A smart firefighting drone Internet of Things inspection system and method

Abstract

The present invention discloses an intelligent fire-fighting drone Internet of Things inspection system and method, and relates to the technical field of fire-fighting drones. The system discloses a control management module and a fire-fighting drone inspection group connected to the control management module, wherein the control management module comprises: an environment acquisition module, which is used to collect environmental information of a current inspection route to determine whether the environment is consistent with that collected in advance; an obstacle detection module, when the fire-fighting drone group performs an inspection task, if an obstacle is encountered on the current inspection route, the drone group can automatically trigger an intelligent route planning system, which may have to take a detour due to obstacle avoidance, thereby increasing the risk of missing important inspection areas compared to traditional route planning methods; in contrast, when replanning the path, the intelligent route planning system will comprehensively consider the location of obstacles and the layout of inspection points, and ensure that each inspection task can be fully covered through advanced algorithms.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting drones, and more specifically, to an intelligent fire-fighting drone Internet of Things inspection system and method. Background Art

[0002] Firefighting drone inspection is a modern means of using drone technology for fire safety monitoring and emergency rescue. It is equipped with high-definition cameras, thermal imaging cameras, multi-spectral sensors and other equipment to achieve rapid inspections of large areas, timely detect fires, and improve fire prevention and early detection capabilities;

[0003] A Chinese patent with publication number CN116661485A discloses a fire inspection system based on cooperative control of unmanned aerial vehicles, including: a control management platform, and multiple inspection unmanned aerial vehicles and fire-fighting unmanned aerial vehicles connected to the control management platform, wherein: the control management platform performs flight control management on the inspection unmanned aerial vehicles and the fire-fighting unmanned aerial vehicles, and the control management platform is provided with an area planning module and an information processing module for planning the target inspection area of ​​the inspection unmanned aerial vehicles and processing and analyzing the transmitted inspection information; the control management platform also controls the fire-fighting unmanned aerial vehicle to fly to the corresponding area of ​​the fire location to extinguish the fire according to the processing results; the present invention uses unmanned aerial vehicles to coordinate fire inspection and fire-fighting operations; data transmission is real-time, feedback is timely, it is convenient to improve the degree of patrol automation and work efficiency, it is helpful to improve the level of fire management, it is helpful to reduce inspection costs and risks, it is convenient to find fires as early as possible, deal with them as early as possible when the fire is small, avoid the spread of fire, and help reduce economic losses;

[0004] In actual fire inspection operations, the coordinated operation of firefighting drone swarms is an important means to improve efficiency and coverage. However, when performing inspection tasks on preset routes, firefighting drone swarms may encounter emergencies, such as the appearance of obstacles. In this case, the corresponding drone will automatically start the obstacle avoidance program to ensure flight safety. However, this automatic obstacle avoidance behavior may cause the drone to fail to cover all the scheduled inspection points, leaving potential fire risks. Therefore, how to ensure that the drone can still effectively complete the inspection task when encountering obstacles is the key to improving the efficiency and safety of firefighting drone applications. Summary of the invention

[0005] In view of the deficiencies in the prior art, the object of the present invention is to provide a smart firefighting drone Internet of Things inspection system and method.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A smart firefighting drone Internet of Things inspection system includes a control management module and a firefighting drone inspection group connected to the control management module, wherein the control management module includes:

[0008] The environment collection module is used to collect the environmental information of the current inspection route to determine whether the environment is consistent with the pre-collected information;

[0009] An obstacle detection module, which is used to detect whether there are obstacles on the inspection route of the current firefighting drone group when the environmental information collected by the environmental collection module is inconsistent with the pre-collected environmental information;

[0010] A multi-objective coordination module, used to verify whether the current obstacle affects the inspection route of the current firefighting drone, and when the obstacle affects the inspection route of at least one firefighting drone in the current firefighting drone inspection group, to coordinately adjust the inspection route of the entire firefighting drone inspection group, so as to re-plan the inspection route of the affected firefighting drone and ensure that the re-planned inspection route will not miss the inspection point;

[0011] A flight attitude adjustment module, which is used to adjust the flight attitude of the fire-fighting UAV that needs to be adjusted after the multi-target coordination module coordinates the inspection routes of all the fire-fighting UAV inspection groups;

[0012] The memory module is optimized to record and save the current adjustment parameters after the corresponding adjustment is completed for the fire-fighting without crowd.

[0013] Preferably, the multi-objective coordination module is used to coordinate and plan the currently affected firefighting drones, specifically:

[0014] Determine the number of firefighting drones that are affected by the current inspection route of the firefighting drone group;

[0015] Get the area of ​​the current obstacle;

[0016] The collision point between the currently affected firefighting drone and the current obstacle is taken as the center of the circle;

[0017] Get the time t required to fly around the obstacle around the impact point as the center 1 ,t 2 ,t 3 ……t n ;

[0018] Obtain the current flight speed V and impact distance D of the firefighting drone;

[0019] According to the formula Get the time when the object hits the obstacle and substitute it into the formula T+Y to get the actual time of impact. Y is the time added to the calculated time.

[0020] The actual collision time value T+Y and t 1 ,t 2 ,t 3 ……t n In contrast, the value that is less than the time T+Y for collision with the obstacle is determined as the candidate flight path;

[0021] Select the candidate flight path that takes the least time as the adjustment direction;

[0022] Control the blocked firefighting drone to fly in the adjusted direction.

[0023] Preferably, the multi-objective coordination module is also used to sort the priorities of the firefighting drone adjustment directions, specifically:

[0024] Get the distance between the firefighting drone that needs to be adjusted and its adjacent firefighting drones;

[0025] Determine whether the flight on the currently adjusted route will interfere with the adjacent firefighting drone inspection route;

[0026] Determine whether the checkpoint will be missed when flying according to the current candidate flight path;

[0027] The first priority route is determined when the current candidate flight path does not affect the inspection route of the adjacent firefighting drone and does not miss the inspection point;

[0028] When the current candidate flight path will affect the inspection route of the adjacent firefighting drone but will not miss the inspection point, it is determined as the second priority route;

[0029] When the current candidate flight path does not affect the inspection route of the adjacent firefighting drone but will miss the inspection point, it is determined as the third priority route;

[0030] When the current candidate flight path will affect the inspection route of the adjacent firefighting drone and will miss the inspection point, it is determined as an uncertain route;

[0031] Among them, the first priority route>the second priority route>the third priority route>the uncertain route.

[0032] Preferably, the specific steps of determining whether a checkpoint will be missed when flying according to the current selected flight path are:

[0033] Get the position P1 of the firefighting drone;

[0034] Get the position P of the inspection point 2 ;

[0035] Determine the straight line path from the firefighting drone to the inspection point as P 1 P 2 ;

[0036] Get the position Q of the occluder and represent the boundary of the occluder as an irregular polygon Q 1 Q 2 Q 3 Q 4 ...Q n ;

[0037] Determine the straight line path P 1 P 2 Whether it intersects with the position Q of the occluder;

[0038] If they do not intersect, it is determined that the firefighting drone can fly directly to the inspection point location P 2 ;

[0039] If they intersect, the sight angle from the firefighting drone to the inspection point is calculated, specifically through the formula Get the viewing angle, where Firefighting drones and inspection points 2 The height difference between the firefighting drone and the inspection point P is d. 2 The horizontal distance between

[0040] Determine the sight angle Is it greater than the minimum safety angle between the firefighting drone and the obstacle?

[0041] If yes, the firefighting drone can fly directly to P via the alternate flight path. 2 ;

[0042] If not, there is a line of sight obstruction, and the inspection point P will be missed when flying according to the current candidate flight path. 2 , it is recommended to select other alternative flight paths.

[0043] Preferably, the specific method of judging whether the currently adjusted route causes interference to the adjacent firefighting drone inspection route is:

[0044] Pre-set multiple detection points on the selected flight path;

[0045] Based on the detection point closest to the adjacent firefighting drone on the current candidate flight path;

[0046] Determine whether the currently selected flight path will interfere with the adjacent firefighting drone inspection route when reaching the nearest inspection point of the adjacent firefighting drone;

[0047] If there are no intersections, there will be no interference with adjacent firefighting drone inspection routes;

[0048] If an intersection occurs, it will interfere with the adjacent firefighting drone inspection routes.

[0049] Preferably, if an intersection is generated, it will interfere with the adjacent firefighting drone inspection route and further includes:

[0050] Get the priority of adjacent firefighting drones;

[0051] Determine the priority of the adjacent firefighting UAV and the firefighting UAV mission currently generating the candidate flight path;

[0052] If the current firefighting drone has a high priority, the adjacent firefighting drones that interfere with its inspection route will be controlled to give way;

[0053] If the priority of the current firefighting drone is low, the current firefighting drone is controlled to select an alternative plan;

[0054] If the current firefighting drone has a low priority and there is only one flight path to be selected:

[0055] According to the current environmental information, the adjacent firefighting drones are adjusted to reduce or increase their flight speed to ensure that there is no collision between the two.

[0056] Preferably, the step of adjusting the adjacent firefighting drone to reduce the flight speed or increase the flight speed according to the current environmental information to ensure that the two do not collide is:

[0057] Get the current location of the firefighting drone ,in, ;

[0058] Get the location of adjacent firefighting drones ,in ;

[0059] Get the current firefighting drone's velocity vector ,in, ;

[0060] Get the velocity vector of the adjacent firefighting drone ,in, ;

[0061] Get the current wind speed vector ,in, ;

[0062] Get the current firefighting drone speed relative to the wind ,in, ;

[0063] Get the relative wind speed of adjacent firefighting drones ,in, ;

[0064] Based on the above formula ,in, and ;

[0065] if If it is a positive number and is less than the preset safety time threshold, the speed of the adjacent firefighting drones is adjusted as follows:

[0066] If adjacent firefighting drones need to pass through the intersection faster to avoid collision, the formula Get the new speed, where is the amount of speed that needs to be increased;

[0067] If the adjacent firefighting drones need to slow down to pass through the intersection to avoid collision, the formula Get the new speed, where is the amount of speed that needs to be increased;

[0068] if :

[0069] ;in, is the safety time threshold, It is the speed adjustment calculated based on the safety distance and time.

[0070] Preferably, after the selected flight path does not affect the inspection route of the adjacent firefighting drone but will miss the inspection point, the method further includes:

[0071] Get the coordinates of the current firefighting drone , the coordinate positions of adjacent firefighting drones ;

[0072] Determine the communication distance U between the current firefighting UAV and the adjacent firefighting UAV;

[0073] Calculated according to the Euclidean distance formula , get the distance between the current firefighting UAV and the adjacent firefighting UAV;

[0074] if Less than , it is determined that the current firefighting drone is within the communication range of the adjacent firefighting drone, and the current information can be shared with the adjacent firefighting drone through the communication system to notify the adjacent firefighting drone to conduct additional inspections;

[0075] if Greater than , it is determined that the current firefighting UAV is out of communication range with the adjacent firefighting UAVs and cannot share information.

[0076] On the other hand, the present invention also proposes a smart firefighting drone Internet of Things inspection method, which is applicable to the above-mentioned smart firefighting drone Internet of Things inspection system, and the method comprises the following steps:

[0077] S1: When an obstacle is detected on the inspection route of the current firefighting drone group, the inspection route of the firefighting drone group is adjusted in a coordinated manner and the inspection route is replanned;

[0078] S2: Obtain the routes that can be adjusted by the firefighting drones that need to be adjusted, and sort the priorities;

[0079] S3: Selecting a candidate flight path with a high priority as the adjustment direction;

[0080] S4: Control the blocked firefighting drone to fly in the adjusted direction.

[0081] Compared with the prior art, the present invention has the following beneficial effects:

[0082] 1. When the firefighting drone swarm performs inspection tasks, if it encounters obstacles on the current inspection route, the drone swarm can automatically trigger the intelligent route planning system. This system can not only avoid obstacles, but also help ensure the optimization of the inspection path to avoid missing key inspection points. Compared with traditional route planning methods, detours may be necessary due to obstacle avoidance, which increases the risk of missing important inspection areas. In contrast, the intelligent route planning system will comprehensively consider the location of obstacles and the layout of inspection points when replanning the route, and ensure that each inspection task can be fully covered through advanced algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Figure 1 A system block diagram of the present invention

[0084] Figure 2 The present invention is a flow chart of the method. DETAILED DESCRIPTION

[0085] Reference Figure 1 : A smart firefighting drone Internet of Things inspection system, comprising a control management module and a firefighting drone inspection group connected to the control management module, wherein the control management module comprises:

[0086] The environment collection module is used to collect environmental information of the current inspection route to determine whether the environment is consistent with the pre-collected information. It should be noted that before the firefighting drone group works, the environment on the inspection route will be collected in advance and the inspection route will be planned. The environment collection module is composed of existing components such as infrared thermal imaging cameras and laser radars to analyze and determine in real time whether the environment of the firefighting unmanned inspection group during the inspection process is consistent with the previous one.

[0087] It should be noted that the firefighting drone swarm is usually composed of various types of drones to adapt to different firefighting tasks and environmental requirements, including but not limited to the following types: Reconnaissance drone sub-swarm: This type of drone is mainly responsible for the reconnaissance and positioning of fire sources. They are usually equipped with sensors such as high-definition cameras and infrared thermal imaging equipment to monitor the conditions at the fire scene in real time. Firefighting drone sub-swarm: These drones are responsible for performing firefighting tasks and can be equipped with fire extinguishing bombs, dry powder fire extinguishing tanks, water spraying devices, etc. They can carry out precise strikes on the source of fire and effectively control the fire. Special rescue drone sub-swarm: This type of drone is designed to perform special tasks, such as searching for trapped people and delivering rescue supplies. They may be equipped with equipment such as loudspeakers, searchlights, thermal imaging cameras, etc. to adapt to complex rescue environments, etc.;

[0088] By connecting the firefighting drone swarm with the control management module, the control management module can monitor and control the firefighting drone swarm.

[0089] The obstacle detection module is used to detect whether there are obstacles on the inspection route of the current firefighting drone group when the environmental information collected by the environmental acquisition module is inconsistent with the pre-collected environmental information; it should be noted that the obstacle detection module is composed of existing components such as infrared sensors and cameras, and its purpose is to analyze and judge whether there are obstacles on the inspection route when the environmental acquisition module analyzes the difference between the current environment and the pre-collected environment;

[0090] For example, when a firefighting drone swarm is performing an inspection mission, if differences are found in the environment, these differences can be analyzed in depth to determine whether they constitute obstacles. Specifically, the high-precision sensors and cameras carried by the firefighting drones are first used to perform detailed scanning and data collection of the differences. Then, the collected data is analyzed through advanced image processing and pattern recognition algorithms to identify whether these differences are obstacles.

[0091] Furthermore, by comparing the planned inspection route of the firefighting drone and the location of the obstacle, it can be determined whether the obstacle is located on the predetermined inspection path. If the system determines that the obstacle does pose a threat to the flight safety of the drone swarm, it indicates that there is an obstacle on the inspection route of the current firefighting drone swarm, otherwise there is no obstacle.

[0092] A multi-objective coordination module is used to verify whether the current obstacle affects the inspection route of the current firefighting drone, and when the obstacle affects the inspection route of at least one firefighting drone in the current firefighting drone inspection group, coordinately adjust the inspection route of the entire firefighting drone inspection group, so as to re-plan the inspection route of the affected firefighting drone, and determine that the re-planned inspection route will not miss the inspection point; it should be noted that when it is determined that the obstacle will affect the inspection route of at least one firefighting drone in the current firefighting drone group, the inspection route of the affected firefighting drone in the entire firefighting drone group is coordinated and planned through the multi-objective coordination module, and in the planning process, priority is given to considering that the planned route will not miss important inspection points;

[0093] The multi-target collaborative module at least includes a firefighting drone control platform, which is used to collaboratively control the firefighting drone swarm. Specifically, it realizes information sharing and collaborative decision-making through the corresponding communication system. The communication system at least includes a wireless communication module to support data exchange between firefighting drones and communication with the ground control station. Sensor system: including infrared thermal imaging cameras, multispectral and hyperspectral imagers, laser radar (LiDAR), 3D ToF cameras, gas sensors, etc., used for environmental monitoring, target detection and obstacle avoidance, etc.; Ground control station: as the command and control center of the firefighting drone swarm, it is responsible for monitoring the status of the firefighting drone, receiving sensor data, processing mission information, and providing operator interface; Data fusion and processing system: the large amount of data collected by the firefighting drone swarm needs to be effectively fused and processed to provide useful information to support decision-making, etc.;

[0094] These components and systems together constitute a multi-objective collaborative module, enabling it to perform complex firefighting tasks efficiently and safely.

[0095] The flight attitude adjustment module is used to adjust the flight attitude of the fire-fighting drone that needs to be adjusted after the multi-target collaboration module coordinates the inspection routes of all the fire-fighting drone inspection groups. It should be noted that the flight attitude adjustment module includes a flight control system: this is the brain of the fire-fighting drone, responsible for processing flight data, controlling the flight attitude and path of the fire-fighting drone, and ensuring the coordinated flight and mission execution of the fire-fighting drone group; it also includes a remote control system, a navigation system, and a data link system, etc., all of which are existing mature technologies and will not be elaborated on in detail.

[0096] It should be noted that there is integration and cross-use among the above system components, which will not be elaborated here.

[0097] The memory optimization module records and saves the current adjustment parameters after completing the corresponding adjustment for the fire-fighting crowd. It should be noted that after the above steps are completed, the memory optimization module will save and record the current adjustment status, so that it can be directly processed when encountering the same situation next time, reducing the time required for response;

[0098] The optimized memory module can at least adopt the firefighting drone flight log recording method, including generating log messages, storing log messages, obtaining log messages in the storage area from the buffer area, and writing the log messages that meet the conditions in the buffer area into the memory card. In addition, the message body is parsed, including verifying the message header part, obtaining the message identification part, the message length part, the message content part and the message verification part, and verifying the message content part according to the message verification part.

[0099] When a firefighting drone swarm is performing an inspection task, if it encounters an obstacle on the current inspection route, the drone swarm can automatically trigger the intelligent route planning system. This system can not only avoid obstacles, but also help ensure the optimization of the inspection path to avoid missing key inspection points. Compared with traditional route planning methods, which may have to take a detour due to obstacle avoidance, the risk of missing important inspection areas increases. In contrast, the intelligent route planning system will comprehensively consider the location of obstacles and the layout of inspection points when replanning the path, and use advanced algorithms to ensure that each inspection task can be fully covered.

[0100] This optimized route planning strategy helps improve the inspection efficiency and quality of the firefighting drone swarm, ensuring that there are no blind spots left for firefighting monitoring due to obstacle avoidance. In this way, the firefighting drone swarm can perform tasks more accurately and provide more reliable on-site data to the fire department, thereby reducing fire hazards and improving the overall safety level.

[0101] As an optional embodiment, the multi-objective coordination module is used to coordinate and plan the currently affected firefighting drones, specifically:

[0102] Determine the number of firefighting drones that are affected by the current inspection route of the firefighting drone group; It should be noted that when determining the inspection route of the firefighting drone group affected by obstacles, the number of firefighting drones affected is first determined;

[0103] The area of ​​the current obstacle is obtained; it should be noted that when the firefighting drone group performs inspection tasks, if it encounters an obstacle, the firefighting drone can use the onboard scanning equipment, such as LiDAR or a high-resolution camera, to perform a detailed three-dimensional scan of the obstacle. Through these scanning data, the drone can accurately measure the plane area of ​​the obstacle facing the drone.

[0104] Based on the collision point between the currently affected firefighting drone and the current obstacle as the center of the circle; it should be noted that when the firefighting drone encounters an obstacle while performing an inspection mission, if no avoidance measures are taken, there is a risk of collision with the obstacle. To prevent such situations, simulation technology can be used to simulate the potential collision points between the firefighting drone and the obstacle. Through three-dimensional scanning or visual recognition technology, the firefighting drone can accurately measure and determine the plane area of ​​the obstacle facing it. This process involves using onboard sensors, such as LiDAR or stereo cameras, to obtain a detailed three-dimensional model of the obstacle;

[0105] By simulating the impact point, the firefighting drone's intelligent path planning system will replan the flight route based on the relative position, speed and trajectory of the firefighting drone and the obstacle.

[0106] Get the time t required to fly around the obstacle around the impact point as the center 1 ,t 2 ,t 3 ……t n ; It should be noted that, by planning a straight route around the plane of the obstacle with the center of the circle as the origin, we can get N routes. Suppose, we take a circle as an example to explain, and determine the center of the circle as the impact point. We can draw N lines that exceed the area of ​​the circle with the center of the circle as the starting point. Inside the circle, we take two intersecting diameters as an example, that is to say, we can get 4 routes (4 radii) to fly out of the area of ​​the circle. At this time, we calculate the time taken to pass through these four routes. Because the radius is equal, the time taken is the same. When we introduce irregular plane figures, the time required for calculation will be different.

[0107] Obtain the current flight speed V and impact distance D of the firefighting drone;

[0108] It should be noted that after planning the route, the current flight speed of the firefighting drone and the distance between the current firefighting drone and the obstacle are obtained. Because the firefighting drone is flying continuously, dynamic adjustment calculation is required.

[0109] According to the formula Get the time when the object hits the obstacle and substitute it into the formula T+Y to get the actual time of impact. Y is the time added to the calculated time.

[0110] The time formula is used to calculate the time required for the firefighting drone to hit an obstacle. Assuming that we calculate that it will take 60 seconds to hit an obstacle, we add 3 seconds to this basis and finally confirm that it will hit the obstacle after 63 seconds.

[0111] Because the firefighting drone is always flying, the calculated value is the current position. As the firefighting drone flies, coupled with the loss of data transmission, and the firefighting drone is actually tilted to the avoidance route, the time we calculated is actually less than the actual time required for collision;

[0112] In order to increase the number of optional routes, we need to increase the time to compensate for the loss of calculation. The Y value can be calculated by combining factors such as flight speed. It can be calculated in real time or pre-set based on historical experience.

[0113] The actual collision time value T+Y and t 1 ,t 2 ,t 3 ……t n In contrast, the value that is less than the time T+Y for collision with the obstacle is determined as the candidate flight path;

[0114] It should be noted that the actual impact time value T+Y is different from the calculated t 1 ,t 2 ,t 3 ……t n The value of is compared to confirm that the flight path that is less than the actual impact time value T+Y is the candidate flight path.

[0115] The candidate flight path with the shortest time is selected as the adjustment direction; it should be noted that there may be multiple candidate flight paths in the above, and we fly in the adjustment direction by comparing the candidate flight path with the shortest time, so as to help reduce the impact of long obstacle avoidance time on inspection.

[0116] Control the blocked firefighting drone to fly in the adjusted direction; after the path is selected, control the firefighting drone that needs to be avoided to fly according to the actual situation.

[0117] As an optional embodiment, the multi-objective coordination module is also used to sort the priorities of the firefighting drone adjustment directions, specifically:

[0118] The distance between the firefighting drone that currently needs to be adjusted and its adjacent firefighting drones is obtained; it should be noted that each firefighting drone is equipped with components such as a laser radar, and the distance between adjacent firefighting drones can be obtained.

[0119] It is judged whether the flight based on the currently adjusted route will interfere with the adjacent firefighting drone inspection route; it should be noted that in the process of flying according to the selected flight path, we need to consider whether the flight according to the new selected flight path will affect other firefighting drones. If an impact is caused, further processing is required.

[0120] Determine whether the inspection point will be missed when flying according to the current candidate flight path; it should be noted that when the firefighting drone is flying according to the candidate flight path, we also need to consider whether this candidate flight path will miss the inspection point.

[0121] The first priority route is determined when the current candidate flight path does not affect the inspection route of the adjacent firefighting drone and does not miss the inspection point;

[0122] It should be noted that when there are multiple candidate flight paths, we will determine the candidate flight path that will not miss the inspection and will not affect the inspection routes of other firefighting drones as the first priority route.

[0123] When the current candidate flight path will affect the inspection route of the adjacent firefighting drone but will not miss the inspection point, it is determined as the second priority route;

[0124] It should be noted that when there are multiple candidate flight paths, we will determine the candidate flight path that will not miss the inspection but will affect the inspection routes of other fire-fighting drones as the second priority route. Because the main responsibility of fire-fighting drones is inspection, we will prioritize not missing the inspection point.

[0125] When the current candidate flight path does not affect the inspection route of the adjacent firefighting drone but will miss the inspection point, it is determined as the third priority route;

[0126] It should be noted that when there are multiple alternative flight paths, we will determine the alternative flight path that will miss the inspection but will not affect other fire-fighting drone inspection routes as the third priority route. When the above two conditions are not met, we will determine the alternative flight route that will not affect other fire-fighting drone inspection routes as the third priority route.

[0127] When the current candidate flight path will affect the inspection route of the adjacent firefighting drone and will miss the inspection point, it is determined as an uncertain route;

[0128] It should be noted that when the candidate flight path affects the inspection route of the adjacent firefighting drone and misses the inspection point, we need to further process it by comparing it with the third priority route to confirm whether it can be used as an adjustment direction.

[0129] Among them, the first priority route > the second priority route > the third priority route = uncertain route.

[0130] It should be noted that we sort the different routes to select the appropriate route according to the current situation. We explain it by distance:

[0131] When there are both first-priority and second-priority routes, we choose according to the standard that first-priority route > second-priority route > third-priority route = uncertain route; when the first-priority route and the second-priority route do not exist, and the third-priority route and the uncertain route exist at the same time, we need to further determine which route to choose;

[0132] By classifying the candidate flight routes and confirming their priorities, the firefighting drone can quickly select the corresponding route and choose the most appropriate path for adjustment.

[0133] As an optional embodiment, the specific steps of determining whether a checkpoint will be missed when flying according to the current selected flight path are:

[0134] Get the position P of the firefighting drone 1 It should be noted that the position of the firefighting drone P 1 It can be obtained through GPS positioning and other devices.

[0135] Get the position P of the inspection point 2； It should be noted that the location of the inspection point P 2 A pre-determined location.

[0136] Determine the straight line path from the firefighting drone to the inspection point as P 1 P 2； It should be noted that by determining the coordinates of the two, the straight line path P can be obtained. 1 P 2 .

[0137] Get the position Q of the occluder and represent the boundary of the occluder as an irregular polygon Q 1 Q 2 Q 3 Q 4 ...Q n ;

[0138] It should be noted that Q1 Q 2 Q 3 Q 4 ...Q n Used to indicate the boundaries of occluders.

[0139] Determine the straight line path P 1 P 2 Whether it intersects with the position Q of the occluder; it should be noted that by determining the path P 1 P 2 If it intersects with the position Q of the occluder, we can further determine whether we can fly directly to the inspection point for inspection P 2 .

[0140] If they do not intersect, it is determined that the firefighting drone can fly directly to the inspection point location P 2 It should be noted that if there is no intersection, the firefighting drone will not interfere with the obstacles during flight, so the inspection points can be inspected.

[0141] If they intersect, the sight angle from the firefighting drone to the inspection point is calculated, specifically through the formula Get the viewing angle, where Firefighting drones and inspection points 2 The height difference between the firefighting drone and the inspection point P is d. 2 It should be noted that if there is an intersection with an obstacle, the inspection point may be missed due to occlusion during the inspection process. Therefore, we can further analyze and judge whether there is occlusion by calculating the viewing angle.

[0142] Determine the sight angle Is it greater than the minimum safety angle between the firefighting drone and the obstacle? It should be noted that the minimum safety angle usually refers to the minimum angle distance that the firefighting drone needs to maintain during flight to avoid collision. This angle can be determined based on the size of the drone, flight speed, maneuverability and surrounding environmental factors.

[0143] If yes, the firefighting drone can fly to P through the candidate flight paths. 2 It should be noted that if the angle θ is greater than the minimum safe angle between the firefighting drone and the obstacle, it means that the drone can fly directly to P 2 Inspection.

[0144] If not, there is a line of sight obstruction, and the inspection point P will be missed when flying according to the current candidate flight path. 2It is recommended to select other candidate flight paths. It should be noted that if the θ angle is less than or equal to the safety angle, it means that there is a line of sight obstruction, and the firefighting drone needs to select a new flight route, and it needs to be confirmed that the new candidate flight route can avoid obstacles by changing the height or horizontal position of the firefighting drone, while ensuring that the θ angle is greater than the minimum safety angle.

[0145] As an optional embodiment, the specific method of judging whether the currently adjusted route causes interference to the adjacent firefighting drone inspection route is as follows:

[0146] A plurality of detection points are pre-set on the selected flight path; it should be noted that after the route planning is completed, detection points can be pre-set on the trajectory for detection, wherein the interval between the detection points can be determined based on historical experience, for example, one detection point can be set at a value of 0.5 meters.

[0147] Based on the detection point closest to the inspection route of the adjacent fire-fighting drone on the current selected flight path, it should be noted that by using the detection point closest to the inspection route of the adjacent fire-fighting drone as the standard, it is possible to more accurately confirm whether the routes of the two overlap.

[0148] Determine whether the current selected flight path will interfere with the adjacent firefighting drone inspection route when reaching the nearest inspection point of the adjacent firefighting drone; it should be noted that whether there is interference is determined by determining whether the inspection point is located on the inspection route.

[0149] If there is no intersection, there will be no interference with the adjacent firefighting drone inspection routes; it should be noted that there is no intersection, which means there is no interference between the two.

[0150] If an intersection occurs, it will interfere with the adjacent firefighting drone inspection route. It should be noted that if there is an intersection, it is judged that there is interference between the two.

[0151] As an optional embodiment, if an intersection is generated, it will interfere with the adjacent firefighting drone inspection route and further include:

[0152] Obtain the priority of adjacent firefighting drones; it should be noted that before the firefighting drone group works, different types of firefighting drones will be given different priorities. For example, in actual applications, the firefighting drone used for monitoring usually has the highest priority because it is required to report the inspection situation and feedback information to the operating system for subsequent processing.

[0153] Determine the priority of the adjacent firefighting UAV and the firefighting UAV task currently generating the candidate flight path; it should be noted that in the event of interference with the inspection route, the handling method is determined by judging the priority of the firefighting UAV.

[0154] If the current firefighting drone has a high priority, the adjacent firefighting drones that interfere with its inspection route will be controlled to give way;

[0155] It should be noted that if the level of the current firefighting drone is high, the firefighting drone that causes interference will be controlled to avoid it according to the mission of the current firefighting drone, so that the firefighting drone with a high priority can complete the mission.

[0156] If the priority of the current firefighting drone is low, the current firefighting drone is controlled to select an alternative plan. It should be noted that the alternative plan includes the candidate flight paths with the same other conditions and factors under the same conditions and only different in time. For example, there are two routes, one takes 3 minutes and the other takes 4 minutes. Based on the above selection, the one that takes 3 minutes will be given priority. At this time, if the priority of the current firefighting drone is low, the route that takes 4 minutes can be selected as the adjustment direction.

[0157] If the current firefighting drone has a low priority and there is only one flight path to be selected:

[0158] According to the current environmental information, the adjacent firefighting drones are adjusted to reduce or increase their flight speed to ensure that they do not collide with each other;

[0159] It should be noted that in actual application scenarios, we may encounter a situation where the current firefighting drone has a low priority and there is only one flight path to be selected. In this case, we need to feed back the current information to the adjacent firefighting drone based on the current situation, and inform it to reduce or increase the flight speed to avoid collision.

[0160] As an optional embodiment, the step of adjusting the adjacent firefighting drone to reduce or increase the flight speed according to the current environmental information to ensure that the two do not collide is:

[0161] Get the current location of the firefighting drone ,in, ; It can be obtained in real time through the GPS positioning device installed on it.

[0162] Get the location of adjacent firefighting drones ,in ; It can be obtained in real time through the GPS positioning device installed on it.

[0163] Get the current firefighting drone's velocity vector ,in, ; It can be obtained in real time through the speed sensor installed on it.

[0164] Get the velocity vector of the adjacent firefighting drone ,in, ; It can be obtained in real time through the speed sensor installed on it.

[0165] Get the current wind speed vector ,in, ; It can be obtained in real time through the wind speed sensor installed on it.

[0166] It should be noted that the acquisition of the above data includes but is not limited to one method and will not be disclosed in detail.

[0167] Get the current firefighting drone speed relative to the wind ,in, ;

[0168] Get the relative wind speed of adjacent firefighting drones ,in, ;

[0169] Based on the above formula ,in, and ;

[0170] if If it is a positive number and is less than the preset safety time threshold, the speed of the adjacent firefighting drones is adjusted as follows:

[0171] If adjacent firefighting drones need to pass through the intersection faster to avoid collision, the formula Get the new speed, where is the amount of speed that needs to be increased;

[0172] It should be noted that It can be calculated based on safe distance and time.

[0173] If the adjacent firefighting drones need to slow down to pass through the intersection to avoid collision, the formula Get the new speed, where is the amount of speed that needs to be reduced;

[0174] It should be noted that It can be calculated based on safe distance and time.

[0175] if : ;in, is the safety time threshold, It is the speed adjustment calculated based on the safety distance and time;

[0176] It should be noted that is the safety time threshold, which is a preset value that can be derived from historical experience or multiple tests, and helps ensure that the drone has enough time to avoid a collision.

[0177] It needs to be explained again that, assuming that the current firefighting drone and the adjacent firefighting drone are flying towards an intersection, we have the following data , ;

[0178] Calculated , ;

[0179] therefore, Second;

[0180] Since 50>10, the speed of the adjacent drones needs to be adjusted. ; The speeds of adjacent drones are adjusted according to the above formula to avoid collision.

[0181] As an optional embodiment, after the selected flight path does not affect the inspection route of the adjacent firefighting drone but will miss the inspection point, the method further includes:

[0182] Get the coordinates of the current firefighting drone , the coordinate positions of adjacent firefighting drones ; It should be noted that the location is obtained through the positioning system installed on the fire-fighting drone itself.

[0183] Determine the communication distance U between the current firefighting UAV and the adjacent firefighting UAV; it should be noted that the communication position between the two firefighting UAVs is pre-set, and we can know the maximum communication distance between the two firefighting UAVs in advance.

[0184] Calculated according to the Euclidean distance formula , get the distance between the current firefighting UAV and the adjacent firefighting UAV;

[0185] It should be noted that the distance d between the two firefighting drones can be obtained according to the Euler distance formula.

[0186] if If it is less than U, it is determined that the current firefighting drone is within the communication range of the adjacent firefighting drone. The current information can be shared with the adjacent firefighting drone through the communication system, and the adjacent firefighting drone can be notified to conduct additional inspections.

[0187] It should be noted that the distance is compared to determine whether the adjacent firefighting drone can be notified to assist in the inspection.

[0188] if If it is greater than U, it is determined that the current firefighting UAV is out of communication range with the adjacent firefighting UAVs and cannot share information.

[0189] It should be noted that if it is not within the communication range, the current situation cannot be shared with adjacent firefighting drones, and the situation needs to be fed back to relevant staff for processing.

[0190] As an optional embodiment, the specific steps of determining that the current firefighting drone is within the communication range of the adjacent firefighting drone, sharing the current information with the adjacent firefighting drone through the communication system, and notifying the adjacent firefighting drone to perform a supplementary inspection are as follows:

[0191] Obtain the obstacle blocking point Z;

[0192] Calculate the inspection path from the obstacle blocking point Z to the adjacent firefighting drone The distance of the nearest point N , the calculation formula is;

[0193] According to the formula to conclude;

[0194] It should be noted that the Euler distance formula can be used to obtain the inspection path from the obstacle blocking point Z to the adjacent firefighting drone The distance of the nearest point N .

[0195] if Less than a preset threshold , the adjacent firefighting drone can be notified to perform additional inspections; it should be noted that the threshold Indicates the maximum distance that the drone can adjust its flight path to supplement the inspection.

[0196] if Greater than a preset threshold , then it is impossible to notify the adjacent firefighting drones to make additional inspections;

[0197] It should be noted that at the distance Exceeding a pre-set threshold After that, the maximum inspection range is exceeded and inspection cannot be coordinated.

[0198] It is necessary to explain in particular that: based on the above analysis, when the third priority route and the uncertain route appear at the same time, there is a problem in how to choose the route;

[0199] Based on this, we know that the third priority route is the one that will not affect the inspection route of the adjacent firefighting drone but will miss the inspection point. The uncertain route is the one that satisfies the current candidate flight path and will affect the inspection route of the adjacent firefighting drone and will also miss the inspection point. In both cases, we need the adjacent firefighting drone to assist in the inspection. If the adjacent firefighting drone can assist in the inspection, which route will we choose? For example, assuming that when selecting the third priority route, the adjacent firefighting drone can assist in the inspection, but the uncertain route cannot assist in the inspection, then the third priority route will be selected, otherwise the uncertain route will be selected. If both can assist in the inspection, we still give priority to the third priority route.

[0200] like Figure 2 As shown: The present invention also proposes a smart firefighting drone Internet of Things inspection method, the method comprising the following steps:

[0201] S1: When an obstacle is detected on the inspection route of the current firefighting drone group, the inspection route of the firefighting drone group is adjusted in a coordinated manner and the inspection route is replanned;

[0202] S2: Obtain the routes that can be adjusted by the firefighting drones that need to be adjusted, and sort the priorities;

[0203] S3: Selecting a candidate flight path with a high priority as the adjustment direction;

[0204] S4: Control the blocked firefighting drone to fly in the adjusted direction.

[0205] Working principle:

[0206] When a firefighting drone swarm is performing an inspection task, if it encounters an obstacle on the current inspection route, the drone swarm can automatically trigger the intelligent route planning system. This system can not only avoid obstacles, but also help ensure the optimization of the inspection path to avoid missing key inspection points. Compared with traditional route planning methods, which may have to take a detour due to obstacle avoidance, the risk of missing important inspection areas increases. In contrast, the intelligent route planning system will comprehensively consider the location of obstacles and the layout of inspection points when replanning the path, and use advanced algorithms to ensure that each inspection task can be fully covered.

[0207] This optimized route planning strategy helps improve the inspection efficiency and quality of the firefighting drone swarm, ensuring that there are no blind spots left for firefighting monitoring due to obstacle avoidance. In this way, the firefighting drone swarm can perform tasks more accurately and provide more reliable on-site data to the fire department, thereby reducing fire hazards and improving the overall safety level.

[0208] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

Claims

1. A smart firefighting drone Internet of Things inspection system, characterized in that: It includes a control management module and a firefighting drone inspection group connected to the control management module, wherein the control management module includes: The environment collection module is used to collect the environmental information of the current inspection route to determine whether the environment is consistent with the pre-collected information; An obstacle detection module, which is used to detect whether there are obstacles on the inspection route of the current firefighting drone group when the environmental information collected by the environmental collection module is inconsistent with the pre-collected environmental information; A multi-objective coordination module, used to verify whether the current obstacle affects the inspection route of the current firefighting drone, and when the obstacle affects the inspection route of at least one firefighting drone in the current firefighting drone inspection group, to coordinately adjust the inspection route of the entire firefighting drone inspection group, so as to re-plan the inspection route of the affected firefighting drone and ensure that the re-planned inspection route will not miss the inspection point; A flight attitude adjustment module, which is used to adjust the flight attitude of the fire-fighting UAV that needs to be adjusted after the multi-target coordination module coordinates the inspection routes of all the fire-fighting UAV inspection groups; Optimize the memory module to record and save the current adjustment parameters after completing the corresponding adjustment of the firefighting drone inspection group; The multi-objective coordination module is used to coordinate and plan the currently affected firefighting drones, specifically: Determine the number of firefighting drones that are affected by the current inspection route of the firefighting drone group; Get the area of ​​the current obstacle; The collision point between the currently affected firefighting drone and the current obstacle is taken as the center of the circle; The time t1, t2, t3, ..., t required to fly around the obstacle with the impact point as the center is obtained. n ; Obtain the current flight speed V and impact distance D of the firefighting drone; According to the formula Get the time when the object hits the obstacle and substitute it into the formula T+Y to get the actual time of impact. Y is the time added to the calculated time. The actual collision time value T+Y of the collision with the obstacle is compared with t1, t2, t3...t n In contrast, the value that is less than the time T+Y for collision with the obstacle is determined as the candidate flight path; Select the candidate flight path that takes the least time as the adjustment direction; Control the blocked firefighting drone to fly in the adjusted direction; The multi-objective coordination module is also used to sort the priority of adjusting the direction of the firefighting drone, specifically: Get the distance between the firefighting drone that needs to be adjusted and its adjacent firefighting drones; Determine whether the flight on the currently adjusted route will interfere with the adjacent firefighting drone inspection route; Determine whether the checkpoint will be missed when flying according to the current candidate flight path; The first priority route is determined when the current candidate flight path does not affect the inspection route of the adjacent firefighting drone and does not miss the inspection point; When the current candidate flight path will affect the inspection route of the adjacent firefighting drone but will not miss the inspection point, it is determined as the second priority route; When the current candidate flight path does not affect the inspection route of the adjacent firefighting drone but will miss the inspection point, it is determined as the third priority route; When the current candidate flight path will affect the inspection route of the adjacent firefighting drone and will miss the inspection point, it is determined as an uncertain route; Among them, the first priority route > the second priority route > the third priority route > the uncertain route; The specific steps of determining whether a checkpoint will be missed when flying according to the current selected flight path are: Get the position P1 of the firefighting drone; Get the location of the inspection point P2; Determine the straight line path from the firefighting drone to the inspection point as P1P2; Get the position Q of the obstacle and represent the boundary of the obstacle as an irregular polygon Q1Q2Q3Q4...Q n ; Determine whether the straight path P1P2 intersects the position Q of the obstacle; If they do not intersect, it is determined that the firefighting drone can fly directly to the inspection point position P2; If they intersect, the sight angle from the firefighting drone to the inspection point is calculated, specifically through the formula Get the viewing angle, where is the height difference between the firefighting UAV and the inspection point P2, and d is the horizontal distance between the firefighting UAV and the inspection point P2; Determine the sight angle Is it greater than the minimum safety angle between the firefighting drone and the obstacle? If yes, the firefighting drone can fly directly to P2 via the alternate flight path; If not, there is a line of sight obstruction, and the inspection point P2 will be missed when flying according to the current candidate flight path. It is recommended to select other candidate flight paths.

2. According to claim 1, a smart firefighting drone Internet of Things inspection system is characterized in that: The specific method of judging whether the currently adjusted route causes interference to the adjacent firefighting drone inspection route is as follows: Pre-set multiple detection points on the selected flight path; Based on the detection point closest to the adjacent firefighting drone on the current candidate flight path; Determine whether the currently selected flight path will interfere with the adjacent firefighting drone inspection route when reaching the nearest inspection point of the adjacent firefighting drone; If there are no intersections, there will be no interference with adjacent firefighting drone inspection routes; If an intersection occurs, it will interfere with the adjacent firefighting drone inspection routes.

3. According to claim 2, a smart firefighting drone Internet of Things inspection system is characterized in that: If an intersection is generated, it will interfere with the adjacent firefighting drone inspection route and also include: Get the priority of adjacent firefighting drones; Determine the priority of the adjacent firefighting UAV and the firefighting UAV mission currently generating the candidate flight path; If the current firefighting drone has a high priority, the adjacent firefighting drones that interfere with its inspection route will be controlled to give way; If the priority of the current firefighting drone is low, the current firefighting drone is controlled to select an alternative plan; If the current firefighting drone has a low priority and there is only one flight path to be selected: According to the current environmental information, the adjacent firefighting drones are adjusted to reduce or increase their flight speed to ensure that there is no collision between the two.

4. According to claim 3, a smart firefighting drone Internet of Things inspection system is characterized in that: The steps of adjusting the adjacent firefighting drones to reduce or increase their flight speeds based on the current environmental information to ensure that the two do not collide are as follows: Get the current location of the firefighting drone ,in, ; Get the location of adjacent firefighting drones ,in ; Get the current firefighting drone's velocity vector ,in, ; Get the velocity vector of the adjacent firefighting drone ,in, ; Get the current wind speed vector ,in, ; Get the current firefighting drone speed relative to the wind ,in, ; Get the relative wind speed of adjacent firefighting drones ,in, ; Based on the above formula , calculated ,in, and ; if If it is a positive number and is less than the preset safety time threshold, the speed of the adjacent firefighting drones is adjusted as follows: If adjacent firefighting drones need to pass through the intersection faster to avoid collision, the formula Get the new speed, where is the amount of speed that needs to be increased; If the adjacent firefighting drones need to slow down to pass through the intersection to avoid collision, the formula Get the new speed, where is the amount of speed that needs to be reduced; if : ;in, is the safety time threshold, It is the speed adjustment calculated based on the safety distance and time.

5. According to claim 1, a smart firefighting drone Internet of Things inspection system is characterized in that: The selected flight paths will not affect the inspection routes of adjacent firefighting drones but will miss inspection points, including: Get the coordinates of the current firefighting drone ( , ), the coordinate position of the adjacent firefighting drone ( , ); Determine the communication distance U between the current firefighting UAV and the adjacent firefighting UAV; Calculated according to the Euclidean distance formula , get the distance between the current firefighting UAV and the adjacent firefighting UAV; if If it is less than U, it is determined that the current firefighting drone is within the communication range of the adjacent firefighting drone. The current information can be shared with the adjacent firefighting drone through the communication system, and the adjacent firefighting drone can be notified to conduct additional inspections. if If it is greater than U, it is determined that the current firefighting UAV is out of communication range with the adjacent firefighting UAVs and cannot share information.

6. According to claim 5, a smart firefighting drone Internet of Things inspection system is characterized in that: The specific steps of determining that the current firefighting drone is within the communication range of the adjacent firefighting drone, sharing the current information with the adjacent firefighting drone through the communication system, and notifying the adjacent firefighting drone to perform a supplementary inspection are as follows: Obtain the obstacle blocking point Z; Calculate the inspection path from the obstacle blocking point Z to the adjacent firefighting drone The distance of the nearest point N , the calculation formula is; According to the formula to conclude; if Less than a preset threshold , the adjacent firefighting drones can be notified to supplement the inspection; if Greater than a preset threshold , it is impossible to notify the adjacent firefighting drones to conduct additional inspections.

7. A smart firefighting drone Internet of Things inspection method, applicable to a smart firefighting drone Internet of Things inspection system according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: S1: When an obstacle is detected on the inspection route of the current firefighting drone group, the inspection route of the firefighting drone group is adjusted in a coordinated manner and the inspection route is replanned; S2: Obtain the routes that can be adjusted by the firefighting drones that need to be adjusted, and sort the priorities; S3: Selecting a candidate flight path with a high priority as the adjustment direction; S4: Control the blocked firefighting drone to fly in the adjusted direction.

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