Tree-based forest rescue method, device, electronic device and storage medium

Abstract

The present invention discloses a forest rescue method, device, electronic device and storage medium based on trees, and the method includes: obtaining forest monitoring data of a target forest through a forest monitoring system; determining a target fire area based on the forest monitoring data; dividing the target fire area into n target areas; obtaining temperature data and smoke density data of each target area in the n target areas within a preset time period, and obtaining n target temperature data and n target smoke density data; determining n target rescue priorities according to the n target temperature data and n target smoke density data; obtaining the current position of a humanoid robot, and determining a target rescue route based on the n target rescue priorities and the current position; and controlling the humanoid robot to perform rescue operations on trees in the target fire area based on the target rescue route. The implementation of the present application improves the rescue efficiency when a forest fire occurs.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a tree-based forest rescue method, device, electronic equipment and storage medium. Background Art

[0002] Currently, forest fires can cause a large number of plants to die in a short period of time, produce a large amount of smoke, particulate matter and harmful gases, and endanger human health. This has a great impact on the balance and stability of the ecosystem and will also bring great economic losses. Due to the large number of trees in the forest, the fire can often spread at an alarming speed, causing incalculable losses.

[0003] In the current forest rescue work, there are many difficulties and challenges. The rescue teams often need to spend a lot of time to rescue trees, and the rescue efficiency is not high. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a tree-based forest rescue method, device, electronic device and storage medium, which improves the rescue efficiency when a forest fire occurs by controlling a humanoid robot to perform rescue operations on trees in a target fire area based on a target rescue route.

[0005] In a first aspect, the embodiments of the present application provide a tree-based forest rescue method, which is applied to a controller of a humanoid robot, wherein the humanoid robot is connected to a forest monitoring system, wherein a mechanical arm of the humanoid robot is used to spray a fire extinguishing agent, and a sensing module is provided at the top of the humanoid robot's head for sensing fallen trees within a first preset range centered on the humanoid robot, wherein the method comprises:

[0006] Obtain forest monitoring data of target forests through forest monitoring systems;

[0007] Determine the fire area based on forest monitoring data and obtain the target fire area;

[0008] Divide the target fire area into n areas to obtain n target areas; n is an integer greater than 1;

[0009] Acquire temperature data and smoke concentration data of each target area in a preset time period, and obtain n target temperature data and n target smoke concentration data; each target area corresponds to one target temperature data and one target smoke concentration data;

[0010] Determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke density data, and obtain the n target rescue priorities;

[0011] Obtain the current position of the humanoid robot, determine the rescue route based on the n target rescue priorities and the current position, and obtain the target rescue route;

[0012] The humanoid robot is controlled to perform rescue operations on trees in a target fire area based on a target rescue route; the rescue operation is used to characterize the humanoid robot's identification of a fire source point in a target rescue route, extraction of characteristic parameters of the fire source point, determination of fire extinguishing parameters corresponding to the characteristic parameters, spraying of fire extinguishing agent based on the fire extinguishing parameters through a robotic arm, and control of the humanoid robot through a perception module to automatically avoid fallen trees within a first preset range.

[0013] In a second aspect, the embodiments of the present application provide a tree-based forest rescue device, which is applied to a controller of a humanoid robot, the humanoid robot is connected to a forest monitoring system, the mechanical arm of the humanoid robot is used to spray a fire extinguishing agent, and a sensing module is provided at the top of the humanoid robot's head, which is used to sense fallen trees within a first preset range centered on the humanoid robot, and the device includes: an acquisition unit and a processing unit;

[0014] An acquisition unit, used for acquiring forest monitoring data of a target forest through a forest monitoring system;

[0015] A processing unit, used for determining a fire area based on forest monitoring data to obtain a target fire area;

[0016] Divide the target fire area into n areas to obtain n target areas; n is an integer greater than 1;

[0017] An acquisition unit is used to acquire temperature data and smoke concentration data of each of the n target areas within a preset time period, and obtain n target temperature data and n target smoke concentration data; each target area corresponds to one target temperature data and one target smoke concentration data;

[0018] A processing unit, used to determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke density data, so as to obtain the n target rescue priorities;

[0019] Obtain the current position of the humanoid robot, determine the rescue route based on the n target rescue priorities and the current position, and obtain the target rescue route;

[0020] The humanoid robot is controlled to perform rescue operations on trees in a target fire area based on a target rescue route; the rescue operation is used to characterize the humanoid robot's identification of a fire source point in a target rescue route, extraction of characteristic parameters of the fire source point, determination of fire extinguishing parameters corresponding to the characteristic parameters, spraying of fire extinguishing agent based on the fire extinguishing parameters through a robotic arm, and control of the humanoid robot through a perception module to automatically avoid fallen trees within a first preset range.

[0021] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor so that the electronic device executes the method of the first aspect.

[0022] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program enables a computer to execute the method of the first aspect.

[0023] In a fifth aspect, an embodiment of the present invention provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and is computer-operable to cause the computer to execute the method of the first aspect.

[0024] The implementation of the present invention has the following beneficial effects:

[0025] It can be seen that the tree-based forest rescue method described in the implementation mode of the present application is applied to the controller of the humanoid robot, the humanoid robot is connected to the forest monitoring system, the mechanical arm of the humanoid robot is used to spray the fire extinguishing agent, and a sensing module is provided at the top of the head of the humanoid robot for sensing fallen trees within a first preset range centered on the humanoid robot. The method includes: obtaining forest monitoring data of the target forest through the forest monitoring system, determining the fire area based on the forest monitoring data to obtain the target fire area, dividing the target fire area into n areas to obtain n target areas; n is an integer greater than 1, obtaining temperature data and smoke concentration data of each target area in the n target areas within a preset time period to obtain n target temperature data and n target smoke concentration data; each target area corresponds to a target temperature data and a target smoke concentration data, determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data, obtain the n target rescue priorities, obtain the current position of the humanoid robot, determine the rescue route based on the n target rescue priorities and the current position, obtain the target rescue route, and control the humanoid robot to perform rescue operations on trees in the target fire area based on the target rescue route; the rescue operation is used to characterize the humanoid robot's recognition of the fire source point in the target rescue route, extract the characteristic parameters of the fire source point, determine the fire extinguishing parameters corresponding to the characteristic parameters, spray the fire extinguishing agent based on the fire extinguishing parameters through the robotic arm, and control the humanoid robot to automatically avoid the fallen trees within the first preset range through the perception module, thereby improving the rescue efficiency when a forest fire occurs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the implementation methods of the present application or the background technology, the drawings required for use in the implementation methods of the present application or the background technology will be described below.

[0027] Figure 1 is a schematic structural diagram of a humanoid robot provided in an embodiment of the present application;

[0028] Figure 2 is a flow chart of a tree-based forest rescue method provided in an embodiment of the present application;

[0029] Figure 3 is a flow chart for determining a target damage value provided by an embodiment of the present application;

[0030] Figure 4 It is a structural schematic diagram of a tree-based forest rescue device provided in an embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the implementation mode of the present application. Obviously, the described implementation mode is only a part of the implementation mode of the present application, not all the implementation modes. Based on the implementation mode in the present application, all other implementation modes obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0033] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0034] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] See also Figure 1 , Figure 1 is a schematic diagram of the structure of a humanoid robot provided in an embodiment of the present application, such as Figure 1 As shown, the humanoid robot 10 includes a controller 101 , a spray module 102 , and a perception module 103 .

[0036] In this embodiment, the spray module 102 is disposed on the mechanical arm of the humanoid robot 10. The controller 101 can control the spray module 102 on the mechanical arm to spray the fire extinguishing agent onto the fire source by controlling the mechanical arm to change its action. The perception module 103 of the humanoid robot 10 is disposed on the top of the humanoid robot 10, and is used to perceive fallen trees within a first preset range centered on the humanoid robot. The controller 101 of the humanoid robot 10 obtains forest monitoring data of the target forest through a forest monitoring system, and determines the fire area based on the forest monitoring data to obtain a target fire area, and then divides the target fire area into n areas to obtain n target areas; n is an integer greater than 1, and the temperature data and smoke concentration data of each target area in the n target areas within a preset time period are obtained to obtain n target temperature data and n target smoke concentration data; each target area corresponds to a target temperature data and a target smoke concentration data, and then the target temperature data and the smoke concentration data of each target area in the n target areas are determined according to the n target temperature data and the n target smoke concentration data. The humanoid robot 10 is controlled to identify the fire source point in the target rescue route, extract the characteristic parameters of the fire source point, determine the fire extinguishing parameters corresponding to the characteristic parameters, spray the fire extinguishing agent based on the fire extinguishing parameters through the mechanical arm, and control the humanoid robot 10 to automatically avoid the fallen trees within the first preset range through the perception module 103.

[0037] It should be explained that, in this embodiment, the fire source point is the location of the fire head, which is the most violent and fastest spreading part of the fire. The fire source point is a clear geographical location, which can be a grassland, bushes, under a tree or other location in the forest.

[0038] See also Figure 2 , Figure 2 is a flowchart of a tree-based forest rescue method provided by an embodiment of the present application, and the method is applied to Figure 1 The humanoid robot shown includes but is not limited to the following steps:

[0039] S201: Acquire forest monitoring data of the target forest through the forest monitoring system.

[0040] In this embodiment, the forest monitoring system is equipped with a variety of sensors, such as temperature sensors, humidity sensors, smoke sensors, image acquisition devices, etc., which continuously collect various data in the forest.

[0041] The controller of the humanoid robot establishes a data connection with the forest monitoring system, which can be achieved through wired communication or wireless communication technology. The controller of the humanoid robot sends a data request instruction to the forest monitoring system, specifying the forest monitoring data to be obtained. After receiving the request, the forest monitoring system transmits the required forest monitoring data specified in the data request instruction to the controller of the humanoid robot through the established communication connection. It should be explained that when the forest monitoring system sends the forest monitoring data to the controller of the humanoid robot, the forest monitoring data can be compressed for transmission, or encryption technology can be used for transmission to ensure the security and integrity of the data.

[0042] S202: Determine the fire area based on the forest monitoring data to obtain the target fire area.

[0043] In this embodiment, the controller of the humanoid robot first analyzes the acquired forest monitoring data to obtain image information and numerical information of the target forest. It can use image processing algorithms to detect abnormally high temperature areas, smoke areas or obvious flame areas appearing in the image information, thereby determining the target fire area. It can also set a temperature threshold and use areas with temperatures higher than a preset temperature threshold as target fire areas.

[0044] S203: Divide the target fire area into n areas to obtain n target areas.

[0045] In this embodiment, n is an integer greater than 1. The target fire area is divided into n areas, which can be divided by a grid division method, where the target fire area is imagined as a plane, and a grid is formed by drawing horizontal and vertical lines at equal intervals, and each grid is a region, thereby obtaining n target areas. The target fire area can also be divided based on terrain and vegetation characteristics, and the target fire area can be divided according to the terrain undulations (such as hills, valleys, etc.) and vegetation types (such as dense woods, sparse grasslands, etc.), which are not limited here.

[0046] It can be seen that dividing the target fire area into n target areas can more carefully evaluate the fire conditions in each small area, formulate more accurate rescue strategies, improve rescue efficiency and effectiveness, and facilitate the reasonable allocation of humanoid robots' fire extinguishing agents, time, energy and other resources according to different areas, avoiding the concentration of resources in one place and resulting in insufficient rescue in other areas.

[0047] S204: Acquire temperature data and smoke density data of each of the n target areas within a preset time period to obtain n target temperature data and n target smoke density data.

[0048] In this embodiment, each target area corresponds to a target temperature data and a target smoke concentration data. For example, the temperature data and smoke concentration data of each target area in the n target areas within a preset time period can be obtained through the forest monitoring system to obtain n target temperature data and n target smoke concentration data.

[0049] S205: Determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke density data, and obtain n target rescue priorities.

[0050] In this embodiment, it is necessary to first evaluate the degree of damage caused by the fire to the n target areas, so first determine the target damage value corresponding to each of the n target areas to obtain n target damage values, where the target damage value is used to characterize the degree of damage caused by the fire to the target area.

[0051] It should be noted that, in the present embodiment, the first target area is any one of the n target areas, and thus taking the first target area as an example, the target damage value corresponding to each of the n target areas is determined.

[0052] Exemplarily, fitting is performed based on the first target temperature data to obtain a target temperature straight line, wherein the first target temperature data is the temperature data of the first target area within a preset time period. Specifically, after obtaining the first target temperature data, a fitting method is used to fit the first target temperature data. The fitting method may be a linear regression method or a polynomial fitting method. After the fitting is completed, the target temperature straight line can be obtained. The target temperature straight line obtained by the fitting method can highlight the overall temperature change direction concisely and intuitively, which is convenient for predicting future temperature change trends.

[0053] Exemplarily, the slope corresponding to the target temperature line is determined to obtain the first target slope. Specifically, the slope corresponding to the target temperature line can be calculated according to the coordinates corresponding to two points on the target temperature line to obtain the first target slope.

[0054] Exemplarily, the first damage value of the first target area is determined based on the first target slope. Specifically, a mapping relationship between the target slope of a preset temperature straight line and the damage value may be pre-stored, and the first damage value corresponding to the first target slope is determined based on the mapping relationship.

[0055] Exemplarily, fitting is performed based on the first target smoke concentration data to obtain a target smoke concentration straight line, wherein the first target smoke concentration data is the smoke concentration data of the first target area within a preset time period. It should be explained that the method of fitting the first target smoke concentration data is the same as the method of fitting the first target temperature data. Specifically, after obtaining the first target smoke concentration data, a fitting method is used to fit the first target smoke concentration data. The fitting method can be linear regression or polynomial fitting. After the fitting is completed, the target smoke concentration straight line can be obtained. The target smoke concentration straight line obtained by the fitting method can simply and intuitively highlight the overall change direction of the smoke concentration, which is convenient for predicting the future trend of smoke concentration changes.

[0056] Exemplarily, the slope corresponding to the target smoke concentration line is determined to obtain the second target slope. Specifically, the method for determining the second target slope is the same as the method for determining the first target slope. The slope corresponding to the target smoke concentration line can be calculated based on the coordinates corresponding to two points on the target smoke concentration line to obtain the second target slope.

[0057] Exemplarily, the second damage value of the first target area is determined based on the second target slope. Specifically, a mapping relationship between the target slope of a preset smoke concentration line and the damage value may be pre-stored, and the second damage value corresponding to the second target slope is determined based on the mapping relationship.

[0058] It can be seen that by combining the temperature data and smoke concentration data of the target area within the preset time period for analysis, the degree of damage to the target area caused by the fire can be comprehensively evaluated from two important aspects. Temperature and smoke concentration are key indicators of fire, which can reflect the intensity, duration and impact of the fire on the region. The temperature data and smoke concentration data are fitted to obtain the target temperature line and the target smoke concentration line respectively, which can highlight the overall change direction of the data in a concise and intuitive manner, thereby facilitating the prediction of future temperature and smoke concentration change trends.

[0059] Exemplarily, the target damage value corresponding to the first target area is determined based on the first damage value and the second damage value. Figure 3 , Figure 3 A flowchart for determining a target damage value provided by an embodiment of the present application includes but is not limited to the following steps:

[0060] S301: Determine a first reference weight corresponding to a first damage value and a second reference weight corresponding to a second damage value.

[0061] In this embodiment, the first reference weight corresponding to the first damage value is determined, for example, by pre-storing a mapping relationship between a damage value corresponding to preset temperature data and a reference weight, and determining the first reference weight corresponding to the first damage value based on the mapping relationship. The second reference weight corresponding to the second damage value is determined, for example, by pre-storing a mapping relationship between a damage value corresponding to preset smoke concentration data and a reference weight, and determining the second reference weight corresponding to the second damage value based on the mapping relationship.

[0062] S302: Acquire the humidity in the first target area to obtain the target humidity.

[0063] In this embodiment, the humidity in the first target area can be obtained through the forest monitoring system connected to the humanoid robot to obtain the target humidity. It should be explained that higher humidity means that the air contains more water vapor, which absorbs and scatters the heat radiation generated by the fire, making the measured temperature value lower than the actual temperature value. Therefore, the humidity in the first area is obtained to facilitate the subsequent optimization of the first reference weight corresponding to the first damage value.

[0064] S303: Determine a first optimization factor corresponding to the target humidity.

[0065] In this embodiment, a mapping relationship between preset humidity and optimization factor may be pre-stored, and the first optimization factor corresponding to the target humidity may be determined based on the mapping relationship.

[0066] S304: Optimize the first reference weight according to the first optimization factor to obtain a first target weight.

[0067] In this implementation, the first reference weight may be optimized according to the first optimization factor, and the specific calculation formula is as follows:

[0068] The first target weight = the first reference weight × (1 + the first optimization factor);

[0069] According to the above formula, the first target weight can be obtained.

[0070] S305: Acquire the wind speed in the first target area to obtain the target wind speed.

[0071] In this embodiment, the wind speed in the first target area can be obtained through the forest monitoring system connected to the humanoid robot to obtain the target wind speed. It should be explained that the greater the wind speed, the faster the smoke diffuses in the air. In a short period of time, a larger wind speed may cause the smoke concentration in the first target area to increase rapidly, or may cause the smoke concentration in the first target area to decrease rapidly. If the wind direction points to the first target area, the smoke concentration in the first target area will increase. If the wind direction deviates from the first target area, the input of smoke may be reduced, and the smoke concentration in the first target area may be reduced. Therefore, the wind speed in the first area is obtained to facilitate the subsequent optimization of the second reference weight corresponding to the second damage value.

[0072] S306: Determine a second optimization factor corresponding to the target wind speed.

[0073] In this implementation, a mapping relationship between a preset wind speed and an optimization factor may be pre-stored, and the second optimization factor corresponding to the target wind speed may be determined based on the mapping relationship.

[0074] S307: Optimize the second reference weight according to the second optimization factor to obtain a second target weight.

[0075] In this implementation, the second reference weight may be optimized according to the second optimization factor, and the specific calculation formula is as follows:

[0076] Second target weight = second reference weight × (1 + second optimization factor);

[0077] The second target weight can be obtained according to the above formula.

[0078] S308: Calculate according to the first damage value, the second damage value, the first target weight, and the second target weight to obtain a target damage value.

[0079] In this embodiment, the reference damage value is obtained by calculating according to the first damage value, the second damage value, the first target weight, and the second target weight. The reference damage value is calculated specifically according to the following formula:

[0080]

[0081] Among them, F is the reference damage value, is the first damage value, is the second damage value, is the first target weight, is the second target weight.

[0082] Exemplarily, the vegetation density of the first target area is obtained to obtain the target vegetation density. Specifically, the vegetation density of the first target area can be obtained through a forest monitoring system. A high vegetation density means that there is a large amount of plant material available for burning, which provides a rich source of fuel for the fire. The fire may spread rapidly in a short period of time. In addition, areas with high vegetation density often have complex terrain and dense trees, which may cause the fire to spread in the canopy layer, forming a three-dimensional fire and increasing the difficulty of fire extinguishing. Therefore, determining the vegetation density of the first target area will affect the damage value corresponding to the first target area.

[0083] Exemplarily, the target influence coefficient corresponding to the target vegetation density is determined. Specifically, a mapping relationship between a preset vegetation density and an influence coefficient may be pre-stored, and the target influence coefficient corresponding to the target vegetation density is determined based on the mapping relationship.

[0084] Exemplarily, the reference damage value is adjusted according to the target influence coefficient to obtain the target damage value. Specifically, the reference damage value can be optimized according to the target influence coefficient. The specific calculation formula is as follows:

[0085] Target damage value = reference damage value × (1 + target influence coefficient);

[0086] The target damage value can be obtained according to the above formula.

[0087] It should be explained that the target damage value corresponding to the first target area can be determined according to the above method. Since the target damage value corresponding to each of the n target areas is determined in the same way as the target damage value corresponding to the first target area, the target damage value corresponding to each of the n target areas can be determined according to the above method to obtain n target damage values. After obtaining the n target damage values, the target rescue priority corresponding to each of the n target areas is determined based on the n target damage values ​​to obtain n target rescue priorities, wherein the larger the target damage value corresponding to the target area, the higher the rescue priority of the target area.

[0088] It can be seen that by determining the reference weights corresponding to the first and second damage values, and optimizing them in combination with factors such as humidity, wind speed, and vegetation density, the impact of various environmental factors on the damage value at the fire scene is fully considered. By accurately evaluating the damage value of the target area, the rescue priority can be determined more reasonably, and which areas need to be rescued first can be quickly determined, thereby improving rescue efficiency and minimizing the losses caused by the fire.

[0089] S206: Acquire the current position of the humanoid robot, determine a rescue route based on the n target rescue priorities and the current position, and obtain the target rescue route.

[0090] In this embodiment, firstly, a first rescue route of a first target area is determined, wherein the first target area is any target area of ​​the n target areas. Exemplarily, at least one fire source point in the first target area is obtained. Specifically, a thermal imaging device can be installed on a humanoid robot, and then the thermal imaging device can be used to scan to quickly find the fire source point. Alternatively, a high-definition camera can be installed on the humanoid robot for real-time monitoring, and the image captured by the camera can be analyzed by manual or automatic image recognition technology to find possible fire sources. This is not limited here. Exemplarily, the flame coverage area of ​​at least one fire source point is determined to obtain at least one flame coverage area. Specifically, when the thermal imaging device is used to scan the area where the fire source point is located, different temperature thresholds can be set to identify the area above the temperature threshold as the flame coverage area. After obtaining the flame coverage area, the number of pixels in the flame coverage area is calculated. According to the resolution and shooting distance of the thermal imaging device, the number of pixels can be converted into actual area units, thereby determining the flame coverage area of ​​at least one fire source point, and obtaining at least one flame coverage area. Exemplarily, the fire extinguishing priority of at least one fire source point is determined based on at least one flame coverage area, wherein the larger the flame coverage area of ​​the fire source point, the higher the fire extinguishing priority of the fire source point. Exemplarily, the fire extinguishing priority order of at least one fire source point is determined based on the fire extinguishing priority to obtain the target fire extinguishing priority order, and then at least one fire source point is connected based on the target fire extinguishing priority order to obtain the first rescue route of the first target area. Specifically, at least one fire source point is sorted according to the fire extinguishing priority to obtain the fire extinguishing priority order of at least one fire source point, and then at least one fire source point is connected based on the target fire extinguishing priority order to obtain the first rescue route of the first target area. It should be explained that when connecting at least one fire source point, it is also necessary to consider terrain and traffic factors and select the most convenient and safest route so that the humanoid robot can quickly reach the fire source point to extinguish the fire. It should be explained that during the fire extinguishing process, as the fire changes and new fire sources appear, the first rescue route needs to be continuously optimized. The connection order of the fire source points can be adjusted according to the actual situation, or a new route can be selected to ensure the efficient implementation of the fire extinguishing work.

[0091] Exemplarily, n first rescue routes are connected based on the target rescue priority order to obtain the target rescue route. Specifically, the first rescue route in each of the n target areas can be determined according to the above method to obtain n first rescue routes, and then the n first rescue routes are connected based on the target rescue priority order corresponding to each of the n target areas to obtain the target rescue route.

[0092] It can be seen that the first rescue route is obtained by connecting the fire source points based on the fire extinguishing priority order, and the most convenient and safest route is selected considering terrain and traffic factors, so that the humanoid robot can quickly reach the fire source point for fire extinguishing, which can greatly shorten the fire extinguishing response time and improve the speed and efficiency of fire extinguishing operations.

[0093] S207: Control the humanoid robot to perform rescue operations on trees in the target fire area based on the target rescue route.

[0094] In this embodiment, the rescue operation is used to characterize the humanoid robot's identification of the fire source point in the target rescue route, extraction of characteristic parameters of the fire source point, determination of fire extinguishing parameters corresponding to the characteristic parameters, spraying of fire extinguishing agent based on the fire extinguishing parameters through the robotic arm, and control of the humanoid robot through the perception module to automatically avoid fallen trees within the first preset range.

[0095] It should be explained that characteristic parameters are indicators that describe the characteristics of the fire source point. These parameters may include the size of the fire source (such as the area covered by the flame), the intensity of the fire (such as the flame height, temperature, etc.), the type of fire source (such as forest fire, building fire, etc.), etc. For example, the temperature distribution of the fire source point can be measured by thermal imaging equipment to determine the intensity of the fire, and then the flame coverage area can be calculated by the temperature distribution, and these data can be used as characteristic parameters of the size of the fire source. Fire extinguishing parameters may include the type of fire extinguishing agent, the amount of fire extinguishing agent sprayed, the pressure of fire extinguishing agent sprayed, the angle of fire extinguishing agent sprayed, and the time of fire extinguishing agent sprayed. The types of fire extinguishing agents may include dry powder fire extinguishing agent, carbon dioxide fire extinguishing agent, water-based fire extinguishing agent, water, and foam fire extinguishing agent. When extinguishing a forest fire, water or dry powder fire extinguishing agent is generally used as the fire extinguishing agent. The humanoid robot can be connected to the fire truck through a pipe, and the fire truck can be parked in the outer area of ​​the fire. The humanoid robot sprays the fire extinguishing agent in the fire truck through the pipe. The amount of fire extinguishing agent sprayed can be determined according to the size of the fire source. For forest fires with a relatively large area, a larger amount of spraying is required to effectively control the fire. The amount of fire extinguishing agent sprayed also needs to consider the stage of fire development. In the early stage of the fire, the fire is small and the amount of spraying can be relatively small to control the development of the fire. As the fire expands, the amount of spraying needs to be gradually increased to ensure the fire extinguishing effect. The spray pressure of the fire extinguishing agent affects the spray distance and coverage. A higher spray pressure can make the fire extinguishing agent spray farther and cover a wider range. It is suitable for long-distance fire fighting or large-area fire sources. In forest fires, a higher spray pressure is required to spray the fire extinguishing agent to a farther fire source point. The spray angle of the fire extinguishing agent adapts to different fire source shapes and positions. For flat fire sources, such as fires on the ground, a vertical spray angle can be selected to ensure that the fire extinguishing agent can directly cover the fire source. When extinguishing a building fire, different spray angles can be selected according to the location and height of the fire source to ensure that the fire extinguishing agent can effectively cover the fire area. The time for spraying the fire extinguishing agent can be determined according to the size of the fire and the fire extinguishing agent reserves. For larger fires, a longer fire extinguishing duration may be required to ensure that the fire source is completely extinguished. Forest fires may require several hours or even days of fire extinguishing time, and the fire extinguishing agent needs to be continuously replenished to ensure the fire extinguishing effect. After the fire is extinguished, it should be determined whether to continue monitoring and fire extinguishing to prevent re-ignition based on the nature of the fire source and the surrounding environment. If there is a possibility of re-ignition, the fire extinguishing duration needs to be extended to ensure that the fire source is completely extinguished. After extinguishing the forest fire, it may be necessary to monitor the fire scene for a period of time to prevent the re-ignition of the remaining fire. If there are signs of re-ignition, the fire should be extinguished again in time.

[0096] Exemplarily, the humanoid robot is controlled by the perception module to automatically avoid the fallen trees within the first preset range. It should be explained that a perception module is set at the top of the humanoid robot's head, so that when the humanoid robot is extinguishing a fire, it can observe the surrounding environment in real time and sense whether there are burned trees falling and hitting itself, thereby reducing damage to the robot itself, reducing costs, and improving firefighting efficiency. Exemplarily, the fallen trees within the first preset range are sensed by the perception module to obtain at least one reference tree. Specifically, the perception module equipped with the humanoid robot has the function of detecting objects in the surrounding environment. The perception module may include various sensors, such as cameras, laser radars, ultrasonic sensors, etc. In this embodiment, these sensors can obtain information about the surrounding environment in different ways, thereby sensing the fallen trees within the first preset range and obtaining at least one reference tree. Exemplarily, the falling direction of at least one reference tree is determined to obtain at least one target falling direction. Specifically, for each reference tree in the at least one reference tree, its falling direction needs to be determined, which can be determined by analyzing the characteristics of the tree's tilt angle, the direction of the trunk, etc. After analysis, the falling direction of each reference tree is determined, thereby obtaining at least one target falling direction. Exemplarily, based on at least one target falling direction, the area damaged when at least one reference tree falls is predicted to obtain the target damage area. Specifically, factors such as the size, shape, weight and falling speed of the tree need to be considered, and then the area that may be damaged when each reference tree falls is predicted, and then these areas are merged to obtain the target damage area. Exemplarily, when the humanoid robot is located in the target damage area, the humanoid robot is controlled to move outside the target damage area. Specifically, when the humanoid robot is located in the target damage area, it means that it may be damaged by the fallen tree, so it is necessary to take timely measures. This can be done by using the humanoid robot's own positioning system to determine its position in space, and then compare it with the target damage area to determine whether it is located in the target damage area. If the humanoid robot is located in the target damage area, it is controlled to move outside the target damage area, and it can choose to move in the direction away from the fallen tree, or find an area without the risk of falling trees to move to avoid being injured by the fallen tree.

[0097] It can be seen that by using the perception module to timely detect fallen trees within the first preset range, the robot can be alerted before the danger occurs, which can prevent the robot from being hit by a suddenly fallen tree without any preparation, thereby effectively protecting the robot's hardware equipment and extending its service life. If the robot is damaged by a fallen tree during the execution of a task, it needs to be repaired or replaced, which will cause the task to be interrupted, wasting time and resources. By sensing and avoiding risks in advance, the occurrence of such interruptions can be reduced, so that the robot can continue to perform tasks stably and improve the efficiency of task execution.

[0098] It should be noted that, in this embodiment, when the humanoid robot includes a first humanoid robot, when the first humanoid robot performs a fire extinguishing operation on the first fire source point, it is necessary to first predict whether the first humanoid robot can extinguish the first fire source point, and first obtain the remaining amount of fire extinguishing agent stored in the first humanoid robot to obtain the first remaining amount, wherein the first fire source point is any fire source point in the first target area. Exemplarily, the characteristic parameters of the first fire source point at the current moment are obtained to obtain the target characteristic parameters, and the target characteristic parameters include information such as the flame coverage area, flame height, and flame temperature corresponding to the first fire source point at the current moment. Exemplarily, the fire extinguishing agent demand corresponding to the target characteristic parameters is determined to obtain the target demand. Specifically, after determining the flame coverage area, flame height, and flame temperature corresponding to the first fire source point, the fire extinguishing agent demand corresponding to extinguishing the first fire source point is determined based on this information to obtain the target demand. Exemplarily, when the target demand is greater than the first remaining amount, a help message is broadcast to a second preset range, wherein the help message includes the location of the first fire source point, and the difference between the target demand and the first remaining amount, and the second preset range is greater than the first preset range. Specifically, when the target demand is greater than the first remaining amount, it means that the first humanoid robot cannot extinguish the first fire source point alone, so a help message is broadcast to the second preset range to seek support from humanoid robots within the second preset range. The help message includes the location of the first fire source point, and the difference between the target demand and the first remaining amount, so that other humanoid robots that receive the help message can accurately know the place they need to go. At the same time, it also includes the difference between the target demand and the first remaining amount. This difference information can allow other robots to quickly understand how much fire extinguishing agent is needed to extinguish the first fire source point, so as to determine whether they have sufficient resources for support. Exemplarily, response information from m second humanoid robots is received to obtain m response information, wherein each response information corresponds to a second humanoid robot, each response information includes the estimated time to reach the location of the first fire source and the remaining amount of fire extinguishing agent, and the remaining amount of fire extinguishing agent of each second humanoid robot is greater than the difference. Specifically, after broadcasting the help message, m second humanoid robots within the second preset range and with the remaining amount of fire extinguishing agent greater than the difference will respond and send m response information to the first humanoid robot, wherein each response information corresponds to a second humanoid robot, and the response information also includes the estimated time to reach the location of the first fire source and the remaining amount of fire extinguishing agent of the m second humanoid robots. Then the first humanoid robot receives the response information from the m second humanoid robots to obtain m response information.Exemplarily, a minimum duration is selected based on the estimated durations of m second humanoid robots, and a support signal is sent to the target second humanoid robot corresponding to the minimum duration, wherein the support signal is used to request the target second humanoid robot to go to the location of the first fire source point to perform fire extinguishing operations on the first fire source point. Specifically, the robot that can reach the first fire source point the fastest is found among all the responding robots, and the shortest time is found by comparing the estimated duration of each robot. The robot corresponding to this time is the one that is most likely to reach the fire source point in the shortest time to provide fire extinguishing support. The function of the support signal is to request the target second humanoid robot to go to the location of the first fire source point to perform fire extinguishing operations on the first fire source point. Once the target second humanoid robot receives this signal, it will go to the first fire source point as instructed and use the fire extinguishing agent it carries to extinguish the fire, thereby achieving coordinated operations between multiple humanoid robots, improving fire extinguishing efficiency, and extinguishing the fire at the first fire source point as soon as possible.

[0099] It can be seen that by obtaining the remaining amount of fire extinguishing agent in the first humanoid robot and the characteristic parameters of the first fire source point, the fire extinguishing resources and the fire source situation can be timely understood. Once it is found that the fire extinguishing agent is insufficient, action can be taken quickly to avoid the interruption of fire extinguishing due to resource exhaustion. The target second humanoid robot carries enough fire extinguishing agent to the first fire source point and cooperates with the first humanoid robot to more effectively control the fire and improve the fire extinguishing efficiency.

[0100] In summary, the implementation of the present invention has the following beneficial effects:

[0101] It can be seen that the tree-based forest rescue method described in the implementation mode of the present application is applied to the controller of the humanoid robot, the humanoid robot is connected to the forest monitoring system, the mechanical arm of the humanoid robot is used to spray the fire extinguishing agent, and a sensing module is provided at the top of the head of the humanoid robot for sensing fallen trees within a first preset range centered on the humanoid robot. The method includes: obtaining forest monitoring data of the target forest through the forest monitoring system, determining the fire area based on the forest monitoring data to obtain the target fire area, dividing the target fire area into n areas to obtain n target areas; n is an integer greater than 1, obtaining temperature data and smoke concentration data of each target area in the n target areas within a preset time period to obtain n target temperature data and n target smoke concentration data; each target area corresponds to a target temperature data and a target smoke concentration data, determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data, obtain the n target rescue priorities, obtain the current position of the humanoid robot, determine the rescue route based on the n target rescue priorities and the current position, obtain the target rescue route, and control the humanoid robot to perform rescue operations on trees in the target fire area based on the target rescue route; the rescue operation is used to characterize the humanoid robot's recognition of the fire source point in the target rescue route, extract the characteristic parameters of the fire source point, determine the fire extinguishing parameters corresponding to the characteristic parameters, spray the fire extinguishing agent based on the fire extinguishing parameters through the robotic arm, and control the humanoid robot to automatically avoid the fallen trees within the first preset range through the perception module, thereby improving the rescue efficiency when a forest fire occurs.

[0102] See also Figure 4 , Figure 4 1 is a schematic diagram of a tree-based forest rescue device provided in an embodiment of the present application, which is applied to a controller of a humanoid robot, the humanoid robot is connected to a forest monitoring system, the mechanical arm of the humanoid robot is used to spray a fire extinguishing agent, and a sensing module is provided at the top of the humanoid robot's head, which is used to sense fallen trees within a first preset range centered on the humanoid robot; the tree-based forest rescue device 400 includes: an acquisition unit 401 and a processing unit 402;

[0103] An acquisition unit 401 is used to acquire forest monitoring data of a target forest through a forest monitoring system;

[0104] The processing unit 402 is used to determine the fire area based on the forest monitoring data to obtain the target fire area;

[0105] Divide the target fire area into n areas to obtain n target areas; n is an integer greater than 1;

[0106] An acquisition unit is used to acquire temperature data and smoke concentration data of each of the n target areas within a preset time period, and obtain n target temperature data and n target smoke concentration data; each target area corresponds to one target temperature data and one target smoke concentration data;

[0107] A processing unit, used to determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke density data, so as to obtain the n target rescue priorities;

[0108] Obtain the current position of the humanoid robot, determine the rescue route based on the n target rescue priorities and the current position, and obtain the target rescue route;

[0109] The humanoid robot is controlled to perform rescue operations on trees in a target fire area based on a target rescue route; the rescue operation is used to characterize the humanoid robot's identification of a fire source point in a target rescue route, extraction of characteristic parameters of the fire source point, determination of fire extinguishing parameters corresponding to the characteristic parameters, spraying of fire extinguishing agent based on the fire extinguishing parameters through a robotic arm, and control of the humanoid robot through a perception module to automatically avoid fallen trees within a first preset range.

[0110] In some possible implementations, in determining the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data to obtain the n target rescue priorities, the processing unit 402 is specifically configured to:

[0111] According to the determination method in the following steps S1-S7, the target damage value corresponding to each of the n target areas is determined to obtain the n target damage values, which is specifically the following steps:

[0112] S1. Fitting is performed according to first target temperature data to obtain a target temperature straight line; the first target temperature data is temperature data of a first target area within a preset time period, and the first target area is any target area among n target areas;

[0113] S2. Determine the slope corresponding to the target temperature straight line to obtain a first target slope;

[0114] S3, determining a first damage value of the first target area based on the first target slope;

[0115] S4. Fitting is performed according to the first target smoke concentration data to obtain a target smoke concentration straight line; the first target smoke concentration data is the smoke concentration data of the first target area within a preset time period;

[0116] S5, determining the slope corresponding to the target smoke concentration straight line to obtain a second target slope;

[0117] S6. determining a second damage value of the first target area based on the second target slope;

[0118] S7, determining a target damage value corresponding to the first target area based on the first damage value and the second damage value;

[0119] The target rescue priority corresponding to each of the n target areas is determined based on the n target damage values ​​to obtain n target rescue priorities; the greater the target damage value corresponding to the target area, the higher the rescue priority of the target area.

[0120] In some possible implementations, in determining the target damage value corresponding to the first target area based on the first damage value and the second damage value, the processing unit 402 is specifically configured to:

[0121] Determine a first reference weight corresponding to the first damage value and a second reference weight corresponding to the second damage value;

[0122] Acquiring the humidity in the first target area to obtain a target humidity;

[0123] determining a first optimization factor corresponding to the target humidity;

[0124] Optimizing the first reference weight according to the first optimization factor to obtain a first target weight;

[0125] Obtaining the wind speed in the first target area to obtain a target wind speed;

[0126] determining a second optimization factor corresponding to the target wind speed;

[0127] Optimizing the second reference weight according to the second optimization factor to obtain a second target weight;

[0128] The target damage value is obtained by calculating according to the first damage value, the second damage value, the first target weight and the second target weight.

[0129] In some possible implementations, in terms of obtaining the target damage value by calculating according to the first damage value, the second damage value, the first target weight, and the second target weight, the processing unit 402 is specifically configured to:

[0130] Calculate according to the first damage value, the second damage value, the first target weight, and the second target weight to obtain a reference damage value;

[0131] Acquire the vegetation density of the first target area to obtain the target vegetation density;

[0132] Determine the target impact coefficient corresponding to the target vegetation density;

[0133] The reference damage value is adjusted according to the target influence coefficient to obtain the target damage value.

[0134] In some possible implementations, in determining a rescue route based on n target rescue priorities and a current position to obtain a target rescue route, the processing unit 402 is specifically configured to:

[0135] Determine the target rescue priority order corresponding to the n target areas based on the n target rescue priorities;

[0136] According to the determination method in the following steps A1-A5, the first rescue route in each of the n target areas is determined to obtain n first rescue routes, which is specifically the following steps:

[0137] A1. Acquire at least one fire source point in the first target area;

[0138] A2. Determine the flame coverage area of ​​at least one fire source point to obtain at least one flame coverage area;

[0139] A3. Determine the fire extinguishing priority of at least one fire source point based on at least one flame coverage area; the larger the flame coverage area of ​​the fire source point, the higher the fire extinguishing priority of the fire source point;

[0140] A4. Determine the fire extinguishing priority order of at least one fire source point based on the fire extinguishing priority order to obtain the target fire extinguishing priority order;

[0141] A5. Connect at least one fire source point based on the target fire extinguishing priority order to obtain a first rescue route for a first target area;

[0142] The n first rescue routes are connected based on the target rescue priority order to obtain the target rescue route.

[0143] In some possible implementations, when the number of humanoid robots is m, where m is an integer greater than 1, the processing unit 402 is further specifically configured to:

[0144] When the first humanoid robot performs a fire extinguishing operation on the first fire source point, the remaining amount of the fire extinguishing agent stored in the first humanoid robot is obtained to obtain a first remaining amount; the first fire source point is any fire source point in the first target area;

[0145] Obtain characteristic parameters of the first fire source point at the current moment, and obtain target characteristic parameters;

[0146] Determine the fire extinguishing agent demand corresponding to the target characteristic parameter to obtain the target demand;

[0147] When the target demand is greater than the first remaining quantity, broadcasting a help message to a second preset range; the help message includes the location of the first fire source point and the difference between the target demand and the first remaining quantity, and the second preset range is greater than the first preset range;

[0148] Receive response information from m second humanoid robots, and obtain m response information; each response information corresponds to a second humanoid robot, each response information includes an estimated time to reach the location of the first fire source point and the remaining amount of fire extinguishing agent, and the remaining amount of fire extinguishing agent of each second humanoid robot is greater than the difference; m is a natural number;

[0149] Select the minimum duration according to the estimated duration of the m second humanoid robots;

[0150] A support signal is sent to the target second humanoid robot corresponding to the minimum duration; the support signal is used to request the target second humanoid robot to go to the location of the first fire source point to perform a fire extinguishing operation on the first fire source point.

[0151] In some possible implementations, in controlling the humanoid robot to automatically avoid fallen trees within a first preset range through the perception module, the processing unit 402 is specifically configured to:

[0152] Sensing fallen trees within a first preset range through a sensing module to obtain at least one reference tree;

[0153] determining a falling direction of at least one reference tree to obtain at least one target falling direction;

[0154] Predicting the area damaged when at least one reference tree falls based on at least one target falling direction to obtain a target damaged area;

[0155] When the humanoid robot is located in the target damage area, the humanoid robot is controlled to move outside the target damage area.

[0156] See also Figure 5 , Figure 5 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 5 As shown, the electronic device 500 includes a transceiver 501, a processor 502 and a memory 503. They are connected via a bus 504. The memory 503 is used to store computer programs and data, and can transmit the data stored in the memory 503 to the processor 502. The electronic device 500 includes a controller of a humanoid robot, the humanoid robot is connected to a forest monitoring system, the mechanical arm of the humanoid robot is used to spray a fire extinguishing agent, and a sensing module is provided at the top of the humanoid robot's head for sensing fallen trees within a first preset range centered on the humanoid robot. The above program includes instructions for executing the following steps:

[0157] Obtain forest monitoring data of target forests through forest monitoring systems;

[0158] Determine the fire area based on forest monitoring data and obtain the target fire area;

[0159] Divide the target fire area into n areas to obtain n target areas; n is an integer greater than 1;

[0160] Acquire temperature data and smoke concentration data of each target area in a preset time period, and obtain n target temperature data and n target smoke concentration data; each target area corresponds to one target temperature data and one target smoke concentration data;

[0161] Determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke density data, and obtain the n target rescue priorities;

[0162] Obtain the current position of the humanoid robot, determine the rescue route based on the n target rescue priorities and the current position, and obtain the target rescue route;

[0163] The humanoid robot is controlled to perform rescue operations on trees in a target fire area based on a target rescue route; the rescue operation is used to characterize the humanoid robot's identification of a fire source point in a target rescue route, extraction of characteristic parameters of the fire source point, determination of fire extinguishing parameters corresponding to the characteristic parameters, spraying of fire extinguishing agent based on the fire extinguishing parameters through a robotic arm, and control of the humanoid robot through a perception module to automatically avoid fallen trees within a first preset range.

[0164] In some possible implementations, the above program includes instructions for performing the following steps:

[0165] According to the determination method in the following steps S1-S7, the target damage value corresponding to each of the n target areas is determined to obtain the n target damage values, which is specifically the following steps:

[0166] S1. Fitting is performed according to first target temperature data to obtain a target temperature straight line; the first target temperature data is temperature data of a first target area within a preset time period, and the first target area is any target area among n target areas;

[0167] S2. Determine the slope corresponding to the target temperature straight line to obtain a first target slope;

[0168] S3, determining a first damage value of the first target area based on the first target slope;

[0169] S4. Fitting is performed according to the first target smoke concentration data to obtain a target smoke concentration straight line; the first target smoke concentration data is the smoke concentration data of the first target area within a preset time period;

[0170] S5, determining the slope corresponding to the target smoke concentration straight line to obtain a second target slope;

[0171] S6. determining a second damage value of the first target area based on the second target slope;

[0172] S7, determining a target damage value corresponding to the first target area based on the first damage value and the second damage value;

[0173] The target rescue priority corresponding to each of the n target areas is determined based on the n target damage values ​​to obtain n target rescue priorities; the greater the target damage value corresponding to the target area, the higher the rescue priority of the target area.

[0174] In some possible implementations, the above program includes instructions for performing the following steps:

[0175] Determine a first reference weight corresponding to the first damage value and a second reference weight corresponding to the second damage value;

[0176] Acquiring the humidity in the first target area to obtain a target humidity;

[0177] determining a first optimization factor corresponding to the target humidity;

[0178] Optimizing the first reference weight according to the first optimization factor to obtain a first target weight;

[0179] Obtaining the wind speed in the first target area to obtain a target wind speed;

[0180] determining a second optimization factor corresponding to the target wind speed;

[0181] Optimizing the second reference weight according to the second optimization factor to obtain a second target weight;

[0182] The target damage value is obtained by calculating according to the first damage value, the second damage value, the first target weight and the second target weight.

[0183] In some possible implementations, the above program includes instructions for performing the following steps:

[0184] Calculate according to the first damage value, the second damage value, the first target weight, and the second target weight to obtain a reference damage value;

[0185] Acquire the vegetation density of the first target area to obtain the target vegetation density;

[0186] Determine the target impact coefficient corresponding to the target vegetation density;

[0187] The reference damage value is adjusted according to the target influence coefficient to obtain the target damage value.

[0188] In some possible implementations, the above program includes instructions for performing the following steps:

[0189] Determine the target rescue priority order corresponding to the n target areas based on the n target rescue priorities;

[0190] According to the determination method in the following steps A1-A5, the first rescue route in each of the n target areas is determined to obtain n first rescue routes, which is specifically the following steps:

[0191] A1. Acquire at least one fire source point in the first target area;

[0192] A2. Determine the flame coverage area of ​​at least one fire source point to obtain at least one flame coverage area;

[0193] A3. Determine the fire extinguishing priority of at least one fire source point based on at least one flame coverage area; the larger the flame coverage area of ​​the fire source point, the higher the fire extinguishing priority of the fire source point;

[0194] A4. Determine the fire extinguishing priority order of at least one fire source point based on the fire extinguishing priority order to obtain the target fire extinguishing priority order;

[0195] A5. Connect at least one fire source point based on the target fire extinguishing priority order to obtain a first rescue route for a first target area;

[0196] The n first rescue routes are connected based on the target rescue priority order to obtain the target rescue route.

[0197] In some possible implementations, the above program includes instructions for performing the following steps:

[0198] When the first humanoid robot performs a fire extinguishing operation on the first fire source point, the remaining amount of the fire extinguishing agent stored in the first humanoid robot is obtained to obtain a first remaining amount; the first fire source point is any fire source point in the first target area;

[0199] Obtain characteristic parameters of the first fire source point at the current moment, and obtain target characteristic parameters;

[0200] Determine the fire extinguishing agent demand corresponding to the target characteristic parameter to obtain the target demand;

[0201] When the target demand is greater than the first remaining quantity, broadcasting a help message to a second preset range; the help message includes the location of the first fire source point and the difference between the target demand and the first remaining quantity, and the second preset range is greater than the first preset range;

[0202] Receive response information from m second humanoid robots, and obtain m response information; each response information corresponds to a second humanoid robot, each response information includes an estimated time to reach the location of the first fire source point and the remaining amount of fire extinguishing agent, and the remaining amount of fire extinguishing agent of each second humanoid robot is greater than the difference; m is a natural number;

[0203] Select the minimum duration according to the estimated duration of the m second humanoid robots;

[0204] A support signal is sent to the target second humanoid robot corresponding to the minimum duration; the support signal is used to request the target second humanoid robot to go to the location of the first fire source point to perform a fire extinguishing operation on the first fire source point.

[0205] In some possible implementations, the above program includes instructions for performing the following steps:

[0206] Sensing fallen trees within a first preset range through a sensing module to obtain at least one reference tree;

[0207] determining a falling direction of at least one reference tree to obtain at least one target falling direction;

[0208] Predicting the area damaged when at least one reference tree falls based on at least one target falling direction to obtain a target damaged area;

[0209] When the humanoid robot is located in the target damage area, the humanoid robot is controlled to move outside the target damage area.

[0210] It should be understood that the electronic devices in this application may include smart phones (such as Android phones, iOS phones, Windows Phone phones, etc.), tablet computers, PDAs, laptops, mobile Internet devices MID (Mobile Internet Devices, referred to as: MID) or wearable devices or servers, edge computing nodes, etc. The above electronic devices are only examples, not exhaustive, and include but are not limited to the above electronic devices.

[0211] The present application also provides a computer-readable storage medium storing a computer program, which is executed by a processor to implement part or all of the steps of any tree-based forest rescue method described in the above method implementation.

[0212] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any tree-based forest rescue method described in the above method implementation.

[0213] It should be noted that, for the above-mentioned various method implementations, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the implementations described in the specification are all optional implementations, and the actions and modules involved are not necessarily required by this application.

[0214] In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0215] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device implementation described above is only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0216] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0217] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software program module.

[0218] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of each implementation method of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0219] A person skilled in the art may understand that all or part of the steps in the various methods of the above-mentioned embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0220] The above is a detailed introduction to the implementation methods of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above implementation methods is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A tree-based forest rescue method, characterized in that: A controller applied to a humanoid robot, the humanoid robot being connected to a forest monitoring system, the mechanical arm of the humanoid robot being used to spray a fire extinguishing agent, the top of the humanoid robot being provided with a sensing module for sensing fallen trees within a first preset range centered on the humanoid robot, the method comprising: Acquiring forest monitoring data of a target forest through the forest monitoring system; Determine the fire area based on the forest monitoring data to obtain a target fire area; Dividing the target fire area into n areas to obtain n target areas; n is an integer greater than 1; Acquire the temperature data and smoke concentration data of each of the n target areas within a preset time period to obtain n target temperature data and n target smoke concentration data; each target area corresponds to one target temperature data and one target smoke concentration data; Determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data, and obtain n target rescue priorities; Acquire the current position of the humanoid robot, determine a rescue route based on the n target rescue priorities and the current position, and obtain a target rescue route; controlling the humanoid robot to perform a rescue operation on the trees in the target fire area based on the target rescue route; the rescue operation is used to indicate that the humanoid robot identifies the fire source point in the target rescue route, extracts characteristic parameters of the fire source point, determines fire extinguishing parameters corresponding to the characteristic parameters, sprays a fire extinguishing agent based on the fire extinguishing parameters through the robotic arm, and controls the humanoid robot to automatically avoid fallen trees within the first preset range through the perception module; Wherein, determining the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data to obtain n target rescue priorities includes: According to the determination method in the following steps S1-S7, the target damage value corresponding to each of the n target areas is determined to obtain n target damage values, which is specifically the following steps: S1. Fitting is performed according to first target temperature data to obtain a target temperature straight line; the first target temperature data is temperature data of a first target area within the preset time period, and the first target area is any target area among the n target areas; S2. Determine the slope corresponding to the target temperature straight line to obtain a first target slope; S3. determining a first damage value of the first target area based on the first target slope; S4. Fitting is performed according to the first target smoke concentration data to obtain a target smoke concentration straight line; the first target smoke concentration data is the smoke concentration data of the first target area within the preset time period; S5, determining a slope corresponding to the target smoke concentration straight line to obtain a second target slope; S6. determining a second damage value of the first target area based on the second target slope; S7. Determine a target damage value corresponding to the first target area based on the first damage value and the second damage value; Determine the target rescue priority corresponding to each of the n target areas based on the n target damage values, to obtain n target rescue priorities; the greater the target damage value corresponding to the target area, the higher the rescue priority of the target area; Wherein, determining the target damage value corresponding to the first target area based on the first damage value and the second damage value includes: Determine a first reference weight corresponding to the first damage value and a second reference weight corresponding to the second damage value; Acquiring the humidity in the first target area to obtain a target humidity; determining a first optimization factor corresponding to the target humidity; Optimizing the first reference weight according to the first optimization factor to obtain a first target weight; Acquire the wind speed in the first target area to obtain a target wind speed; determining a second optimization factor corresponding to the target wind speed; Optimizing the second reference weight according to the second optimization factor to obtain a second target weight; The target damage value is obtained by performing calculation according to the first damage value, the second damage value, the first target weight, and the second target weight.

2. The method according to claim 1, characterized in that The step of calculating according to the first damage value, the second damage value, the first target weight, and the second target weight to obtain the target damage value includes: Calculate according to the first damage value, the second damage value, the first target weight, and the second target weight to obtain a reference damage value; Acquire the vegetation density of the first target area to obtain a target vegetation density; determining a target influence coefficient corresponding to the target vegetation density; The reference damage value is adjusted according to the target influence coefficient to obtain the target damage value.

3. The method according to claim 1, characterized in that The step of determining a rescue route based on the n target rescue priorities and the current position to obtain a target rescue route includes: Determining a target rescue priority order corresponding to the n target areas based on the n target rescue priorities; According to the determination method in the following steps A1-A5, the first rescue route in each of the n target areas is determined to obtain n first rescue routes, which is specifically the following steps: A1. Acquire at least one fire source point in the first target area; A2. Determine the flame coverage area of ​​the at least one fire source point to obtain at least one flame coverage area; A3. Determine the fire extinguishing priority of the at least one fire source point based on the at least one flame coverage area; the larger the flame coverage area of ​​the fire source point, the higher the fire extinguishing priority of the fire source point; A4. Determine the fire extinguishing priority order of the at least one fire source point based on the fire extinguishing priority order to obtain a target fire extinguishing priority order; A5. Connecting the at least one fire source point based on the target fire extinguishing priority order to obtain a first rescue route for the first target area; The n first rescue routes are connected based on the target rescue priority order to obtain the target rescue route.

4. The method according to claim 3, characterized in that When the humanoid robot includes a first humanoid robot, the method further includes: When the first humanoid robot performs a fire extinguishing operation on a first fire source point, a remaining amount of the fire extinguishing agent stored in the first humanoid robot is obtained to obtain a first remaining amount; the first fire source point is any fire source point in the first target area; Obtaining characteristic parameters of the first fire source point at the current moment to obtain target characteristic parameters; Determine the fire extinguishing agent demand corresponding to the target characteristic parameter to obtain a target demand; When the target demand is greater than the first remaining quantity, broadcasting a help message to a second preset range; the help message includes the location of the first fire source point and the difference between the target demand and the first remaining quantity, and the second preset range is greater than the first preset range; Receive response information from m second humanoid robots to obtain m response information; each response information corresponds to a second humanoid robot, each response information includes an estimated time to reach the location of the first fire source point and a remaining amount of fire extinguishing agent, and the remaining amount of fire extinguishing agent of each second humanoid robot is greater than the difference; m is a natural number; Selecting a minimum duration according to the estimated durations of the m second humanoid robots; A support signal is sent to the target second humanoid robot corresponding to the minimum duration; the support signal is used to request the target second humanoid robot to go to the location of the first fire source point to perform a fire extinguishing operation on the first fire source point.

5. The method according to any one of claims 1 to 4, characterized in that: The step of controlling the humanoid robot to automatically avoid fallen trees within the first preset range by the perception module includes: Sensing fallen trees within the first preset range by the sensing module to obtain at least one reference tree; Determine the falling direction of the at least one reference tree to obtain at least one target falling direction; Predicting the area damaged when the at least one reference tree falls based on the at least one target falling direction to obtain a target damaged area; When the humanoid robot is located in the target damage area, the humanoid robot is controlled to move out of the target damage area.

6. A tree-based forest rescue device, characterized in that: A controller applied to a humanoid robot, the humanoid robot being connected to a forest monitoring system, the mechanical arm of the humanoid robot being used to spray a fire extinguishing agent, a sensing module being provided at the top of the humanoid robot's head for sensing fallen trees within a first preset range centered on the humanoid robot, the device comprising: an acquisition unit and a processing unit; The acquisition unit is used to acquire forest monitoring data of a target forest through the forest monitoring system; The processing unit is used to determine the fire area based on the forest monitoring data to obtain a target fire area; Dividing the target fire area into n areas to obtain n target areas; n is an integer greater than 1; The acquisition unit is used to acquire the temperature data and smoke concentration data of each of the n target areas within a preset time period to obtain n target temperature data and n target smoke concentration data; each target area corresponds to one target temperature data and one target smoke concentration data; The processing unit is used to determine the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data, so as to obtain n target rescue priorities; Acquire the current position of the humanoid robot, determine a rescue route based on the n target rescue priorities and the current position, and obtain a target rescue route; controlling the humanoid robot to perform a rescue operation on the trees in the target fire area based on the target rescue route; the rescue operation is used to indicate that the humanoid robot identifies the fire source point in the target rescue route, extracts characteristic parameters of the fire source point, determines fire extinguishing parameters corresponding to the characteristic parameters, sprays a fire extinguishing agent based on the fire extinguishing parameters through the robotic arm, and controls the humanoid robot to automatically avoid fallen trees within the first preset range through the perception module; Wherein, determining the rescue priority corresponding to each of the n target areas according to the n target temperature data and the n target smoke concentration data to obtain n target rescue priorities includes: According to the determination method in the following steps S1-S7, the target damage value corresponding to each of the n target areas is determined to obtain n target damage values, which is specifically the following steps: S1. Fitting is performed according to first target temperature data to obtain a target temperature straight line; the first target temperature data is temperature data of a first target area within the preset time period, and the first target area is any target area among the n target areas; S2. Determine the slope corresponding to the target temperature straight line to obtain a first target slope; S3. determining a first damage value of the first target area based on the first target slope; S4. Fitting is performed according to the first target smoke concentration data to obtain a target smoke concentration straight line; the first target smoke concentration data is the smoke concentration data of the first target area within the preset time period; S5, determining a slope corresponding to the target smoke concentration straight line to obtain a second target slope; S6. determining a second damage value of the first target area based on the second target slope; S7. Determine a target damage value corresponding to the first target area based on the first damage value and the second damage value; Determine the target rescue priority corresponding to each of the n target areas based on the n target damage values, to obtain n target rescue priorities; the greater the target damage value corresponding to the target area, the higher the rescue priority of the target area; Wherein, determining the target damage value corresponding to the first target area based on the first damage value and the second damage value includes: Determine a first reference weight corresponding to the first damage value and a second reference weight corresponding to the second damage value; Acquiring the humidity in the first target area to obtain a target humidity; determining a first optimization factor corresponding to the target humidity; Optimizing the first reference weight according to the first optimization factor to obtain a first target weight; Acquire the wind speed in the first target area to obtain a target wind speed; determining a second optimization factor corresponding to the target wind speed; Optimizing the second reference weight according to the second optimization factor to obtain a second target weight; The target damage value is obtained by performing calculation according to the first damage value, the second damage value, the first target weight, and the second target weight.

7. An electronic device, characterized in that: The method comprises a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs include instructions for executing the steps in the method described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 5.

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