Vehicle-mounted fire-fighting unmanned aerial vehicle cooperative operation control system and method

Abstract

The application discloses a kind of vehicle-mounted fire-fighting unmanned plane cooperative operation control system and method, the method includes receiving the ignition point detection data and the differential positioning data of at least two unmanned planes detected by vehicle-mounted detection device;According to the ignition point detection data and differential positioning data, the ignition point position coordinates and azimuth angle data corresponding to each unmanned plane are calculated;According to the ignition point detection data, parallel operation mode or serial operation mode is selected;The navigation end position coordinates and azimuth angle of unmanned plane under parallel operation mode or serial operation mode are calculated;In parallel operation mode, each unmanned plane plans corresponding route according to the navigation end position coordinates and azimuth angle of unmanned plane and carries out fire-fighting operation simultaneously;In serial operation mode, each unmanned plane plans corresponding route according to the navigation end position coordinates and azimuth angle of unmanned plane and carries out fire-fighting operation in turn.The present application controls at least two unmanned planes to execute fire-fighting operation by ground station master control machine, so that the fire-fighting operation operation of unmanned plane can be adjusted according to the actual situation of ignition point.

Description

Technical Field

[0001] This invention relates to the field of fire and disaster relief technology, and in particular to a vehicle-mounted fire-fighting drone collaborative operation control system and method. Background Technology

[0002] With the continuous development of science and technology, drone-related technologies are also gradually improving, and they can be applied to many fields such as photogrammetry, environmental monitoring, resource exploration, and fire fighting. Currently, various high-rise and super high-rise buildings are ubiquitous in major cities. Due to the characteristics of high-rise building fires, such as rapid fire spread and high difficulty in extinguishing, the challenges of high-rise building fire fighting have long plagued my country's fire brigades. Applying drone technology to the field of fire fighting can effectively solve this problem. A fire truck can transport a missile-carrying drone to the vicinity of the high-rise building where the fire has occurred. A ground station controls the drone to fly to the window where the fire is burning and launch fire-fighting projectiles to extinguish the fire. In the context of urban high-rise building fire fighting, the vehicle-mounted missile-carrying drone method gives the drone strong speed and high mobility during fire fighting.

[0003] Current firefighting drone systems lack an integrated drone transport and landing method. The ground station and the drone are controlled one-to-one, resulting in low firefighting efficiency and an inability to cope with emergencies due to the single control method. Summary of the Invention

[0004] In view of the problems existing in the prior art, the first objective of the present invention is to provide a vehicle-mounted fire-fighting drone collaborative operation control system with high fire extinguishing efficiency and high mobility.

[0005] The second objective of this invention is to provide a method for collaborative operation control of vehicle-mounted firefighting drones.

[0006] A third objective of this invention is to provide a storage medium.

[0007] A fourth objective of this invention is to provide an electronic device.

[0008] To achieve the above objectives, the vehicle-mounted firefighting drone collaborative operation control system of the present invention includes a ground station main control unit and a data transmission device;

[0009] The ground station main control unit is used to receive fire point detection data and differential positioning data of the UAV, and send control commands to the UAV according to the fire point detection data and differential positioning data to control the UAV to perform corresponding fire fighting operations.

[0010] The image and data transmission device is communicatively connected to the ground station main control unit and the UAV, and is used to forward the control commands sent by the ground station main control unit to the UAV and send the status data and video data monitored by the UAV to the ground station main control unit.

[0011] The ground station main controller controls at least two drones to perform firefighting operations. The ground station main controller selects a parallel operation mode or a serial operation mode based on the fire point detection data, and controls the drones to perform corresponding control operations in the parallel operation mode or the serial operation mode.

[0012] Furthermore, it also includes a desktop joystick switch control device, which is used to activate when the coordinates and azimuth of the UAV's flight endpoint deviate, and to send control commands to the UAV to adjust the UAV's position and attitude.

[0013] Furthermore, it also includes a handheld remote control device, which is used to initiate control commands to the drone in the event of an abnormal drone flight path and the failure of the ground station main controller and the desktop joystick switch control device.

[0014] A second aspect of the present invention provides a method for collaborative operation control of a vehicle-mounted firefighting drone, comprising the following steps:

[0015] Receive fire detection data from vehicle-mounted detection devices and differential positioning data from at least two drones;

[0016] The fire point location coordinates and azimuth data for each UAV are calculated based on the fire point detection data and the differential positioning data.

[0017] Select either parallel operation mode or serial operation mode based on the fire point detection data;

[0018] Calculate the final position coordinates and azimuth of each UAV in parallel or serial operation mode;

[0019] In parallel operation mode, each drone plans its corresponding flight path according to the coordinates and azimuth of the drone's final destination and performs firefighting operations simultaneously.

[0020] In the serial operation mode, each drone takes turns to carry out firefighting operations according to the corresponding flight path planned according to the coordinates and azimuth of the drone's final flight position.

[0021] Furthermore, it also includes:

[0022] Compare the coordinates of the UAV's final destination with the coordinates of its intended final destination;

[0023] Compare the azimuth angle of the drone with the predetermined azimuth angle;

[0024] When the coordinates and / or azimuth of the UAV's final flight position deviate, the desktop joystick switch control device is activated, and control commands are sent to the UAV through the desktop joystick switch control device to adjust the UAV's position and attitude.

[0025] Furthermore, it also includes:

[0026] Determine the flight path status of the drone;

[0027] Determine the operating status of the ground station main control unit and the desktop joystick switch control device;

[0028] In the event of an abnormal flight path for the drone and the failure of the ground station main controller and desktop joystick switch control device, the handheld remote control device is activated to send control commands to the drone.

[0029] Furthermore, the differential positioning data of the UAV includes the UAV's position coordinates and azimuth angle data. Each UAV calculates its destination position and azimuth angle according to its own coordinate system.

[0030] A third aspect of the present invention provides a computer-readable medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the control method according to the second aspect.

[0031] A fourth aspect of the present invention provides an electronic device comprising:

[0032] One or more processors; and

[0033] A storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the control method described in the second aspect.

[0034] This invention controls at least two drones to perform firefighting operations via a ground station main controller. It can select a parallel or serial operation mode based on fire point detection data and control the drones to perform corresponding control operations in either mode. This allows the drones' firefighting operations to be adapted and adjusted according to the actual situation at the fire point, effectively improving the efficiency of drone firefighting operations while achieving flexible drone control.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of a vehicle-mounted firefighting drone collaborative operation control system according to an embodiment of the present invention;

[0038] Figure 2 This is a flowchart of a collaborative operation control method for a vehicle-mounted firefighting drone according to an embodiment of the present invention;

[0039] Figure 3 , Figure 4 This is a schematic diagram illustrating the working principle of a vehicle-mounted firefighting drone collaborative operation control system according to an embodiment of the present invention. Detailed Implementation

[0040] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0041] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0042] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0043] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0044] Figure 1 A schematic diagram of a vehicle-mounted firefighting drone collaborative operation control system according to an embodiment of the present invention is shown.

[0045] like Figure 1 As shown, the vehicle-mounted firefighting drone collaborative operation control system of the present invention includes a ground station main control unit 10 and a data transmission device 11;

[0046] The ground station main control unit 10 is used to receive fire point detection data and differential positioning data of the UAV, and send control commands to the UAV according to the fire point detection data and differential positioning data to control the UAV to perform corresponding fire fighting operations.

[0047] The image and data transmission device 11 is communicatively connected to the ground station main control unit 10 and the UAV, and is used to forward the control commands sent by the ground station main control unit 10 to the UAV and send the status data and video data monitored by the UAV to the ground station main control unit 10.

[0048] In this embodiment, the ground station main controller 10 controls at least two drones to perform firefighting operations. The ground station main controller 10 selects either a parallel operation mode or a serial operation mode based on the fire point detection data, and controls the drones to perform corresponding control operations within either mode. This embodiment uses two drones controlled by the ground station main controller as an example; however, the number of drones controlled by the ground station main controller is not limited to this, and it can control more drones to perform firefighting operations as needed. It should be noted that... Figure 1 The image and data transmission devices of UAVs No. 1 and No. 2 have the same function. To ensure a simpler and clearer illustration, both UAVs' image and data transmission devices can be labeled with the same numbers. Data transmission controlled by the ground station is a bidirectional process. Data transmission between the ground station and the UAVs is conducted through data exchange equipment and image and data transmission devices on the ground. Specifically, the ground station automatically sends control commands to the UAVs for fully automated processes such as takeoff, navigation, launch, and return. The UAVs, in turn, send status data of the UAV, fire extinguishing projectiles, and ignition devices, as well as video data, back to the UAV control system's ground station. The ground station's industrial control computer distributes control commands to the image and data transmission devices of each UAV via Ethernet through the data exchange equipment, and then transmits them to the UAVs through their respective antennas. The antennas corresponding to the image and data transmission devices of each UAV in the UAV control system receive the status data and video data from the UAVs, which are then transmitted to the ground station's industrial control computer for aggregation and processing via the data exchange equipment. Notably, one UAV's image and data transmission device is connected to two antennas to strengthen its data transmission and reception signals, and the antennas connected to the two UAV image and data transmission devices operate at different frequencies, effectively preventing signal interference between the two UAVs.

[0049] In one embodiment of the present invention, the collaborative operation control system further includes a desktop joystick switch control device. This device is activated when the coordinates and azimuth of the UAV's final destination deviate. Control commands are sent to the UAV via the desktop joystick switch control device to adjust the UAV's position and attitude. The desktop joystick switch control device includes a desktop joystick 12 and a desktop switch 13. Data transmission via the desktop joystick switch control is a unidirectional process; that is, the UAV control system's desktop joystick switch sends manual control commands to the UAV, and both the desktop joystick and switch send commands to their respective UAVs via corresponding antennas. When using ground station software control to control UAV navigation, if a deviation occurs in the final destination position, this method can be used to adjust the position coordinates and azimuth to correct the error. The desktop joystick controls the UAV's throttle, yaw, pitch, and roll, while the desktop switch controls the UAV's takeoff, flight, return, protection of the UAV's fire extinguisher ignition device, and the launch of the UAV's fire extinguisher.

[0050] In one embodiment of the present invention, the collaborative operation control system further includes a handheld remote control device. This handheld remote control device is used to initiate control commands to the UAV when the UAV's flight path is abnormal and both the ground station main control unit 10 and the desktop joystick switch control device fail. The handheld remote control device includes a handheld remote control 14. Data transmission under handheld remote control is a bidirectional process; that is, the UAV control system sends manual control commands such as takeoff, throttle, yaw, pitch, roll, and return-to-home to the UAV via the handheld remote control, and the UAV feeds back its status data and video data to the handheld remote control of the UAV control system. This method achieves independent data communication between two handheld remote controls and two UAVs, serving as a backup control method for emergency situations where the UAV's flight path is abnormal and both the ground station software control method and the desktop joystick switch control method have failed.

[0051] Figure 2 A flowchart of a collaborative operation control method for a vehicle-mounted firefighting drone according to an embodiment of the present invention is shown.

[0052] like Figure 2 As shown, the collaborative operation control method for vehicle-mounted firefighting drones includes the following steps:

[0053] Step S200: Receive the fire point detection data detected by the vehicle-mounted detection device and the differential positioning data from at least two UAVs;

[0054] Step S210: Calculate the fire point location coordinates and azimuth data for each UAV based on the fire point detection data and the differential positioning data;

[0055] Step S220: Select either parallel operation mode or serial operation mode based on the fire point detection data;

[0056] Step S230: Calculate the destination position coordinates and azimuth of each UAV in parallel operation mode or serial operation mode;

[0057] Step S240: In parallel operation mode, each UAV plans its corresponding flight path according to the coordinates and azimuth of its final flight point and simultaneously performs firefighting operations. Since the UAVs extinguish fires by launching fire-fighting projectiles to break windows, the distance between the UAV's final flight point and the window at the fire point is 15m. In parallel operation mode, to avoid flight path conflicts between the two UAVs, when calculating the coordinates and azimuth of the final flight point, both UAVs calculate according to their respective coordinate systems. UAV 1 is 15m away from the window at the fire point, and UAV 2 is 20m away. After the final flight point data is calculated, both UAVs take off and fly simultaneously. Upon reaching the final flight point, UAV 1 fires two fire-fighting projectiles, immediately ascends to an altitude of 5m, and returns to base. Simultaneously, UAV 2 advances 5m to fill the gap, fires two fire-fighting projectiles, and immediately returns to base. After both UAVs return to the parking platform, they immediately reload, and the single parallel operation process ends. It should be noted that in the parallel operation mode, the flight path of each UAV is planned based on the coordinates of the destination position, the azimuth angle, and the detected fire point position. This ensures the efficiency of UAVs operating simultaneously while avoiding interference between their flight paths.

[0058] Step S250: In serial operation mode, each UAV takes turns performing firefighting operations according to its planned flight path coordinates and azimuth. In serial operation mode, the flight endpoints of both UAVs are calculated according to their respective coordinate systems, with a window distance of 15m directly facing the fire point. UAV 1 takes off, reaches its flight endpoint, fires two fire extinguishing rounds, and returns to the landing platform to reload. Simultaneously, UAV 2 takes off and performs the same action. After UAV 2 reloads, the single serial operation process ends. After confirming the completion of the overall mission on the UAV control system ground station software, the UAV landing platform descends, the vehicle is retrieved, and the overall firefighting operation process ends.

[0059] In one embodiment of the present invention, the collaborative operation control method further includes:

[0060] Compare the coordinates of the UAV's final destination with the coordinates of its intended final destination;

[0061] Compare the azimuth angle of the drone with the predetermined azimuth angle;

[0062] When the coordinates and / or azimuth of the UAV's final flight position deviate, the desktop joystick switch control device is activated, and control commands are sent to the UAV through the desktop joystick switch control device to adjust the UAV's position and attitude.

[0063] In one embodiment of the present invention, the collaborative operation control method further includes:

[0064] Determine the flight path status of the drone;

[0065] Determine the operating status of the ground station main control unit and the desktop joystick switch control device;

[0066] In the event of an abnormal flight path for the drone and the failure of the ground station main controller and desktop joystick switch control device, the handheld remote control device is activated to send control commands to the drone.

[0067] Figure 3 , Figure 4 This is a schematic diagram illustrating the working principle of a vehicle-mounted firefighting drone collaborative operation control system according to an embodiment of the present invention.

[0068] like Figure 3 As shown, the overall process of collaborative firefighting operations using unmanned aerial vehicle (UAV) systems is as follows:

[0069] The mission is initiated. After the fire truck arrives at the designated location, it deploys, and the drone landing platform ascends. At this time, the drone control system's ground station software acquires differential positioning data from the two drones, namely their position coordinates (latitude, longitude, altitude) and azimuth. The vehicle-mounted detection device is activated to detect the fire point. Based on the position coordinates and azimuth of the vehicle-mounted detection device calculated from the position coordinates and azimuth data of the two drones, two sets of fire point position coordinates and azimuth data corresponding to the two drones are calculated.

[0070] Choose between three drone firefighting collaborative operation modes: parallel operation mode or serial operation mode. These two modes can be switched at the end of a single operation before the overall task is completed, ensuring the most suitable collaborative operation mode is selected based on the actual situation. Control the drone to perform the corresponding firefighting operations according to the selected operation mode.

[0071] like Figure 4 As shown, the unmanned aerial vehicle (UAV) system operation control method is the detailed control method when the UAV performs a single operation in the overall process of UAV system collaborative firefighting operation. The example is the operation control method of a single UAV in a single operation.

[0072] The UAV control system's ground station software sends waypoint information to the UAV and sends unlock and takeoff commands. The UAV then takes off vertically and reaches the altitude of the fire. The ground station software sends navigation commands to the UAV, which follows the waypoint data to form a horizontal flight path and reach the destination, with the UAV's camera and fire extinguishing projectiles both aimed at the fire's window. Ignition control commands are then sent, including self-checks of the ignition system equipment, ignition head checks, ignition channel selection, and ignition firing. Two fire extinguishing projectiles are fired to extinguish the fire. Finally, a return-to-home command is sent to automatically return the UAV to the parking platform, thus automating the entire process.

[0073] Once the drone reaches its destination, if its final position coordinates, azimuth, or other parameters deviate from expectations, the desktop joystick switch of the drone control system can be used for manual adjustment of the drone's position and attitude. This eliminates minor errors during flight and improves its firefighting accuracy. After adjustment, the system can be switched back to the ground station software for control to proceed to the next step.

[0074] If, at any time after the drone has been unlocked and taken off but before it returns to base, an emergency occurs where the drone's flight path is abnormal or both the ground station software and the desktop joystick switch control methods have failed, the drone control system can be switched to handheld remote control to return to base, handle the abnormality, and thus cope with unpredictable emergencies.

[0075] The processes described in the flowchart above can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it performs the functions defined in the system of this application.

[0076] The present invention also provides an electronic device, comprising:

[0077] One or more processors; and

[0078] A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the control method described above.

[0079] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it performs the functions defined in the system of this application.

[0080] The present invention also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the control method described above.

[0081] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0082] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0083] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0084] It should be noted that although several modules or units of the device for performing actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0085] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of the present invention.

[0086] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0087] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A vehicle-mounted firefighting drone collaborative operation control system, characterized in that, It includes vehicle-mounted detection equipment, ground station main control unit, image and data transmission equipment, and at least two drones; The vehicle-mounted detection device is used to detect ignition point detection data. Each of the drones is equipped with a differential positioning module for acquiring its own position coordinates and azimuth data; The ground station main control unit is connected to the vehicle-mounted detection device and the image and data transmission device, and is used for: The system receives fire point detection data from the vehicle-mounted detection device and differential positioning data from each UAV, wherein the differential positioning data includes the position coordinates and azimuth data of each UAV. Based on the fire point detection data and the differential positioning data, the fire point location coordinates and azimuth data corresponding to each UAV are calculated according to the coordinate system of each UAV. Based on the location coordinates and azimuth data of the ignition point, the location coordinates and azimuth of the flight destination of each UAV are determined, so that the flight destinations of at least two UAVs are located at different distances in front of the ignition point and maintain a preset spatial interval between them, so as to avoid interference between the flight paths and fire-fighting trajectories of each UAV during parallel operations. Based on the coordinates and azimuth of the destination location and the fire detection data, control commands are generated and sent to each UAV to control each UAV to perform firefighting operations. The image and data transmission device is communicatively connected to the ground station main control unit and each UAV, and is used to forward the control commands sent by the ground station main control unit to each UAV, and send the status data and video data monitored by each UAV to the ground station main control unit. The ground station main control unit controls at least two UAVs to perform firefighting operations, and selects either a parallel operation mode or a serial operation mode based on the fire point detection data. In the parallel operation mode, the UAVs are controlled to plan corresponding routes according to their respective flight destination coordinates and azimuth angles to carry out firefighting operations simultaneously. In the serial operation mode, the UAVs are controlled to plan corresponding routes according to their respective flight destination coordinates and azimuth angles to carry out firefighting operations in turn.

2. The vehicle-mounted firefighting drone collaborative operation control system as described in claim 1, characterized in that, It also includes a desktop joystick switch control device, which is used to activate when the coordinates and azimuth of the UAV's flight endpoint deviate, and to send control commands to the UAV to adjust the UAV's position and attitude.

3. The vehicle-mounted firefighting drone collaborative operation control system as described in claim 2, characterized in that, It also includes a handheld remote control device, which is used to initiate operation when the UAV flight path is abnormal and the ground station main controller and the desktop joystick switch control device fail, and to send control commands to the UAV through the handheld remote control device.

4. A method for collaborative operation control of vehicle-mounted firefighting drones, characterized in that, The method is executed by the vehicle-mounted firefighting drone collaborative operation control system as described in any one of claims 1-3, and includes the following steps: Receive fire detection data from vehicle-mounted detection devices and differential positioning data from at least two drones; The fire point location coordinates and azimuth data for each UAV are calculated based on the fire point detection data and the differential positioning data. Select either parallel operation mode or serial operation mode based on the fire point detection data; Calculate the final position coordinates and azimuth of each UAV in parallel or serial operation mode; In parallel operation mode, each drone plans its corresponding flight path according to the coordinates and azimuth of the drone's final flight destination and performs firefighting operations simultaneously. In the serial operation mode, each drone takes turns to carry out firefighting operations according to the corresponding flight path planned according to the coordinates and azimuth of the drone's final flight position.

5. The vehicle-mounted firefighting drone collaborative operation control method as described in claim 4, characterized in that, Also includes: Compare the coordinates of the UAV's final destination with the coordinates of its intended final destination; Compare the azimuth angle of the drone with the predetermined azimuth angle; When the coordinates and / or azimuth of the UAV's final flight position deviate, the desktop joystick switch control device is activated, and control commands are sent to the UAV through the desktop joystick switch control device to adjust the UAV's position and attitude.

6. The vehicle-mounted firefighting drone collaborative operation control method as described in claim 5, characterized in that, Also includes: Determine the flight path status of the drone; Determine the operating status of the ground station main control unit and the desktop joystick switch control device; In the event of an abnormal flight path for the drone and the failure of the ground station main controller and desktop joystick switch control device, the handheld remote control device is activated to send control commands to the drone.

7. The vehicle-mounted firefighting drone collaborative operation control method as described in claim 4, characterized in that, The differential positioning data of the UAV includes the UAV's position coordinates and azimuth angle data. Each UAV calculates its destination position and azimuth angle according to its own coordinate system.

8. An electronic device, characterized in that, include: One or more processors; as well as A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the control method according to any one of claims 4 to 7.

9. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the control method according to any one of claims 4 to 7.

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