Positioning and extinguishing method of forest fire points based on cross-positioning of monitoring devices

Abstract

The present invention relates to a method for locating and extinguishing forest fires based on cross-positioning of monitoring devices. The method employs a method for cross-positioning two video cameras, employing dual video cameras for cross-positioning, and then cross-comparing thermal images obtained by a thermal imager. The method is particularly suitable for locating forest fires at fire scenes, effectively eliminating defects such as thick smoke and line of sight obstructions that are unfavorable to video recording. This method can greatly improve positioning and measurement accuracy, thereby expanding the measurement distance and range of positioning. By using a fire extinguishing cover net in conjunction with specific usage methods, such as adding a micro-explosion mechanism and undergoing two rounds of water absorption and weighting, a "fire extinguishing hood" composed primarily of a large amount of hydrogel is formed to cover and extinguish the designated area of ​​the forest fire, achieving effective fire extinguishing results.

Description

Technical Field

[0001] The invention relates to a method for positioning and extinguishing forest fire points based on cross-positioning of monitoring devices, and belongs to the technical field of forestry fire extinguishing. Background Art

[0002] In the field of forestry firefighting, firefighting is often extremely difficult. Not only do forest fires spread extremely quickly, but fighting them also requires significant manpower and resources. Traditional firefighting equipment is inadequate for the rugged, densely forested landscapes of forests, and rescue workers face significant challenges in receiving a fire alert and locating the fire's focal point.

[0003] The use of drones for forest fire fighting currently holds great promise. Drones offer rapid response, high-altitude advantages, and the ability to extinguish more fires per unit time.

[0004] When using drones for firefighting, the first thing to do is to use the cameras carried by the drones to patrol and find forest fire spots. Currently, finding forest fire spots is mainly based on manual judgment, which is inefficient and difficult to locate.

[0005] Computer vision technology can be used to locate ground objects using camera images. However, due to the limited resolution of cameras and the influence of perspective on position, calculating the ground position of an object directly from pixel positions can result in significant errors. Furthermore, at fire scenes, dense smoke and surrounding obstructions make it difficult to locate forest fires solely through video images. Flying too close can pose a threat to drone safety.

[0006] In addition, drones are limited in their payload capacity and can only carry a limited amount of materials at a time. They are okay for firefighting ordinary fires, but for fires in the forestry sector, especially forest fires, they are just a drop in the bucket and can only be used for "targeted clearance", such as extinguishing small forest fires.

[0007] Based on this, how to accurately locate forest fires and then use drones to extinguish fires has always been a research topic. Summary of the Invention

[0008] In view of the shortcomings of the existing technology, the present invention provides a method for locating and extinguishing forest fire points based on cross-locating monitoring devices. The specific technical solution is as follows:

[0009] A method for locating and extinguishing forest fire points based on cross-location of monitoring devices includes the following steps:

[0010] Step S1: The drone carries at least two video cameras and one thermal imager, wherein the viewing angle of one video camera is synchronized with the viewing angle of the thermal imager and the video camera is marked as the primary camera, and the remaining video cameras are marked as secondary cameras; the primary camera carried by the drone collects an initial image of the area where the forest fire is located, and the thermal imager carried by the drone collects an initial thermal image of the area where the forest fire is located;

[0011] Step S2: performing contour extraction on the initial image through the image contour processing module to obtain an edge image; performing contour extraction on the initial thermal image through the image contour processing module to obtain an edge thermal image;

[0012] Step S3: By comparing the edge image and the edge thermal image for similarity, when the comparison result is greater than a preset threshold, the corresponding edge image is selected as the first processing sample image, and the corresponding edge thermal image is selected as the second processing sample image. The first processing sample image and the second processing sample image are compared and analyzed by the comparison analysis module to circle the location of the forest fire point and mark it as the target area;

[0013] Step S4: Obtain a perspective correspondence between the coordinates of the ground projections of the secondary camera and the main camera and the pixel coordinate system of the target area, and the coordinates of the pixel points of the target area in the viewing angles of the secondary camera and the main camera; determine the ground projection points of the pixel points of the target area in the viewing angles of the secondary camera and the main camera respectively based on the perspective correspondence; obtain a line connecting the position points of the ground projections of the secondary camera and the main camera and the projection points, and mark the line as an identification line; the intersection point or the position of the area enclosed by the intersection of the identification lines is the ground position of the target area;

[0014] Step S5: According to the positional relationship among the GPS information of the main camera, the coordinates of the main camera's projection on the ground, and the ground position of the target area, the actual position of the target area is obtained. The actual position of the target area is the actual position of the forest fire point.

[0015] In a further optimization of the above technical solution, in step S2, the image contour processing module first performs grayscale processing and then median filtering when performing contour extraction to obtain a preprocessed image; in the preprocessed image, the RGB color mean within a preset range centered on a certain pixel point X is calculated, and the first contour line is calculated in combination with the Sobel algorithm; the gradient map of the preprocessed image is calculated using the Canny algorithm, and the first contour line and the gradient map are fitted and calculated using the GVF algorithm to obtain the final contour map.

[0016] As a further optimization of the above technical solution, in step S3, the comparison and analysis module trains and tests the initial data set through a deep learning network to obtain evaluation indicators, and performs comparative analysis on the evaluation indicators of the model training based on adversarial network data augmentation.

[0017] Further optimization of the above technical solution is based on the fire extinguishing method of cross-locating forest fire points by monitoring devices, and the actual position of the forest fire point is obtained by using the above positioning method of cross-locating forest fire points based on monitoring devices. The fire extinguishing coverage net is carried by a group of drones to fly above the actual position of the forest fire point, and the fire high-pressure water gun on the forest fire truck is used to spray water on the fire extinguishing coverage net for pre-weighting, and the pre-weighted fire extinguishing coverage net is dropped, and then the fire high-pressure water gun is used to continue to weight the pre-weighted fire extinguishing coverage net and correct its falling posture. After two rounds of weighting, the fire extinguishing coverage net falls to the designated area of ​​the forest fire point for covering and extinguishing the fire. During the covering and extinguishing process, the fire high-pressure water gun continues to be used to continue to replenish water to the fire extinguishing coverage net after two rounds of weighting.

[0018] Further optimization of the above technical solution, the fire extinguishing covering net includes a rectangular frame, a cotton cloth layer for covering the upper end of the frame, a wire mesh layer for covering the lower end of the frame, a capillary water absorption layer located above the wire mesh layer and inside the frame, a water-absorbing resin layer located between the capillary water absorption layer and the cotton cloth layer, and a plurality of springs embedded in the water-absorbing resin layer. The capillary water absorption layer is composed of two groups of axially symmetrical slope layers, and the thickness of the slope layer is arranged to increase successively in the direction approaching the frame; the slope layer is made of modified carbon fiber felt.

[0019] In a further optimization of the above technical solution, the water-absorbing resin layer is made of water-absorbing resin particles, and the water-absorbing resin particles are prepared by:

[0020] 30 parts by mass of carboxymethyl starch, 2.8 parts by mass of cobalt thiocyanate, and 500 parts by mass of water were fully gelatinized at a temperature of 86-89° C., and cooled to room temperature to obtain modified carboxymethyl starch;

[0021] The modified carboxymethyl starch was mixed with 120 parts by weight of an acrylic acid monomer having a neutralization degree of 50%, and then 7.6 parts by weight of potassium persulfate and 0.13 parts by weight of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 min under a carbon dioxide protective gas atmosphere. The reaction temperature was raised to 98-99° C. and the reaction was continued for 1-1.5 h. The mixture was cooled to 80-85° C. and 5.7 parts by weight of potassium tetracyanonitrile was added and the reaction was continued for 0.5 h. The mixture was cooled to room temperature, frozen in liquid nitrogen, and returned to room temperature. The mixture was then dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain water-absorbing resin particles.

[0022] The modified carbon fiber felt is prepared by first forming carbon fibers into a web, needle-punching, and stitching the carbon fiber felt, and then completely immersing the carbon fiber felt in an acidizing solution for acidification for 5 minutes. After the acidification is completed, the carbon fiber felt is washed with deionized water and dried to obtain a pretreated carbon fiber felt.

[0023] The preparation method of the acidizing solution comprises the following steps:

[0024] 0.05 mL of trifluoromethanesulfonic acid was dissolved in 60 L of water to prepare a trifluoromethanesulfonic acid solution, and 10 mL of the trifluoromethanesulfonic acid solution was mixed with 5 L of 25% ammonia water to obtain the acidified solution;

[0025] The pretreated carbon fiber felt is modified using xenon plasma to obtain modified carbon fiber felt. The xenon plasma is prepared by using a low-temperature plasma reactor to convert xenon gas into xenon plasma. The input flow rate of the xenon gas is 53 mL / min, the output voltage of the low-temperature plasma reactor is 9 kV, and the modification treatment time is 6 minutes.

[0026] A further optimization of the above technical solution is that the drone swarm includes at least six drones, a winch is installed at the lower part of the drone, the starting end of the steel wire rope released by the winch is fixedly connected to an electromagnet, the upper part of the fire extinguishing covering net is fixedly connected to a suspension rope arranged in a one-to-one correspondence with the steel wire rope, and the upper end of the suspension rope is fixedly connected to an iron plate adapted to the electromagnet.

[0027] The above technical solution is further optimized. The lower part of the fire extinguishing covering net is provided with a plurality of micro-explosion mechanisms distributed in an array, and the micro-explosion mechanism includes a top plate, a corrugated tube, and a bottom cone. The top plate is fixedly connected to the wire mesh layer, the upper end of the corrugated tube is sealed with a circular tubular upper straight tube, the upper end of the upper straight tube is sealed with the lower center of the top plate, and the lower end of the corrugated tube is sealed with a circular tubular lower straight tube. The corrugated tube is composed of a plurality of spherical or hemispherical tube shell sections; the bottom cone includes a regular hexagonal lower base plate, six side panels of isosceles trapezoidal structure, and a regular hexagonal upper base plate. The side length of the upper base plate is greater than the side length of the lower base plate. The six side panels are connected in pairs and each side panel is connected to the lower base plate and the upper base plate. The six side panels, the lower base plate and the upper base plate form a hexagonal pyramid structure. A prism cavity, a mounting hole for the lower end of the lower straight tube to pass through is provided in the center of the upper base plate, the side wall of the lower straight tube and the hole wall of the mounting hole are glued and sealed, the lower end of the lower straight tube is sealed and connected with a pointed head, the tip of the pointed head is set downward, a channel steel part is provided in the prism cavity, the channel steel part is fixedly connected to the lower base plate, the upper part of the channel steel part is fixedly connected with at least three round rod-shaped limiting rods, the limiting rods are all located on the outside of the lower straight tube, the upper end of the limiting rod is fixedly connected to the upper base plate, a flint ball is provided between the channel steel part and the pointed head, the three limiting rods are all located on the outside of the flint ball, and the flint ball is glued to the limiting rod; the inner cavity of the lower straight tube, the inner cavity of the corrugated tube, and the inner cavity of the upper straight tube are all connected to form an upper tube cavity, and the prism cavity and the upper tube cavity are both filled with ammonium nitrate.

[0028] A further optimization of the above technical solution is that the surface of the flint ball is staggered with grooves, and the surface of the flint ball is divided by the grooves into a plurality of triangular raised units, and the triangular raised units are surrounded by three triangular arc surfaces and a bottom surface area, the cross section of the triangular arc surface is an arc structure, and the projection of the triangular arc surface on the plane is a triangular structure, and the bottom surface area refers to the junction between the triangular raised units and the spherical body of the flint ball, and the projection of the bottom surface area on the plane is a triangular structure;

[0029] The side wall of the lower straight tube and the hole wall of the mounting hole are bonded and sealed by glue, the flint ball and the limit rod are bonded by glue, and the upper surface of the channel steel part is provided with a pattern;

[0030] The side surface of the side panel is provided with a plurality of stamping protrusions protruding toward the outside of the prism cavity, and the stamping protrusions are regular hexagonal structures.

[0031] A further optimization of the above technical solution is that the shortest distance between the connection point between the suspension rope and the fire extinguishing covering net and the edge of the fire extinguishing covering net is 1.5~2m. In the process of using a fire high-pressure water gun to spray water to pre-weight the fire extinguishing covering net, the middle section of the fire extinguishing covering net presents an upward arched structure.

[0032] Beneficial effects of the present invention:

[0033] 1. The present invention proposes a method of cross-positioning two video cameras, which has a low requirement for the height of the video cameras above the ground and does not require vertical shooting of the ground, and is highly practical. The method adopts the cross-positioning of the two video cameras and then uses the thermal images obtained by the thermal imager for cross-comparison. It is particularly suitable for locating forest fire points at fire scenes, and can effectively eliminate defects such as thick smoke and line of sight obstruction that are not conducive to video recording. It can greatly improve the positioning measurement accuracy, thereby expanding the measurement distance and range of positioning.

[0034] 2. Using a fire extinguishing covering net in conjunction with specific usage methods (such as adding a micro-explosion mechanism, absorbing water and increasing weight after two rounds, etc.), a "fire extinguishing cover" composed mainly of a large amount of hydrogel will be formed to cover and extinguish the designated area of ​​the forest fire point, with good fire extinguishing effect.

[0035] 3. The drone swarm can carry the fire extinguishing coverage net. The existing drone swarm cannot fly long distances to transport the fire extinguishing coverage net that has been subjected to two rounds of water absorption and weight increase. Therefore, the present invention makes full use of the load capacity and maneuverability of the drone, thereby being able to give full play to the use of the drone in the field of extinguishing forest fires, which is of great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of a drone swarm carrying a fire extinguishing coverage net according to the present invention;

[0037] Figure 2 This is a schematic diagram of the interior of the fire extinguishing cover net of the present invention;

[0038] Figure 3 This is a schematic structural diagram of the micro-explosion mechanism of the present invention;

[0039] Figure 4 This is a schematic diagram of the interior of the bottom cone of the present invention;

[0040] Figure 5 This is a schematic diagram of the bottom cone of the present invention when viewed from above;

[0041] Figure 6 This is a schematic diagram of the surface of the flint ball according to the present invention. Implementation Method

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Example

[0043] The method for locating forest fire points based on cross-locating monitoring devices includes the following steps:

[0044] Step 1: The drone carries at least two video cameras and one thermal imager. The viewing angle of one video camera is synchronized with that of the thermal imager and is marked as the primary camera. The remaining video cameras are marked as secondary cameras. The primary camera carried by the drone is used to collect an initial image of the area where the forest fire is located, and the thermal imager carried by the drone is used to collect an initial thermal image of the area where the forest fire is located.

[0045] Step 2: Perform contour extraction on the initial image through the image contour processing module to obtain an edge image; perform contour extraction on the initial thermal image through the image contour processing module to obtain an edge thermal image.

[0046] Step 3: By performing a similarity comparison between the edge image and the edge thermal image, when the comparison result is greater than a preset threshold, the corresponding edge image is selected as the first processing sample image, and the corresponding edge thermal image is selected as the second processing sample image. The first processing sample image and the second processing sample image are compared and analyzed by the comparison analysis module to circle the location of the forest fire point and mark it as the target area.

[0047] Step 4. Obtain the perspective correspondence between the coordinates of the projections of the secondary camera and the main camera on the ground and the pixel coordinate system of the target area, and the coordinates of the pixel points of the target area in the viewing angle of the secondary camera and the main camera. According to the perspective correspondence, determine the projection points of the pixel points of the target area in the viewing angle of the secondary camera and the main camera on the ground respectively, obtain the line connecting the position points of the projections of the secondary camera and the main camera on the ground and the projection points, and mark the line as the identification line; the intersection point or the position of the enclosed area formed by the intersection of the identification lines is the ground position of the target area.

[0048] Step 5: Based on the positional relationship between the GPS information of the main camera, the coordinates of the main camera's projection on the ground, and the ground position of the target area, the actual position of the target area is obtained. The actual position of the target area is the actual position of the forest fire point.

[0049] Among them, in step 2, when performing contour extraction, the image contour processing module first performs grayscale processing and then performs median filtering to obtain a preprocessed image; in the preprocessed image, the RGB color mean within a preset range centered on a certain pixel point X is calculated based on the pixel point X, and the first contour line is calculated in combination with the Sobel algorithm (Sobel operator); the gradient map of the preprocessed image is calculated using the Canny algorithm (high and low thresholds output binary images), and the first contour line and the gradient map are fitted and calculated using the GVF algorithm (an algorithm based on the GVF model) to obtain the final contour map.

[0050] In step 3, the comparative analysis module trains and tests the initial data set through a deep learning network to obtain evaluation indicators, and performs comparative analysis based on the model training evaluation indicators augmented by adversarial network data.

[0051] This invention proposes a method for cross-positioning two video cameras. This method requires a low ground clearance for the cameras, eliminating the need for vertical ground photography and enhancing practicality. The cross-positioning of the two cameras, coupled with cross-comparison of thermal images obtained by a thermal imager, is particularly suitable for locating forest fires at fire scenes. It effectively eliminates obstacles hindering video capture, such as thick smoke and line of sight obstructions, significantly improving positioning measurement accuracy and expanding the measurement distance and range. The video cameras are integrated into existing drone monitoring devices, eliminating the need for additional installation or purchase. Example

[0052] The fire extinguishing method based on cross-positioning of forest fire points by monitoring devices utilizes the positioning method based on cross-positioning of forest fire points by monitoring devices described in Example 1 to obtain the actual location of the forest fire point. After accurately finding and positioning the forest fire point, it is convenient to formulate an effective fire extinguishing plan.

[0053] like Figure 1As shown, a swarm of drones carries a fire extinguishing net 20 and flies it above the actual location of the forest fire. The fire extinguishing net 20 is pre-weighted by spraying water using a high-pressure water gun on a forest fire truck. This is because the fire extinguishing net 20 contains water-absorbing resin particles (see Example 7), which will increase in weight after absorbing water. Pre-weighting is necessary because the area of ​​the fire extinguishing net 20 is at least 50m 2 Only when the area is large enough can the single fire extinguishing range be large enough and the fire extinguishing effect be good; and such a large fire extinguishing covering net 20, even when carried by a group of drones, is easily swung by the wind, while the fire extinguishing covering net 20 with increased weight is not easy to swing, and the landing point will be more accurate.

[0054] The pre-weighted fire extinguishing covering net 20 is thrown down, and then the pre-weighted fire extinguishing covering net 20 is further weighted using a fire high-pressure water gun and its falling posture is corrected, thereby further preventing it from falling off significantly.

[0055] After two rounds of weight increase, the fire extinguishing covering net 20 has a good fire extinguishing effect because it has absorbed enough water. Before the water in the hydrogel is dried up, it is not easily burned by the fire. The fire extinguishing covering net 20 after two rounds of weight increase is dropped into the designated area of ​​the forest fire to cover and extinguish the fire. During the covering and extinguishing process, the fire extinguishing covering net 20 after two rounds of weight increase is continuously replenished with water using a fire-fighting high-pressure water gun, thereby further improving the fire extinguishing effect. Example

[0056] like Figure 2 As shown, the fire extinguishing covering net 20 includes a rectangular frame 24, a cotton cloth layer 21 for covering the upper end of the frame 24, a steel mesh layer 23 for covering the lower end of the frame 24, a capillary water absorption layer 26 located above the steel mesh layer 23 and within the frame 24, a water-absorbing resin layer 22 located between the capillary water absorption layer 26 and the cotton cloth layer 21, and a plurality of springs 25 embedded in the water-absorbing resin layer 22. The capillary water absorption layer 26 is composed of two groups of axially symmetrical slope layers, and the thickness of the slope layer is arranged to increase in sequence in the direction close to the frame 24; the slope layer is made of modified carbon fiber felt.

[0057] The length of the spring 25 is arranged parallel to the width of the fire-extinguishing cover net 20. This is primarily used to enhance the drop resistance of the hydrogel layer formed by the water-absorbing resin layer 22 after absorbing water. The hydrogel layer has a strong fire-extinguishing effect, transforming the fire-extinguishing cover net 20 into a dense and closed "blanket." When placed over a forest fire, it quickly extinguishes the fire. The hydrogel layer itself contains a large amount of water, further preventing re-ignition. Before the hydrogel layer is dried, the fire-extinguishing cover net 20 will not be burned by the high temperature. By continuously replenishing the fire-extinguishing cover net 20 with water, the fire can be continuously extinguished in the area covered by the fire-extinguishing cover net 20. This high water utilization rate ensures that the water does not flow, allowing a large amount of water to be continuously used for cooling and extinguishing the fire.

[0058] Due to the special structure of the capillary water absorption layer 26, under the lifting method of Example 4, a portion of the water sprayed into the center of the fire extinguishing covering net 20 can be quickly absorbed by the capillary water absorption layer 26 and transferred to the edge of the fire extinguishing covering net 20, so that the entire surface of the fire extinguishing covering net 20 can be filled with water in a short time, avoiding the appearance of "holes" or "weak areas" in some areas due to uneven water absorption. Example

[0059] like Figure 1 As shown, the drone swarm includes at least six drones 10. A winch is mounted on the lower portion of each drone 10. The starting end of a steel wire rope 11 released by the winch is fixedly connected to an electromagnet 12. A suspension rope 14 is fixedly connected to the upper portion of the fire extinguishing net 20, corresponding to each of the steel wire ropes 11. The upper end of each suspension rope 14 is fixedly connected to an iron plate 13 that matches the electromagnet 12. By controlling the power supply to the electromagnet 12, the appropriate time to disconnect the electromagnet 12 from the iron plate 13 is selected to complete the lowering of the fire extinguishing net 20.

[0060] Among them, the shortest distance between the connection point between the suspension rope 14 and the fire extinguishing covering net 20 and the edge of the fire extinguishing covering net 20 is 1.5~2m. In the process of using a fire high-pressure water gun to spray water on the fire extinguishing covering net 20 for pre-weighting, the middle section of the fire extinguishing covering net 20 presents an upward arched structure.

[0061] First, if the lifting rope 14 is directly connected to the edge of the fire extinguishing cover net 20, the edge of the fire extinguishing cover net 20 will not naturally sag during the lifting process. In this embodiment, however, during the process of being pre-weighted by water spraying, the fire extinguishing cover net 20 assumes a "︷" shape. This structure facilitates the rapid absorption of water from the lower portion of the fire extinguishing cover net 20 by the edges. In addition, the special structure of the capillary water absorption layer 26 enables the capillary water absorption layer 26 to quickly absorb water and transfer a large amount of water to the edge of the fire extinguishing cover net 20, thus forming a "hood"-like structure of the fire extinguishing cover net 20. In particular, its edges have a high water content, which is more conducive to fire extinguishing. Example

[0062] like Figure 1 、 3 As shown in Figures 4 and 5, a plurality of micro-explosion mechanisms 30 distributed in an array are provided at the lower portion of the fire extinguishing covering net 20. The micro-explosion mechanism 30 includes a top plate 31, a corrugated tube 33, and a bottom cone 35. The top plate 31 is fixedly connected to the wire mesh layer 23. The upper end of the corrugated tube 33 is sealedly connected to a circular tubular upper straight tube 32. The upper end of the upper straight tube 32 is sealedly connected to the lower center of the top plate 31. The lower end of the corrugated tube 33 is sealedly connected to a circular tubular lower straight tube 34. The tube 33 is composed of a plurality of spherical or hemispherical tube shell segments; the bottom cone 35 includes a regular hexagonal lower base plate 351, six isosceles trapezoidal side panels 352, and a regular hexagonal upper base plate 353. The side length of the upper base plate 353 is greater than the side length of the lower base plate 351. The six side panels 352 are connected in pairs and each side panel 352 is connected to the lower base plate 351 and the upper base plate 353. The six side panels 352, the lower base plate 351 and the upper base plate 353 form a hexagonal pyramid structure. The prism cavity 354 is provided with a mounting hole in the center of the upper base plate 353 for the lower end of the lower straight tube 34 to pass through. The side wall of the lower straight tube 34 is glued and sealed with the hole wall of the mounting hole. The lower end of the lower straight tube 34 is sealed and connected with a pointed head 37. The tip of the pointed head 37 is set downward. A channel steel part 36 is provided in the prism cavity 354. The channel steel part 36 is fixedly connected to the lower base plate 351. The upper part of the channel steel part 36 is fixedly connected with at least three round rod-shaped limit rods 3 8. The limiting rods 38 are all located on the outside of the lower straight tube 34. The upper ends of the limiting rods 38 are fixedly connected to the upper base plate 353. A flint ball 39 is provided between the channel steel part 36 and the pointed part 37. The three limiting rods 38 are all located on the outside of the flint ball 39. The flint ball 39 is glued to the limiting rods 38. The inner cavity of the lower straight tube 34, the inner cavity of the corrugated tube 33, and the inner cavity of the upper straight tube 32 are all connected to form an upper tube cavity. The prism cavity 354 and the upper tube cavity are filled with ammonium nitrate.

[0063] A pyramid is a geometric shape formed by cutting a pyramid with a plane parallel to its base. The cross section is also called the upper base of the pyramid, and the original base of the pyramid is called the lower base. A pyramid with a hexagonal base is called a hexagonal pyramid.

[0064] Ammonium nitrate decomposes explosively under severe impact or heat. First, when dropping the fire extinguishing cover net 20, it needs to be dropped from at least 10 meters above the ground. This is due to the impact of vegetation such as grass and shrubs in the forest, as well as the height of the flames. Testing has determined that this height is necessary. Ammonium nitrate is a relatively insensitive explosive, but when dropped from a minimum height of 10 meters, the immense impact force causes the lower straight tube 34 to break open the central mounting hole of the upper base plate 353, causing the pointed portion 37 to strike the flint ball 39, similar to the repeated impact of a needle tip against metal. The sharp impact between the pointed portion 37 and the flint ball 39 causes the ammonium nitrate to decompose explosively, driving the explosive decomposition of all the ammonium nitrate.

[0065] If the ammonium nitrate fails to decompose explosively the moment the fire-extinguishing cover net 20 hits the ground, the micro-explosion mechanism 30 is located within the fire scene, and after a period of burning, the ammonium nitrate will inevitably decompose explosively. The micro-explosion mechanism 30 controls the amount of ammonium nitrate within it to control the force of the explosion. This is primarily used to flatten tall obstacles within the area covered by the fire-extinguishing cover net 20. The explosive extinguishing effect also reduces the difficulty of subsequent firefighting. During the explosion, the multi-layered structure of the fire-extinguishing cover net 20 provides layer-by-layer cushioning, and the springs 25 further enhance the cushioning effect. Furthermore, the hydrogel layer reinforced by the springs 25 is less susceptible to explosions that could cause large areas of hydrogel to be blown away.

[0066] The obstacles below the fire extinguishing covering net 20 are blown flat by slight explosions of the multiple micro-explosion mechanisms 30, thereby enabling the fire extinguishing covering net 20 to greatly increase its coverage and improve the fire extinguishing effect.

[0067] By contrast, if the bottom cone 35 is an inverted truncated cone, testing has shown that, with the same mass of ammonium nitrate, the inverted truncated cone will not explode, at most undergoing significant deformation. However, the bottom cone 35 will explode at the junction between two adjacent side panels 352, making it easier to level obstacles around the bottom cone 35. Furthermore, the smaller structure below the bottom cone 35 makes it easier to penetrate deep into the fire scene.

[0068] In contrast, if the bottom cone 35 is a shell of a rectangular structure, experiments have found that for the same mass of ammonium nitrate, the six side edges of the bottom cone 35 are more likely to explode and produce the greatest impact force, and the explosion range is also larger.

[0069] The configuration of the corrugated tube 33 makes it less likely to explode than circular tubes, hexagonal tubes, etc., when of the same thickness. In addition, due to the obstruction of the top plate 31, the height of the upper straight tube 32 is much smaller than the height of the lower straight tube 34 (less than one-quarter of the height of the lower straight tube 34). This causes the ammonium nitrate in the corrugated tube 33 to explode again after the ammonium nitrate explosively decomposes in the bottom cone 35, and the explosion is concentrated in the lower straight tube 34.

[0070] Since the pointed head 37 will hit the flint ball 39, and the micro-explosion mechanism 30 itself will fluctuate continuously at the moment of falling due to the presence of the spring 25, etc., the pointed head 37 will continuously hit the flint ball 39. When the flint ball 39 is hit, it will rotate, and there will be severe friction between the flint ball 39 and the channel steel part 36. Example

[0071] Based on Example 5, Figure 6 As shown, the surface of the flint ball 39 is staggered with grooves 391, and the surface of the flint ball 39 is divided into a number of triangular protrusion units 392 by the grooves 391. The triangular protrusion units 392 are surrounded by three triangular arc surfaces and a bottom surface area. The cross-section of the triangular arc surface is an arc structure, and the projection of the triangular arc surface on the plane is a triangular structure. The bottom surface area refers to the junction between the triangular protrusion unit 392 and the sphere of the flint ball 39, and the projection of the bottom surface area on the plane is a triangular structure.

[0072] The side wall of the lower straight tube 34 and the hole wall of the mounting hole are glued and sealed with 101 glue, the flint ball 39 and the limit rod 38 are glued with 502 glue, and the upper surface of the channel steel part 36 is provided with a pattern.

[0073] Pure ammonium nitrate is stable at room temperature. If the pointed portion 37 is absent, or if the pointed portion 37 is simply cylindrical, the ammonium nitrate is difficult to detonate. Furthermore, because the bonding strength of 502 glue differs from that of 101 glue, sufficient strength must be ensured between the lower straight tube 34 and the upper base plate 353 at the initial stage. When the lower straight tube 34 is subjected to a significant impact from the impact of the fall, it can instantly break apart from the upper base plate 353, causing the pointed portion 37 to violently collide with the flint ball 39, thereby causing the ammonium nitrate to decompose explosively. If the flint ball 39 were to rotate from the outset, this would actually hinder the detonation of the ammonium nitrate. Furthermore, the flint ball 39 would rotate under the compressive force of the pointed portion 37, causing intense friction between the flint ball 39 and the channel steel 36, further contributing to the explosion of the ammonium nitrate.

[0074] The Mouhe square cover is a square box that is Mouhe, so it is called Mouhe square cover, which is made up of four sides. The triangular raised unit 392 of the present invention is similar to three triangular arc surfaces that are Mouhe. If the triangular raised unit is just a simple triangular pyramid structure, a statistical calculation is performed based on the total length of the scratches generated by the surface of the flint ball 39 being hit by the pointed head 37: the total length of the scratches generated by the triangular raised unit 392 of the present invention is 35% longer than that of the flint ball with a triangular pyramid structure. Therefore, it can be seen that under equal impact force, the collision between the triangular raised unit 392 of the present invention and the flint ball 39 is more intense.

[0075] The arrangement of the groove 391 causes intense friction between the pointed portion 37 and the flint ball 39 during the rotation of the flint ball 39. In addition, the groove 391 also accommodates a portion of ammonium nitrate, which is closest to or even in direct contact with the pointed portion 37, and is thus directly detonated.

[0076] The side surface of the side panel 352 is provided with a plurality of stamping protrusions 355 protruding toward the outside of the prism cavity 354 , and the stamping protrusions 355 are regular hexagonal structures.

[0077] The placement of the stamped protrusions 355 ensures that, when the bottom cone 35 explodes, the impact force is greater at the junction between two adjacent side panels 352, preventing the central region of the side panels 352 from exploding first. The regular hexagonal shape of the stamped protrusions 355 provides greater impact resistance to the side panels 352 (compared to a circular structure). Preferably, the adjacent side panels 352 are sealed by adhesive bonding.

[0078] In summary, the above design ensures that after the fire extinguishing covering net 20 absorbs water and increases in weight, it falls from a height of 6 meters above the ground, and the impact force generated on the micro-explosion mechanism 30 causes the ammonium nitrate in the micro-explosion mechanism 30 to have a probability of exploding exceeding 75%. Example

[0079] The water-absorbing resin layer is made of water-absorbing resin particles, and the water-absorbing resin particles are prepared by:

[0080] 30 kg of carboxymethyl starch, 2.8 kg of cobalt thiocyanate, and 500 kg of water were fully gelatinized at a temperature of 86-89° C., and cooled to room temperature to obtain modified carboxymethyl starch;

[0081] The modified carboxymethyl starch was mixed with 120 kg of acrylic acid monomer with a neutralization degree of 50%, and then 7.6 kg of potassium persulfate and 0.13 kg of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 minutes under a carbon dioxide protective gas atmosphere. The reaction temperature was raised to 98-99° C. and the reaction was continued for 1-1.5 hours. The temperature was then lowered to 80-85° C. and 5.7 kg of potassium tetracyanonickelate was added and the reaction was continued for 0.5 hours. The mixture was cooled to room temperature, poured into liquid nitrogen for freezing, and then returned to room temperature. The mixture was dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain water-absorbing resin particles.

[0082] Comparative Example 1

[0083] 30 g of carboxymethyl starch and 500 g of water were fully gelatinized at a temperature of 86-89°C and cooled to room temperature to obtain gelatinized carboxymethyl starch;

[0084] The gelatinized carboxymethyl starch was mixed with 120 g of an acrylic acid monomer having a neutralization degree of 50%, and then 7.6 g of potassium persulfate and 0.13 g of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 min under a carbon dioxide protective gas atmosphere. The reaction temperature was then raised to 98-99° C. and the reaction was continued for 1-1.5 h. The mixture was cooled to room temperature, poured into liquid nitrogen for freezing, and returned to room temperature. The mixture was then dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain a water-absorbing resin 1.

[0085] Comparative Example 2

[0086] 30 g of carboxymethyl starch, 2.8 g of cobalt thiocyanate, and 500 g of water were fully gelatinized at 86-89° C. and cooled to room temperature to obtain modified carboxymethyl starch;

[0087] The modified carboxymethyl starch was mixed with 120 g of an acrylic acid monomer having a neutralization degree of 50%, and then 7.6 g of potassium persulfate and 0.13 g of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 min under a carbon dioxide protective gas atmosphere. The reaction temperature was then raised to 98-99° C. and the reaction was continued for 1-1.5 h. The mixture was cooled to room temperature, poured into liquid nitrogen for freezing, and then returned to room temperature. The mixture was then dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain a water-absorbing resin 2.

[0088] Comparative Example 3

[0089] 30 g of carboxymethyl starch and 500 g of water were fully gelatinized at a temperature of 86-89°C and cooled to room temperature to obtain gelatinized carboxymethyl starch;

[0090] The gelatinized carboxymethyl starch was mixed with 120 g of an acrylic acid monomer having a neutralization degree of 50%, and then 7.6 g of potassium persulfate and 0.13 g of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 min under a carbon dioxide protective gas atmosphere. The reaction temperature was then raised to 98-99° C. and the reaction was continued for 1-1.5 h. The temperature was then lowered to 80-85° C. and 5.7 g of potassium tetracyanonickelate was added and the reaction was continued for 0.5 h. The mixture was cooled to room temperature, frozen in liquid nitrogen, and returned to room temperature. The mixture was then dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain a water-absorbing resin 3.

[0091] Comparative Example 4

[0092] 30 g of carboxymethyl starch was mixed with 120 g of acrylic acid monomer with a neutralization degree of 50%, and then 7.6 g of potassium persulfate and 0.13 g of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 min under a carbon dioxide protective gas atmosphere. The reaction temperature was raised to 98-99° C. and the reaction was continued for 1-1.5 h. The mixture was cooled to room temperature, dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain a water-absorbing resin 4.

[0093] Vibration Test of Hydrogel Hardening Performance

[0094] An ultrasonic vibrating screen (TF type from Henan Limeite Machinery Co., Ltd.) with a single-layer screen surface and a mesh size of 1cm×1cm was used; 0.01kg of water-absorbent resin (such as water-absorbent resin particles, water-absorbent resins 1 to 4, etc.) absorbed 500 times its own weight of pure water (5kg) to form hydrogel a, which was then transferred to the screen surface of the ultrasonic vibrating screen and spread all over. Water was then sprinkled on the hydrogel a in succession, with a total amount of 10kg. The hydrogel was finally allowed to stand for 30 minutes to form hydrogel b. The ultrasonic vibrating screen was started with an ultrasonic frequency of 20kHz, an excitation force of 100N, and ultrasonic vibration for 3 minutes. The total weight of the hydrogel b that fell from the screen surface was collected. The total weight of the fallen hydrogel b (in m b The more the hydrogel b is, the worse its hardening performance is. Observe whether the surface of hydrogel b is larger than 10cm 2 If pits with a maximum depth of more than 1 cm appear, count the number of pits.

[0095] Heavy Hammer Test of Hydrogel Hardening Performance

[0096] The bottom of the metal trough was dug out and a metal mesh was welded with a mesh size of 1 cm × 1 cm. 0.01 kg of water-absorbing resin (such as water-absorbing resin particles, water-absorbing resins 1 to 4, etc.) was allowed to absorb 500 times its own weight of pure water (5 kg) to form hydrogel C. Hydrogel C was transferred to the metal trough and covered with the metal mesh. Water was then sprinkled on hydrogel C in succession, with a total amount of 10 kg of water. Finally, it was left to stand for 30 minutes to form hydrogel d. A 3 kg hammer (hammer surface area of ​​100 cm) was used to hammer the water. 2 ) falls from 6m to the surface of hydrogel d, and the total weight of hydrogel d falling below the sieve is collected. The total weight of the falling hydrogel d (in m d The more (indicates), the worse the hydrogel's compaction performance is; take out the hammer and observe whether the layer where the hydrogel d is located is penetrated.

[0097] The water absorption rates of the water-absorbent resin particles, water-absorbent resins 1 to 4, and the test results of the "Hydrogel Hardening Performance Vibration Test" and the "Hydrogel Hardening Performance Hammer Test" are shown in Table 1:

[0098] Table 1

[0099] Water absorption rate (g / g) <![CDATA[m b (kg)]]> Number of pits <![CDATA[m d (kg)]]> Whether it was penetrated Water-absorbing resin particles 2085 0.13 0 0.7 no Water-absorbing resin 1 3209 1.1 28 4.5 yes Water-absorbing resin 2 2511 1.5 21 4.1 yes Water-absorbing resin 3 2637 1.2 17 4.7 yes Water-absorbing resin 4 2761 1.7 23 4.9 yes

[0100] Table 1 shows that the water-absorbing resin particles obtained in Example 7 can absorb 2085 g of pure water per gram. Furthermore, the addition of cobalt thiocyanate and potassium tetracyanonickelate significantly affects the water absorption of the water-absorbing resin. Even though gelatinization of carboxymethyl starch and subsequent freezing with liquid nitrogen alters the resin structure, improving water absorption to some extent, this improvement is not as significant as the negative impact of cobalt thiocyanate and potassium tetracyanonickelate on water absorption. In addition, the combined use of cobalt thiocyanate and potassium tetracyanonickelate can significantly improve the compaction performance of the hydrogel formed by the water-absorbing resin after absorbing water. It should be noted that when the water-absorbing resins 1 to 4 were subjected to the "Hydrogel Compacting Performance Vibration Test", although the weight of the hydrogel dropped was relatively small, a large number of pits appeared on the surface of the hydrogel, indicating that the hydrogel had a relatively loose structure under a relatively strong impact and was in a state of "falling apart at the first impact". When subjected to the "Hydrogel Compacting Performance Heavy Hammer Test", the weight of the hydrogel dropped by the impact was about 30% of the hydrogel itself, and it was penetrated by the hammer, which was in a state of "falling apart at the first impact". The hydrogel formed by the water-absorbing resin particles of the present invention has good compaction performance, similar to "jelly", and can still roughly maintain its original state when subjected to high-frequency impact and heavy hammer impact, and will not "fall apart at the first impact".

[0101] The addition of cobalt thiocyanate and potassium tetracyanonickelate alone can have a certain impact on the water absorption (water absorption rate) of the water-absorbing resin particles, especially when the two are used together, the water absorption can be significantly reduced; however, when the two are used together, the compaction property of the hydrogel formed by the water-absorbing resin particles can be significantly improved; the addition of cobalt thiocyanate or potassium tetracyanonickelate alone does not significantly improve the compaction property of the hydrogel formed by the water-absorbing resin particles.

[0102] During the lifting and dropping process, the fire-extinguishing cover net 20 is subject to constant bending, impact deformation, or rupture of the central region of the capillary water-absorbing layer 26. This can expose a portion of the mesh of the wire mesh layer 23 in the central region of the bottom surface of the fire-extinguishing cover net 20. Considering water permeability, the mesh size of the wire mesh layer 23 should be neither too small nor too large, typically set at 1 cm x 1 cm. This can cause large holes to form in the central region of the bottom surface of the fire-extinguishing cover net 20 after it has absorbed water and gained weight, under the impact of landing or explosion. Based on practical experience, no holes have been observed in the central region of the bottom surface of the fire-extinguishing cover net 20 after it has absorbed water and gained weight, as determined by the "Hydrogel Hardening Performance Weight Test" and "Hydrogel Hardening Performance Vibration Test." The explosive power of a single micro-explosion mechanism 30 is minimal, serving only to flatten surrounding burning materials, soil, burning branches, etc. The total amount of ammonium nitrate used in a single micro-explosion mechanism 30 does not exceed 500g. Example

[0103] The modified carbon fiber felt is prepared by first forming carbon fibers into a web, needle-punching, and stitching the carbon fiber felt, and then completely immersing the carbon fiber felt in an acidizing solution for acidification for 5 minutes. After the acidification is completed, the carbon fiber felt is washed with deionized water and dried to obtain a pretreated carbon fiber felt.

[0104] The preparation method of the acidizing solution comprises the following steps:

[0105] 0.05 mL of trifluoromethanesulfonic acid was dissolved in 60 L of water to prepare a trifluoromethanesulfonic acid solution, and 10 mL of the trifluoromethanesulfonic acid solution was mixed with 5 L of 25% ammonia water to obtain the acidified liquid. During the reaction, no carbon dioxide generation was detected.

[0106] The pretreated carbon fiber felt is modified using xenon plasma to obtain modified carbon fiber felt. The xenon plasma is prepared by using a low-temperature plasma reactor to convert xenon gas into xenon plasma. The input flow rate of the xenon gas is 53 mL / min, the output voltage of the low-temperature plasma reactor is 9 kV, and the modification treatment time is 6 minutes.

[0107] Comparative Example 5

[0108] The difference between this example and Example 8 is that the acidifying solution used in this example is sulfuric acid with a mass fraction of 25%. The rest are the same, and a carbon fiber felt 1 is obtained.

[0109] Comparative Example 6

[0110] The difference between this example and Example 8 is that the acidifying solution used in this example is sulfuric acid with a mass fraction of 35%. The rest are the same, and a carbon fiber felt 2 is obtained.

[0111] Comparative Example 7

[0112] The difference between this example and Example 8 is that the acidifying solution used in this example is the trifluoromethanesulfonic acid solution described in Example 8. The rest is the same, and a carbon fiber felt 3 is obtained.

[0113] Comparative Example 8

[0114] The difference between this example and Example 8 is that the plasma used in this example is oxygen plasma. The rest is the same, and a carbon fiber felt 4 is obtained.

[0115] Comparative Example 9

[0116] The difference between this example and Example 8 is that the plasma used in this example is nitrogen plasma. The rest is the same, and a carbon fiber felt 5 is obtained.

[0117] Comparative Example 10

[0118] The difference between this example and Example 8 is that the carbon fiber felt is modified using xenon plasma to obtain carbon fiber felt 6, and the xenon plasma generation process is the same as that of Example 8.

[0119] The pretreated carbon fiber felt in Example 8 is marked as carbon fiber felt 7, and the carbon fiber felt in Example 8 is marked as carbon fiber felt 0.

[0120] Capillary water absorption performance test

[0121] Cut a 2cm thick fiber felt (such as modified carbon fiber felt, carbon fiber felt 0-7) into a circle with a diameter of 1m, fix the edge of the fiber felt and hang it in the air, then use a vertical pipe (with an inner diameter of 3cm) to align with the center of the fiber felt, and flush water into the center of the fiber felt through the vertical pipe. The water flow rate in the vertical pipe is 0.66m / s, and the flushing time lasts for 1min. After the flushing, turn on the water and start timing. At the same time, set 6 symmetrically distributed moisture sensors on the edge of the fiber felt. When the moisture sensor detects that the moisture content exceeds 30%, it indicates that there is water at the edge of the fiber felt; in chronological order, when the fourth moisture sensor detects water, the time used at this time is recorded as t4. The results are shown in Table 2:

[0122] Table 2

[0123] <![CDATA[t4(s)]]> Modified carbon fiber felt 19 Carbon fiber felt0 ≥300 Carbon fiber felt 1 ≥300 Carbon fiber felt 2 ≥300 Carbon fiber felt 3 ≥300 Carbon fiber felt 4 47 Carbon fiber felt 5 53 Carbon fiber felt 6 ≥300 Carbon fiber felt 7 61

[0124] In Table 2, t4 ≥ 300s, corresponding to carbon fiber felt 0, means that the fourth moisture sensor still detected no water after 300s. If any of the first three moisture sensors detected water within 300s, it could be because water was flowing downstream at a certain point and was detected by a nearby moisture sensor. If it was due to capillary absorption, then all four moisture sensors would have detected water at approximately the same time within a short period of time, making it impossible for them to remain undetected for more than 300s. The same applies to the other sensors. This test examines the capillary absorption properties of the fiber felt.

[0125] Carbon fiber felt heavy hammer resistance test

[0126] Cut a 2cm thick fiber felt (such as modified carbon fiber felt, carbon fiber felt 0-7) into a circle with a diameter of 1m, fix the edge of the fiber felt and hang it in the air, and use a 50kg plumb bob (inverted frustum, hammer surface area of ​​5cm 2 ) Drop the fiber felt from 3m and observe whether the fiber felt is broken by the plumb bob. The structure is shown in Table 3:

[0127] Table 3

[0128] Whether it was broken by the plumb bob Modified carbon fiber felt no Carbon fiber felt0 no Carbon fiber felt 1 no Carbon fiber felt 2 no Carbon fiber felt 3 yes Carbon fiber felt 4 yes Carbon fiber felt 5 yes Carbon fiber felt 6 no Carbon fiber felt 7 yes

[0129] The carbon fiber felt heavy hammer resistance test examines the impact resistance of carbon fiber felt.

[0130] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for extinguishing forest fires based on cross-location of monitoring devices, characterized in that: The following steps are involved: Step S1: The drone carries at least two video cameras and one thermal imager, wherein the viewing angle of one video camera is synchronized with the viewing angle of the thermal imager and the video camera is marked as the primary camera, and the remaining video cameras are marked as secondary cameras; the primary camera carried by the drone collects an initial image of the area where the forest fire is located, and the thermal imager carried by the drone collects an initial thermal image of the area where the forest fire is located; Step S2: performing contour extraction on the initial image through the image contour processing module to obtain an edge image; performing contour extraction on the initial thermal image through the image contour processing module to obtain an edge thermal image; Step S3: By comparing the edge image and the edge thermal image for similarity, when the comparison result is greater than a preset threshold, the corresponding edge image is selected as the first processing sample image, and the corresponding edge thermal image is selected as the second processing sample image. The first processing sample image and the second processing sample image are compared and analyzed by the comparison analysis module to circle the location of the forest fire point and mark it as the target area; Step S4: Obtain a perspective correspondence between the coordinates of the ground projections of the secondary camera and the main camera and the pixel coordinate system of the target area, and the coordinates of the pixel points of the target area in the viewing angles of the secondary camera and the main camera; determine the ground projection points of the pixel points of the target area in the viewing angles of the secondary camera and the main camera respectively based on the perspective correspondence; obtain a line connecting the position points of the ground projections of the secondary camera and the main camera and the projection points, and mark the line as an identification line; the intersection point or the position of the area enclosed by the intersection of the identification lines is the ground position of the target area; Step S5: Obtain the actual location of the target area based on the positional relationship between the GPS information of the main camera, the coordinates of the main camera's projection on the ground, and the ground location of the target area. The actual location of the target area is the actual location of the forest fire point. Obtain the actual location of the forest fire point, fly the fire extinguishing covering net (20) with the drone group to the top of the actual location of the forest fire point, use the fire high-pressure water gun on the forest fire truck to spray water on the fire extinguishing covering net (20) to pre-weight it, drop the pre-weighted fire extinguishing covering net (20), then use the fire high-pressure water gun to continue to weight the pre-weighted fire extinguishing covering net (20) and correct its falling posture, after two rounds of weighting, the fire extinguishing covering net (20) falls to the designated area of ​​the forest fire point to cover and extinguish the fire, and during the covering and extinguishing process, continue to use the fire high-pressure water gun to continue to replenish water to the fire extinguishing covering net (20) after two rounds of weighting; The fire extinguishing covering net (20) comprises a rectangular frame (24), a cotton cloth layer (21) for covering the upper end of the frame (24), a steel wire mesh layer (23) for covering the lower end of the frame (24), a capillary water absorption layer (26) located above the steel wire mesh layer (23) and located inside the frame (24), a water-absorbing resin layer (22) located between the capillary water absorption layer (26) and the cotton cloth layer (21), and a plurality of springs (25) embedded in the water-absorbing resin layer (22), wherein the capillary water absorption layer (26) is composed of two groups of axially symmetrical slope layers, and the thickness of the slope layers is arranged to increase in a direction close to the frame (24); the slope layers are made of modified carbon fiber felt; The lower part of the fire extinguishing covering net (20) is provided with a plurality of micro-explosion mechanisms (30) distributed in an array, and the micro-explosion mechanism (30) includes a top plate (31), a corrugated tube (33), and a bottom cone (35). The top plate (31) is fixedly connected to the wire mesh layer (23). The upper end of the corrugated tube (33) is sealedly connected to a circular tubular upper straight tube (32). The upper end of the upper straight tube (32) is sealedly connected to the lower center of the top plate (31). The lower end of the corrugated tube (33) is sealedly connected to a circular tubular lower straight tube (34). The corrugated tube (33) is fixedly connected to the bottom cone (35). The invention is composed of a plurality of spherical or hemispherical tube shell segments; the bottom cone (35) includes a regular hexagonal lower base plate (351), six isosceles trapezoidal side panels (352), and a regular hexagonal upper base plate (353); the side length of the upper base plate (353) is greater than the side length of the lower base plate (351); the six side panels (352) are connected in pairs, and each side panel (352) is connected to the lower base plate (351) and the upper base plate (353); the six side panels (352), the lower base plate (351) and the upper base plate (353) enclose a prism cavity with a hexagonal prism structure ( 354), a mounting hole for the lower end of the lower straight tube (34) to pass through is provided in the center of the upper base plate (353), the side wall of the lower straight tube (34) and the hole wall of the mounting hole are glued and sealed, the lower end of the lower straight tube (34) is sealed and connected with a pointed head (37), the tip of the pointed head (37) is set downward, a channel steel part (36) is provided in the prism cavity (354), the channel steel part (36) is fixedly connected to the lower base plate (351), and the upper part of the channel steel part (36) is fixedly connected with at least three round rod-shaped limit rods (38), the The limiting rods (38) are all located outside the lower straight tube (34), the upper ends of the limiting rods (38) are fixedly connected to the upper base plate (353), a flint ball (39) is provided between the channel steel member (36) and the pointed portion (37), and the three limiting rods (38) are all located outside the flint ball (39), and the flint ball (39) is glued to the limiting rods (38); the inner cavity of the lower straight tube (34), the inner cavity of the corrugated tube (33), and the inner cavity of the upper straight tube (32) are all connected to form an upper tube cavity, and the prism cavity (354) and the upper tube cavity are both filled with ammonium nitrate.

2. The method for extinguishing forest fires based on cross-location of monitoring devices according to claim 1, characterized in that: In step S2, when performing contour extraction, the image contour processing module first performs grayscale processing and then performs median filtering to obtain a preprocessed image; in the preprocessed image, the RGB color mean within a preset range centered on a certain pixel point X is calculated, and the first contour line is calculated in combination with the Sobel algorithm; The Canny algorithm is used to calculate the gradient map of the preprocessed image, and the first contour line and the gradient map are fitted by the GVF algorithm to obtain the final contour map.

3. The method for extinguishing forest fires based on cross-location of monitoring devices according to claim 1, characterized in that: In step S3, the comparison and analysis module trains and tests the initial data set through a deep learning network to obtain evaluation indicators, and performs comparative analysis based on the model training evaluation indicators augmented by adversarial network data.

4. The method for extinguishing forest fires based on cross-location of monitoring devices according to claim 1, characterized in that: The water-absorbing resin layer is made of water-absorbing resin particles, and the water-absorbing resin particles are prepared by: 30 parts by mass of carboxymethyl starch, 2.8 parts by mass of cobalt thiocyanate, and 500 parts by mass of water were fully gelatinized at a temperature of 86-89° C., and cooled to room temperature to obtain modified carboxymethyl starch; The modified carboxymethyl starch was mixed with 120 parts by weight of an acrylic acid monomer having a neutralization degree of 50%, and then 7.6 parts by weight of potassium persulfate and 0.13 parts by weight of N,N-methylenebisacrylamide were added. The mixture was reacted at 72-75° C. for 10 min under a carbon dioxide protective gas atmosphere. The reaction temperature was raised to 98-99° C. and the reaction was continued for 1-1.5 h. The mixture was cooled to 80-85° C. and 5.7 parts by weight of potassium tetracyanonitrile was added and the reaction was continued for 0.5 h. The mixture was cooled to room temperature, frozen in liquid nitrogen, and returned to room temperature. The mixture was then dried at 60-65° C., crushed, and passed through a 2-mesh sieve to obtain water-absorbing resin particles. The modified carbon fiber felt is prepared by first forming carbon fibers into a web, needle-punching, and stitching the carbon fiber felt, and then completely immersing the carbon fiber felt in an acidizing solution for acidification for 5 minutes. After the acidification is completed, the carbon fiber felt is washed with deionized water and dried to obtain a pretreated carbon fiber felt. The preparation method of the acidizing solution comprises the following steps: 0.05 mL of trifluoromethanesulfonic acid was dissolved in 60 L of water to prepare a trifluoromethanesulfonic acid solution, and 10 mL of the trifluoromethanesulfonic acid solution was mixed with 5 L of 25% ammonia water to obtain the acidified solution; The pretreated carbon fiber felt is modified using xenon plasma to obtain modified carbon fiber felt. The xenon plasma is prepared by using a low-temperature plasma reactor to convert xenon gas into xenon plasma. The input flow rate of the xenon gas is 53 mL / min, the output voltage of the low-temperature plasma reactor is 9 kV, and the modification treatment time is 6 minutes.

5. The method for extinguishing forest fires based on cross-location of monitoring devices according to claim 1, characterized in that: The drone group includes at least six drones (10), a winch is installed at the bottom of the drones (10), the starting end of the steel wire rope (11) released by the winch is fixedly connected to the electromagnet (12), the upper part of the fire extinguishing covering net (20) is fixedly connected to the suspension rope (14) arranged in a one-to-one correspondence with the steel wire rope (11), and the upper end of the suspension rope (14) is fixedly connected to the iron plate (13) adapted to the electromagnet (12).

6. The method for extinguishing forest fires based on cross-location of monitoring devices according to claim 1, characterized in that: The surface of the flint ball (39) is staggered with grooves (391), and the surface of the flint ball (39) is divided by the grooves (391) into a plurality of triangular protrusion units (392). The triangular protrusion units (392) are surrounded by three triangular arc surfaces and a bottom surface area. The cross section of the triangular arc surface is an arc structure, and the projection of the triangular arc surface on the plane is a triangular structure. The bottom surface area refers to the junction between the triangular protrusion unit (392) and the sphere of the flint ball (39), and the projection of the bottom surface area on the plane is a triangular structure. The side wall of the lower straight tube (34) and the hole wall of the mounting hole are glued and sealed using 101 glue, the flint ball (39) and the limit rod (38) are glued using 502 glue, and the upper surface of the channel steel part (36) is provided with a pattern; The side surface of the side panel (352) is provided with a plurality of stamping protrusions (355) protruding toward the outside of the prism cavity (354), and the stamping protrusions (355) are regular hexagonal structures.

7. The method for extinguishing forest fires based on cross-location of monitoring devices according to claim 5, characterized in that: The shortest distance between the connection point between the suspension rope (14) and the fire extinguishing covering net (20) and the edge of the fire extinguishing covering net (20) is 1.5 to 2 meters. During the process of spraying water on the fire extinguishing covering net (20) to pre-weight it using a fire high-pressure water gun, the middle section of the fire extinguishing covering net (20) presents an upwardly arched structure.

Images