares the single fire source thermal imaging area Sj with the preset fire source area standard under the third preset condition to determine the number of rescue UAVs to the position coordinate corresponding to the fire source thermal imaging area; the central control unit is provided with a first preset fire source area standard S01, a second preset fire source area standard S02, a standard rescue UAV number N0, a first quantity adjustment coefficient α1 and a second quantity adjustment coefficient α2, wherein 0 < S01 < S02, 0 < N0, 0 < α1 < α2, If Sj ≤ S01, the central control unit determines that the number of rescue UAVs to the position coordinate corresponding to the fire source thermal imaging area is set as N, and N = N0, N is a positive integer taken upward; If S01 < Sj ≤ S02, the central control unit determines that the number of rescue UAVs to the position coordinate corresponding to the fire source thermal imaging area is set as N, and N = N0 × α1; If S02 < Sj, the central control unit determines that the number of rescue UAVs to the position coordinate corresponding to the fire source thermal imaging area is set as N, and N = N0 × α2; Wherein, when the single fire source thermal imaging area is the center fire source thermal imaging area, the position coordinate is the fire source position coordinate, and when the single fire source thermal imaging area is the related fire source thermal imaging area, the position coordinate is the related position coordinate. The third preset condition is that the central control unit determines that there is a related fire source thermal imaging area Sx greater than the second preset thermal imaging area.

6. The method of claim 5, wherein, The central control unit detects the wind direction of the current environment of the rescue UAV through the environment detection unit under the fourth preset condition and establishes a horizontal coordinate axis with the wind direction as the positive direction with the position coordinate as the origin, and sets the position of the rescue UAV on the negative axis of the horizontal coordinate axis; The central control unit detects the wind speed V of the environment where the rescue drone is currently located under the fifth preset condition through the environment detection unit, and compares V with the preset wind speed standard to determine the distance between the rescue drone and the corresponding position coordinate; the central control unit is provided with a first preset wind speed standard V1, a second preset wind speed standard V2, a preset standard distance L0, a first distance adjustment coefficient β1 and a second distance adjustment coefficient β2, wherein 0 If V≤V1, the central control unit determines that the distance between the rescue drone and the corresponding position coordinate is set as L, and sets L=L0×β1; If V1 If V2 The fourth preset condition is that the central control unit determines the number of rescue drones; the fifth preset condition is that the central control unit establishes a horizontal coordinate axis with the position coordinate as the origin and the wind direction as the positive direction.

7. The method of claim 6, wherein, The central control unit controls the rescue drone to perform water spraying rescue under the sixth preset condition, and starts the radio wave detection device on the rescue drone to detect whether birds are flying towards the rescue drone; if it is detected that birds are flying towards the rescue drone, the central control unit compares the detected number of birds B with the preset number standard to determine how to avoid; the central control unit is provided with a first preset bird number B1 and a second preset bird number B2, wherein 0 If B≤B1, the central control unit determines that the rescue drone does not need to avoid; If B1 If B2 The sixth preset condition is that the central control unit determines the distance between the rescue drone and the corresponding position coordinate.

8. The method of claim 7, wherein, The central control unit compares the number R of rescue drones going to the position coordinate with the preset number of avoidance drones under the eighth preset condition to determine how each rescue drone avoids; the central control unit is provided with a first preset number of avoidance drones R1, a second preset number of avoidance drones R2, a preset drone spacing standard Y0, a first spacing adjustment coefficient γ1, a second spacing adjustment coefficient γ2 and a third spacing adjustment coefficient γ3, wherein 0 If R≤R1, the central control unit determines to set the spacing Y of each rescue drone to avoid birds, and sets Y=Y0×γ1; If R1 If R2 If R2 The eighth preset condition is B1 9.The method of claim 8, wherein, The artificial online analysis unit is provided with a video display screen for receiving the determination information of the central control unit and enabling the user to actively control the information drone and the rescue drone. 10.The method of claim 9, wherein, In the S4, when the central control unit completes the position determination of the rescue drone, the rescue drone sprays water on the position coordinates it goes to through the water spraying device arranged thereon, and the rescue drone further comprises: A plurality of propellers arranged uniformly above the rescue drone for controlling the flight of the rescue drone; A remote control chip arranged inside the rescue drone and connected with the central control unit for remote communication, for controlling the rescue drone by the user or the central control unit; The noise driving device arranged on the side wing of the rescue drone for driving the birds; A water tank connected with the water spraying device for supplying water for the water spraying device; The radio wave detection device arranged at the bottom of the rescue drone for detecting the birds and the number of birds around the rescue drone.

Images