Park monitoring early warning and fire extinguishing rescue system based on air-ground cooperation

Abstract

The invention discloses a park monitoring early-warning and fire-extinguishing rescue system based on air-ground cooperation, relates to the technical field of park monitoring early-warning and fire-extinguishing rescue, and aims to solve the problems that a park fire cannot be found in time and cannot be controlled. If a fire behavior is found during daily patrol of a monitored area, fire extinguishing is performed according to the same steps, data interaction with a fire fighting truck is performed, and the unmanned aerial vehicle and the fire fighting truck form a cooperative combat mechanism, so that information sharing and quick response are realized, the overall rescue efficiency is improved, a transmission channel is intelligently selected and optimized, and the rescue efficiency is improved. According to the system, abnormal early warning data can be ensured to be transmitted to a fire rescue center within the shortest time, a powerful guarantee is provided for timely discovery and quick response of a fire, and through a real-time monitoring and abnormal early warning mechanism, the system can timely discover and process potential safety hazards in the park and ensure safe and stable operation of the park.

Description

Technical Field

[0001] The present invention relates to the field of park monitoring, early warning, and fire extinguishing and rescue technology, and in particular to a park monitoring, early warning, and fire extinguishing and rescue system based on air-ground collaboration. Background Art

[0002] Park monitoring, early warning, fire fighting and rescue refers to establishing a complete monitoring system in the industrial park to predict and forecast various potential safety risks, and take prompt action to extinguish fires in the event of emergencies such as fires.

[0003] The patent application with publication number CN217085885U discloses a fire protection platform for chemical parks. It mainly remotely connects the information collection module, emergency management terminal, fire protection execution terminal and client terminal through the central system. The information collection module collects the fire protection information and personnel information of the enterprise park in real time. The analysis ability of the computer cluster can timely and effectively issue fire warnings and push relevant information to the emergency management terminal, fire protection execution terminal and client terminal. On the one hand, it can realize the intelligent and autonomous fire fighting of the park, and on the other hand, it can realize the close coordination of various departments, quickly and effectively deal with fire hazards, reduce casualties, and improve the efficiency of fire fighting and search and rescue. Although the above patent solves the problem of fire rescue, there are still the following problems in actual operation: 1. Failure to use more accurate sensors to effectively monitor the park resulted in the inability to understand the fire situation in a timely manner.

[0004] 2. When the monitoring data of the park was transmitted, the fire situation was delayed due to the slow transmission speed.

[0005] 3. There is no complete fire-fighting process after the fire is discovered, and the fire source cannot be accurately found during daily patrols, which leads to the fire expanding and being out of control. Summary of the invention

[0006] The purpose of the present invention is to provide a park monitoring, early warning and fire extinguishing and rescue system based on air-ground collaboration. UAVs can be used in daily patrol work. If a fire is found during daily patrols in the monitoring area, the fire is extinguished according to the same steps, and data is exchanged with the fire truck. The UAV and the fire truck form a collaborative combat mechanism to achieve information sharing and rapid response, improve overall rescue efficiency, intelligently select and optimize transmission channels, and ensure that abnormal warning data is transmitted to the fire rescue center in the shortest time, providing a strong guarantee for the timely discovery and rapid response of fires. Through real-time monitoring and abnormal warning mechanisms, the system can promptly discover and deal with safety hazards in the park, ensure the safe and stable operation of the park, and solve the problems in the prior art.

[0007] To achieve the above object, the present invention provides the following technical solutions: The park monitoring, early warning, fire fighting and rescue system based on air-ground collaboration includes: The park early warning monitoring unit is used to: Different sensors are installed in each monitoring area of ​​the park. Each sensor monitors the monitoring area and marks the monitoring data of each monitoring area as the park monitoring data. The monitoring data judgment unit is used to: The park monitoring data is used to judge fire alarms. When the park monitoring data reaches a preset threshold, it is judged as abnormal warning data; Fire alarm data transmission unit for: Transmit abnormal warning data to the fire rescue center for fire fighting and rescue. When abnormal warning data is transmitted, the transmission channel with the fastest transmission speed is automatically selected; Fire alarm data control rescue unit, used for: The fire alarm and rescue center receives and processes the abnormal warning data. After the abnormal warning data is processed, it is transmitted to the drone control center and the fire truck control center respectively. The drone control center and the fire truck control center conduct on-site patrol and rescue according to the abnormal warning data, and mark the real-time data of on-site patrol and rescue as real-time monitoring data; On-site rescue data feedback unit, used for: The real-time monitoring data is used for rescue analysis, and the completion of fire fighting and rescue is determined based on the rescue analysis results. The analysis results are sent to the display terminal of the fire rescue center in the form of text and images.

[0008] Preferably, the park early warning monitoring unit includes: Monitoring equipment confirmation module, used to: Divide the park into several monitoring areas, and install temperature and humidity sensors, smoke sensors, and flame sensors in each monitoring area; Temperature and humidity sensors, smoke sensors, and flame sensors monitor the monitoring area for real-time data; The temperature and humidity sensor includes a resistive humidity sensing element and an NTC temperature measuring element, and the temperature and humidity sensor is connected to an 8-bit single-chip microcomputer; The smoke sensor detects combustible gases and smoke in the air of the monitoring area, including methane, liquefied petroleum gas, hydrogen and smoke particles; The flame sensor detects flames or light sources with wavelengths in the range of 760 nanometers to 1100 nanometers in the monitoring area. At the same time, the detection angle of the flame sensor is 60 degrees.

[0009] Preferably, the park early warning monitoring unit further includes: Monitoring equipment self-test module, used for: Perform equipment self-test on the temperature and humidity sensors, smoke sensors, and flame sensors; Among them, the self-test of the temperature and humidity sensor includes appearance test, power supply test, function test, calibration verification test and response time test; The smoke sensor's self-test includes appearance test, power supply test, analog test and alarm function test; The flame sensor's self-test includes appearance test, power supply test, function test, alarm function test and response range test; After the temperature and humidity sensors, smoke sensors, and flame sensors have passed the self-test, regional monitoring is carried out, and the monitored data is marked as park monitoring data, where the park monitoring data includes the positioning data of each sensor.

[0010] Preferably, the monitoring data judgment unit is further used for: The park monitoring data is confirmed, and the confirmed park monitoring data is respectively converted into curve data, and the real-time monitoring curve data is obtained after the curve data conversion. The real-time monitoring curve data includes the curve data of the temperature and humidity sensor monitoring data, the curve data of the smoke sensor monitoring data, and the curve data of the flame sensor monitoring data; Retrieve standard sensor monitoring data from the database, and convert the standard sensor monitoring data into curve data to obtain standard monitoring curve data, wherein the standard monitoring curve data includes qualified thresholds of temperature and humidity sensor monitoring data, qualified thresholds of smoke sensor monitoring data, and qualified thresholds of flame sensor monitoring data in the monitoring area; Overlapping and comparing the real-time monitoring curve data with the standard monitoring curve data; After the curves are overlapped and compared, the area without overlap during comparison is obtained, and the area of ​​the area without overlap is confirmed; Determine whether it is abnormal data based on the area value of the area without overlapping areas; If the area value of the non-overlapping area reaches the warning threshold indicator, the real-time monitoring curve data is judged as abnormal warning data.

[0011] Preferably, the fire alarm data transmission unit comprises: The data transmission volume confirmation module is used to: Divide the abnormal warning data into data segments, wherein the data segmentation includes dividing the abnormal warning data into a plurality of data segments with the same length; Confirming the size of each data segment, wherein the size of the data segment is confirmed according to the length of the data segment; Finally, the transmission volume data of abnormal warning data is confirmed based on the number of data segments and the size of each data segment.

[0012] Preferably, the fire alarm data transmission unit further comprises: The transmission channel confirmation module is used to: When transmitting abnormal warning data to the fire rescue center, the transmission channels shall be no less than eight; Acquire the channel remaining capacity and channel signal strength data of each transmission channel; Selecting a first transmission channel according to the transmission volume data of the abnormal warning data, wherein the channel remaining capacity of the first transmission channel is greater than the transmission volume data of the abnormal warning data; When the number of first transmission channels is greater than one, selecting a channel with the strongest signal strength as the second transmission channel; The abnormal warning data is transmitted to the fire rescue center through the first transmission channel or the second transmission channel.

[0013] Preferably, the fire alarm data control and rescue unit comprises: Drone control rescue module for: The fire rescue center transmits abnormal warning data to the drone control center; The drone control center obtains the sensor positioning data in the abnormal warning data; The drone automatically plans its path based on the sensor positioning data, and then flies automatically after the path planning is completed; Among them, the drone will first perform a self-check before automatic flight. After the self-check is completed and qualified, it will fly automatically and record the flight position in real time; After the drone flies to the designated abnormal monitoring area, it will make a fire judgment. The fire judgment is based on the forward-looking camera, the downward-looking camera, the optical flow sensor, the laser ranging sensor and the air pressure sensor installed on the drone to monitor and judge the abnormal monitoring area. If a fire is detected in an abnormal monitoring area during fire judgment, the monitoring data of the forward camera, the downward camera, the optical flow sensor, the laser ranging sensor and the air pressure sensor are first stored to obtain the drone monitoring data; The drone will give a light alarm prompt. At the same time, the overhead camera at the bottom of the drone will be aimed at the fire source. After aiming, the drone's flight altitude will be lowered and a fire extinguishing bag will be dropped. After the fire extinguishing bag is dropped, the drone will resume its flight altitude.

[0014] Preferably, the fire alarm data control and rescue unit further comprises: Fire truck control rescue module for: The fire rescue center transmits abnormal warning data to the fire truck control center; The fire truck shall conduct self-inspection before driving, and drive only after the self-inspection is completed and qualified; The fire truck plans the driving route according to the real-time flight position of the drone during automatic flight, and the planned driving route is displayed on the display screen inside the fire truck for navigation; The fire truck searches for the fire source based on the drone monitoring data of the drone, wherein the fire truck searches for the fire source through the on-board visual search sensor; After the search is completed, firefighting work will be carried out, and the fire truck will return after the firefighting is completed; Rescue data integration module for: Integrate the fire extinguishing data monitored by the drone through the forward-facing camera and the downward-looking camera with the fire extinguishing data monitored by the fire truck; Real-time monitoring data is obtained after data integration.

[0015] Preferably, the on-site rescue data feedback unit is further used for: Transmit real-time monitoring data to the fire rescue center for fire situation determination; Determine whether there is a risk of the fire reigniting based on the determination result; Among them, when the risk of fire reigniting reaches the preset threshold, the fire command is resent to the drone control center and the fire truck control center.

[0016] Finally, the fire situation determination results are sent to the display terminal of the fire rescue center in the form of images and text for display.

[0017] Preferably, the fire alarm data transmission unit comprises: A construction module is used to determine the transmission line channel parameters and construct a transfer function of the channel frequency with respect to the fading characteristics and the noise characteristics before transmitting the abnormal warning data to the fire rescue center based on the wired channel mode; ; in, is the transfer function of the channel frequency with respect to the fading characteristics and noise characteristics; is the number of channels, N=4; is the trade-off factor between the ith channel and the transmission line channel topology, and its value is (0,1); is the first attenuation coefficient, and its value range is (0.5,1); is the second attenuation coefficient, and its value range is (0.3, 0.5); is the third attenuation coefficient, and its value range is (0.2, 0.3); is the channel frequency; is the length of the transmission line corresponding to the i-th channel; is an imaginary unit; is the medium constant of the transmission line; is the speed of light; A detection module is used for the channel frequency of each channel, and calculates the average channel frequency, and determines the channel attenuation information based on the transfer function; The partitioning module is used to partition the abnormal warning data and determine the priority of each sub-data; The matching module is used to match data according to the channel attenuation information and the priority of each sub-data, determine each corresponding channel and transmission time as a transmission plan; and transmit the abnormal warning data to the fire rescue center based on the transmission plan.

[0018] Preferably, after the drone flies to the designated abnormal monitoring area, fire situation judgment is performed, including: Acquire regional images of abnormal monitoring areas based on the forward-facing camera and the downward-looking camera; Scanning the abnormal monitoring area based on the laser ranging sensor to obtain three-dimensional point cloud data, and performing feature extraction to obtain a first three-dimensional Gabor feature; the three-dimensional point cloud data includes the shape, size and position of the object in the abnormal monitoring area; The regional image is subjected to a depth estimation method and a second three-dimensional Gabor feature is extracted based on a Gabor filter; Comparing the first three-dimensional Gabor feature and the second three-dimensional Gabor feature based on the Euclidean distance to determine the corresponding relationship between the two; The fusion process is performed according to the corresponding relationship and the splicing method of the feature vector to obtain a scene display map; Determine the current combustion information based on the scene display diagram; The scene display image is divided into a plurality of sub-images, the plurality of sub-images are recognized, and the material properties of the objects included in each sub-image are determined; The current combustion information and the material properties of the objects included in each sub-image are input into a pre-trained fire prediction model, the fire prediction information is determined and displayed, and the fire situation is judged based on the displayed results.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts a park monitoring, early warning and fire-fighting and rescue system based on air-ground collaboration. Through real-time monitoring and abnormal early warning mechanisms, the system can timely discover and deal with safety hazards in the park to ensure the safe and stable operation of the park. Through the conversion and comparison analysis of real-time monitoring curve data, the intelligent management and abnormal early warning functions of the park are realized, providing a strong guarantee for the safe and stable operation of the park.

[0020] 2. The present invention uses a park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration to intelligently select and optimize transmission channels, which can ensure that abnormal warning data is transmitted to the fire rescue center in the shortest time, providing a strong guarantee for the timely discovery and rapid response of fires. First, channels with a remaining capacity greater than the abnormal warning data transmission volume are selected as candidates to ensure smooth data transmission. When there are multiple channels that meet the conditions, the channel with the strongest signal strength is further selected as the priority transmission channel, thereby improving the efficiency and stability of data transmission.

[0021] 3. The present invention uses a park monitoring, early warning and fire-fighting and rescue system based on air-ground collaboration. UAVs can be used in daily patrol work. If a fire is found during daily patrols in the monitoring area, the fire is extinguished according to the same steps and data is exchanged with fire trucks. The UAVs and fire trucks form a collaborative combat mechanism to achieve information sharing and rapid response, thereby improving overall rescue efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a park monitoring, early warning and fire extinguishing unit of the present invention; Figure 2 This is a schematic diagram of the park monitoring, early warning and fire extinguishing process of the present invention; Figure 3 This is a schematic diagram of the UAV control rescue process of the present invention; Figure 4 It is a schematic diagram of the fire truck control and rescue process of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In order to solve the problem that the existing technology does not use more accurate sensors to effectively monitor the park, resulting in the inability to understand the fire situation in a timely manner, please refer to Figure 1-Figure 4 , this embodiment provides the following technical solutions: The park monitoring, early warning, fire fighting and rescue system based on air-ground collaboration includes: The park early warning monitoring unit is used to: Different sensors are installed in each monitoring area of ​​the park. Each sensor monitors the monitoring area and marks the monitoring data of each monitoring area as the park monitoring data. The monitoring data judgment unit is used to: The park monitoring data is used to judge fire alarms. When the park monitoring data reaches a preset threshold, it is judged as abnormal warning data; Fire alarm data transmission unit for: Transmit abnormal warning data to the fire rescue center for fire fighting and rescue. When abnormal warning data is transmitted, the transmission channel with the fastest transmission speed is automatically selected; Fire alarm data control rescue unit, used for: The fire alarm and rescue center receives and processes the abnormal warning data. After the abnormal warning data is processed, it is transmitted to the drone control center and the fire truck control center respectively. The drone control center and the fire truck control center conduct on-site patrol and rescue according to the abnormal warning data, and mark the real-time data of on-site patrol and rescue as real-time monitoring data; On-site rescue data feedback unit, used for: The real-time monitoring data is used for rescue analysis, and the completion of fire fighting and rescue is determined based on the rescue analysis results. The analysis results are sent to the display terminal of the fire rescue center in the form of text and images.

[0025] Specifically, by installing different types of sensors in the park early warning monitoring unit, comprehensive monitoring of the park environment is achieved. By comparing the real-time monitoring data with the standard monitoring data through the monitoring data judgment unit, it is possible to accurately judge whether the environmental conditions in the park meet the safety standards. The fire alarm data transmission unit intelligently selects and optimizes the transmission channel to ensure that the abnormal warning data is transmitted to the fire rescue center in the shortest time. The fire alarm data control rescue unit can search for the source of the fire from both air and ground angles to improve the accuracy and efficiency of the search. The on-site rescue data feedback unit performs intelligent analysis of the received data to quickly determine whether there is a fire, thereby improving the accuracy and efficiency of fire judgment. It can not only determine the current fire situation, but also predict the risk of re-ignition of the fire based on factors such as the development of the fire and changes in wind direction.

[0026] The park early warning monitoring unit includes: Monitoring equipment confirmation module, used to: Divide the park into several monitoring areas, and install temperature and humidity sensors, smoke sensors, and flame sensors in each monitoring area; Temperature and humidity sensors, smoke sensors, and flame sensors monitor the monitoring area for real-time data; The temperature and humidity sensor includes a resistive humidity sensing element and an NTC temperature measuring element, and the temperature and humidity sensor is connected to an 8-bit single-chip microcomputer; The smoke sensor detects combustible gases and smoke in the air of the monitoring area, including methane, liquefied petroleum gas, hydrogen and smoke particles; The flame sensor detects flames or light sources with wavelengths in the range of 760 nanometers to 1100 nanometers in the monitoring area. At the same time, the detection angle of the flame sensor is 60 degrees.

[0027] Monitoring equipment self-test module, used for: Perform equipment self-test on the temperature and humidity sensors, smoke sensors, and flame sensors; Among them, the self-test of the temperature and humidity sensor includes appearance test, power supply test, function test, calibration verification test and response time test; The smoke sensor's self-test includes appearance test, power supply test, analog test and alarm function test; The flame sensor's self-test includes appearance test, power supply test, function test, alarm function test and response range test; After the temperature and humidity sensors, smoke sensors, and flame sensors have passed the self-test, regional monitoring is carried out, and the monitored data is marked as park monitoring data, where the park monitoring data includes the positioning data of each sensor.

[0028] Specifically, the temperature and humidity sensors, smoke sensors and flame sensors in the monitoring equipment confirmation module can monitor the temperature and humidity, combustible gas concentration, smoke and flame conditions of the monitoring area in real time. Once an abnormality is found, an early warning will be issued immediately, which greatly shortens the time difference from the occurrence of the fire to its discovery, and improves the timeliness of fire prevention and control. By installing different types of sensors, comprehensive monitoring of the park environment is achieved. The temperature and humidity sensors focus on the basic physical state of the environment, the smoke sensors can detect potential fire hazards, and the flame sensors directly monitor the existence of fire sources. The three complement each other and form a multiple protection network. Through real-time monitoring and early warning, the occurrence and spread of fire accidents can be effectively reduced, thereby reducing property losses and casualties caused by fire. In the long run, this solution has high cost-effectiveness. The comprehensive self-inspection of the sensors by the monitoring equipment self-inspection module ensures the accuracy and reliability of the monitoring data. Through the air-ground coordinated fire fighting and rescue system, different types of fire situations can be more efficiently responded to.

[0029] The monitoring data judgment unit is also used for: The park monitoring data is confirmed, and the confirmed park monitoring data is respectively converted into curve data, and the real-time monitoring curve data is obtained after the curve data conversion. The real-time monitoring curve data includes the curve data of the temperature and humidity sensor monitoring data, the curve data of the smoke sensor monitoring data, and the curve data of the flame sensor monitoring data; Retrieve standard sensor monitoring data from the database, and convert the standard sensor monitoring data into curve data to obtain standard monitoring curve data, wherein the standard monitoring curve data includes qualified thresholds of temperature and humidity sensor monitoring data, qualified thresholds of smoke sensor monitoring data, and qualified thresholds of flame sensor monitoring data in the monitoring area; Overlapping and comparing the real-time monitoring curve data with the standard monitoring curve data; After the curves are overlapped and compared, the area without overlap during comparison is obtained, and the area of ​​the area without overlap is confirmed; Determine whether it is abnormal data based on the area value of the area without overlapping areas; If the area value of the non-overlapping area reaches the warning threshold indicator, the real-time monitoring curve data is judged as abnormal warning data.

[0030] Specifically, through the generation of real-time monitoring curve data, the system can instantly reflect the changes in key indicators such as temperature, humidity, smoke and flames in the park, ensuring that any abnormalities can be quickly captured. The curve data conversion makes the data presentation more intuitive and convenient for subsequent analysis and processing. By comparing the real-time monitoring data with the standard monitoring data, it is possible to accurately determine whether the environmental conditions in the park meet the safety standards. By comparing the real-time monitoring curve with the standard monitoring curve, it is possible to automatically identify areas without overlap and calculate their areas. When the area value reaches the warning threshold, the system will automatically determine it as abnormal warning data and issue an alarm. This automatic warning mechanism can greatly improve the efficiency and accuracy of the park's safety management. Through real-time monitoring and abnormal warning mechanisms, the system can promptly discover and deal with safety hazards in the park to ensure the safe and stable operation of the park. Through the conversion and comparison analysis of real-time monitoring curve data, the intelligent management and abnormal warning functions of the park are realized, providing a strong guarantee for the safe and stable operation of the park.

[0031] In order to solve the problem in the prior art that the fire situation is delayed due to the slow transmission speed when the monitoring data of the park is transmitted, please refer to Figure 1-Figure 4 , this embodiment provides the following technical solutions: Fire alarm data transmission unit, including: The data transmission volume confirmation module is used to: Divide the abnormal warning data into data segments, wherein the data segmentation includes dividing the abnormal warning data into a plurality of data segments with the same length; Confirming the size of each data segment, wherein the size of the data segment is confirmed according to the length of the data segment; Finally, the transmission volume data of abnormal warning data is confirmed based on the number of data segments and the size of each data segment.

[0032] The transmission channel confirmation module is used to: When transmitting abnormal warning data to the fire rescue center, the transmission channels shall be no less than eight; Acquire the channel remaining capacity and channel signal strength data of each transmission channel; Selecting a first transmission channel according to the transmission volume data of the abnormal warning data, wherein the channel remaining capacity of the first transmission channel is greater than the transmission volume data of the abnormal warning data; When the number of first transmission channels is greater than one, selecting a channel with the strongest signal strength as the second transmission channel; The abnormal warning data is transmitted to the fire rescue center through the first transmission channel or the second transmission channel.

[0033] Specifically, by dividing the abnormal warning data into data segments of the same length through the fire alarm data transmission unit, redundancy and unnecessary overhead in the data transmission process can be effectively reduced. By reasonably setting the length of the data segment, it can be ensured that each data segment contains enough information, and at the same time, there will be no transmission delay or packet loss due to the excessive length of the data. The data segment division makes data processing more flexible and efficient. The system can process multiple data segments in parallel, or analyze and judge immediately after receiving part of the data, thereby speeding up the response to abnormal situations. This is particularly important for fire fighting and rescue in emergency situations. During the data transmission process, adverse factors such as network fluctuations and signal interference may be encountered. By dividing the data into multiple data segments for transmission, even if a data segment has problems during the transmission process, it will not affect the normal transmission of other data segments. At the same time, the system can also retransmit or repair the data segment as needed to ensure the integrity and accuracy of the data. Through the intelligent selection and optimization of the transmission channel by the transmission channel confirmation module, it can ensure that the abnormal warning data is transmitted to the fire rescue center in the shortest time, providing a strong guarantee for the timely discovery and rapid response of the fire. This efficient data transmission mechanism helps to shorten the response time of fires and reduce the losses caused by fires. There are no less than eight transmission channels, and this multi-channel design greatly improves the reliability of data transmission. Even when one or some channels fail or are congested, other channels can still ensure normal data transmission, reducing the risk of data loss or delay caused by a single channel failure. The transmission channel is intelligently selected based on the remaining capacity and signal strength of the channel. First, the channel with a remaining capacity greater than the abnormal warning data transmission volume is selected as a candidate to ensure smooth data transmission. When there are multiple channels that meet the conditions, the channel with the strongest signal strength is further selected as the priority transmission channel, thereby improving the efficiency and stability of data transmission.

[0034] In order to solve the problem in the existing technology that there is no perfect fire extinguishing process after the fire is discovered, and the fire source cannot be accurately found during daily patrols, which leads to the expansion of the fire and the inability to control it, please refer to Figure 1-Figure 4 , this embodiment provides the following technical solutions: Fire alarm data control and rescue unit, including: Drone control rescue module for: The fire rescue center transmits abnormal warning data to the drone control center; The drone control center obtains the sensor positioning data in the abnormal warning data; The drone automatically plans its path based on the sensor positioning data, and then flies automatically after the path planning is completed; Among them, the drone will first perform a self-check before automatic flight. After the self-check is completed and qualified, it will fly automatically and record the flight position in real time; After the drone flies to the designated abnormal monitoring area, it will make a fire judgment. The fire judgment is based on the forward-looking camera, the downward-looking camera, the optical flow sensor, the laser ranging sensor and the air pressure sensor installed on the drone to monitor and judge the abnormal monitoring area. If a fire is detected in an abnormal monitoring area during fire judgment, the monitoring data of the forward camera, the downward camera, the optical flow sensor, the laser ranging sensor and the air pressure sensor are first stored to obtain the drone monitoring data; The drone will give a light alarm prompt. At the same time, the overhead camera at the bottom of the drone will be aimed at the fire source. After aiming, the drone's flight altitude will be lowered and a fire extinguishing bag will be dropped. After the fire extinguishing bag is dropped, the drone will resume its flight altitude.

[0035] Fire truck control rescue module for: The fire rescue center transmits abnormal warning data to the fire truck control center; The fire truck shall conduct self-inspection before driving, and drive only after the self-inspection is completed and qualified; The fire truck plans the driving route according to the real-time flight position of the drone during automatic flight, and the planned driving route is displayed on the display screen inside the fire truck for navigation; The fire truck searches for the fire source based on the drone monitoring data of the drone, wherein the fire truck searches for the fire source through the on-board visual search sensor; After the search is completed, firefighting work will be carried out, and the fire truck will return after the firefighting is completed; Rescue data integration module for: Integrate the fire extinguishing data monitored by the drone through the forward-facing camera and the downward-looking camera with the fire extinguishing data monitored by the fire truck; Real-time monitoring data is obtained after data integration.

[0036] Specifically, through the drone control rescue module, the fire rescue center can quickly transmit abnormal warning data to the drone control center to ensure the timeliness of the information. Through the air-ground coordination mechanism, the drone can respond quickly and shorten the response time from warning to actual action. The drone automatically plans the path based on the positioning data to ensure the optimality and safety of the flight path, while improving the rescue efficiency. The man-machine records the flight position in real time to provide accurate information for monitoring and fire truck dispatch to ensure flight safety. The drone is equipped with a forward-looking camera, a top-down camera, an optical flow sensor, a laser ranging sensor, and an air pressure sensor to achieve comprehensive monitoring of the abnormal monitoring area. Through the fusion analysis of multi-sensor data, the drone can accurately judge the fire situation and improve the accuracy and reliability of monitoring. After identifying the fire, the drone will alert the on-site personnel through a light alarm to enhance safety awareness. The bottom of the drone can also detect the fire. The visual camera is aimed at the fire source, the flight altitude is lowered and the fire extinguishing bag is dropped to achieve precise fire extinguishing and improve the fire extinguishing efficiency. The fire truck control and rescue module can quickly transmit the information from the fire alarm and rescue center to the fire truck control center, reducing the time of information transmission and improving the rescue response speed. The real-time flight position of the drone is used for driving route planning to ensure that the fire truck chooses the optimal route, reduces driving time and distance, and quickly reaches the fire scene. The drone monitoring data is combined with the visual search sensor on the fire truck to search for the fire source from both air and ground angles, improving the accuracy and efficiency of the search. In addition, drones can be used in daily patrol work. If a fire is found during daily patrols in the monitoring area, the fire is extinguished according to the same steps, and data is exchanged with the fire truck. The drone and the fire truck form a collaborative combat mechanism to achieve information sharing and rapid response, thereby improving overall rescue efficiency.

[0037] On-site rescue data feedback unit is also used for: Transmit real-time monitoring data to the fire rescue center for fire situation determination; Determine whether there is a risk of the fire reigniting based on the determination result; Among them, when the risk of fire reigniting reaches the preset threshold, the fire command is resent to the drone control center and the fire truck control center.

[0038] Finally, the fire situation determination results are sent to the display terminal of the fire rescue center in the form of images and text for display.

[0039] Specifically, the fire rescue center conducts intelligent analysis of the received data to quickly determine whether there is a fire, which improves the accuracy and efficiency of fire determination. It can not only determine the current fire situation, but also predict the risk of fire re-ignition based on factors such as the development of the fire and changes in wind direction, providing a scientific basis for formulating fire-fighting strategies. UAVs and ground fire trucks and other rescue forces form a coordinated combat system. UAVs can conduct wide-area patrols at high altitudes to promptly discover and locate fire sources; ground fire trucks can quickly arrive at the scene to carry out fire-fighting operations based on the information provided by the drones.

[0040] Preferably, the fire alarm data transmission unit comprises: A construction module is used to determine the transmission line channel parameters and construct a transfer function of the channel frequency with respect to the fading characteristics and the noise characteristics before transmitting the abnormal warning data to the fire rescue center based on the wired channel mode; ; in, is the transfer function of the channel frequency with respect to the fading characteristics and noise characteristics; is the number of channels, N=4; is the trade-off factor between the ith channel and the transmission line channel topology, and its value is (0,1); is the first attenuation coefficient, and its value range is (0.5,1); is the second attenuation coefficient, and its value range is (0.3, 0.5); is the third attenuation coefficient, and its value range is (0.2, 0.3); is the channel frequency; is the length of the transmission line corresponding to the i-th channel; is an imaginary unit; is the medium constant of the transmission line; is the speed of light; A detection module is used for the channel frequency of each channel, and calculates the average channel frequency, and determines the channel attenuation information based on the transfer function; The partitioning module is used to partition the abnormal warning data and determine the priority of each sub-data; The matching module is used to match data according to the channel attenuation information and the priority of each sub-data, determine each corresponding channel and transmission time as a transmission plan; and transmit the abnormal warning data to the fire rescue center based on the transmission plan.

[0041] The working principle of the above technical solution: The wired channel method transmits signals through physical media (such as cables, optical cables, etc.). This transmission method enables the signal to maintain high stability and reliability, while also having fast transmission speed and strong anti-interference ability. When data is transmitted through the wired channel method, it will be affected by signal fading and noise.

[0042] First, a transfer function of the channel frequency with respect to the fading characteristics and the noise characteristics is constructed based on the construction module, and the channel frequency of each channel is detected through the detection module, and the average channel frequency is calculated. The channel attenuation information is determined based on the transfer function.

[0043] The division module divides the abnormal warning data into multiple sub-data according to factors such as data type, source and importance. Combined with the needs of the fire rescue center and the current system status, a priority is assigned to each sub-data. The priority is usually determined based on factors such as the urgency, importance and impact of the data. The division module will store the divided sub-data and the corresponding priority, and add corresponding tags to each sub-data for subsequent processing and transmission.

[0044] According to the priority of each sub-data and the performance of the channel, the matching module will perform intelligent matching and select the best channel and transmission time for each sub-data. This ensures that the data can be efficiently transmitted in order of priority. Based on the matching results, the matching module will formulate a detailed transmission plan, including parameters such as the transmission channel, transmission time and transmission speed of each sub-data. According to the transmission plan, the matching module will transmit the abnormal warning data through the selected channel and time until the data successfully reaches the fire rescue center. This ensures that the data can be transmitted through the optimal channel at the best time, thereby improving the efficiency and accuracy of data transmission.

[0045] The beneficial effects of the above technical solution are: accurately determining the channel attenuation information based on the transfer function, dividing the abnormal warning data based on the division module, and determining the priority of each sub-data; matching the data according to the channel attenuation information and the priority of each sub-data, ensuring that the data can be transmitted through the optimal channel at the best time, thereby improving the efficiency and accuracy of data transmission.

[0046] Preferably, after the drone flies to the designated abnormal monitoring area, fire situation judgment is performed, including: Acquire regional images of abnormal monitoring areas based on the forward-facing camera and the downward-looking camera; Scanning the abnormal monitoring area based on the laser ranging sensor to obtain three-dimensional point cloud data, and performing feature extraction to obtain a first three-dimensional Gabor feature; the three-dimensional point cloud data includes the shape, size and position of the object in the abnormal monitoring area; The second three-dimensional Gabor feature is extracted based on the Gabor filter by using the depth estimation method for the regional image; Comparing the first three-dimensional Gabor feature and the second three-dimensional Gabor feature based on the Euclidean distance to determine the corresponding relationship between the two; The fusion process is performed according to the corresponding relationship and the splicing method of the feature vector to obtain a scene display map; Determine the current combustion information based on the scene display diagram; The scene display image is divided into a plurality of sub-images, the plurality of sub-images are recognized, and the material properties of the objects included in each sub-image are determined; The current combustion information and the material properties of the objects included in each sub-image are input into a pre-trained fire prediction model, the fire prediction information is determined and displayed, and the fire situation is judged based on the displayed results.

[0047] Working principle of the above technical solution: In this embodiment, the forward camera and the downward camera are used to obtain the regional image of the abnormal monitoring area, and the regional image provides two-dimensional visual information of the monitoring area. The laser ranging sensor scans the abnormal monitoring area to obtain three-dimensional point cloud data, which contains three-dimensional information such as the shape, size and position of the objects in the monitoring area. The first three-dimensional Gabor feature is extracted from the three-dimensional point cloud data as the first texture feature, which can capture the local structure and frequency information in the image.

[0048] In this embodiment, depth estimation is performed on the regional image to obtain depth information of the object in the image, and based on the depth estimation result, a Gabor filter is used to extract second three-dimensional Gabor features. These features reflect the texture and shape information of the object in the image and combine the depth information.

[0049] In this embodiment, the correspondence between the first three-dimensional Gabor feature and the second three-dimensional Gabor feature is determined by comparing the Euclidean distance between them. According to the calculated Euclidean distance, a threshold can be set to determine whether the two features match or are similar. If the Euclidean distance between the two features is less than the threshold, they are considered to be matched or corresponding. The selection of this threshold is related to the matching accuracy. This helps to integrate information from different sensors.

[0050] In this embodiment, the corresponding content (vector) between the first three-dimensional Gabor feature and the second three-dimensional Gabor feature is determined according to the corresponding relationship, and the dimension and property of the feature vector are determined. If the feature vectors have the same dimension and can be directly added, a simple addition operation can be used for splicing. If they have different dimensions or properties, they are processed by feature dimension reduction, feature selection or feature fusion algorithm, and the feature fusion algorithm includes principal component analysis and deep learning algorithm. The scene display diagram represents the comprehensive monitoring information of the acquired abnormal monitoring area, and the current combustion information is determined based on the scene display diagram; the scene display diagram is divided into several sub-images, and several sub-images are identified to determine the material properties of the objects included in each sub-image; the current combustion information and the material properties of the objects included in each sub-image are input into the pre-trained fire prediction model, the fire prediction information is determined and displayed, and the fire situation is judged according to the display results.

[0051] The beneficial effects of the above technical solution are as follows: based on the feature fusion processing of the regional image and the three-dimensional point cloud data, a scene display diagram is obtained, which facilitates the accurate determination of the current combustion information. At the same time, the scene display diagram is analyzed to determine the material properties of the objects included in each sub-image, and the current combustion information and the material properties of the objects included in each sub-image are input into the pre-trained fire prediction model, the fire prediction information is determined and displayed, and the fire situation is judged according to the display results, thereby improving the accuracy of the fire situation judgment.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration is characterized by: include: The park early warning monitoring unit is used to: Different sensors are installed in each monitoring area of ​​the park. Each sensor monitors the monitoring area and marks the monitoring data of each monitoring area as the park monitoring data. The monitoring data judgment unit is used to: The park monitoring data is used to judge fire alarms. When the park monitoring data reaches a preset threshold, it is judged as abnormal warning data; Fire alarm data transmission unit for: Transmit abnormal warning data to the fire rescue center for fire fighting and rescue. When abnormal warning data is transmitted, the transmission channel with the fastest transmission speed is automatically selected; Fire alarm data control rescue unit, used for: The fire alarm and rescue center receives and processes the abnormal warning data. After the abnormal warning data is processed, it is transmitted to the drone control center and the fire truck control center respectively. The drone control center and the fire truck control center conduct on-site patrol and rescue according to the abnormal warning data, and mark the real-time data of on-site patrol and rescue as real-time monitoring data; On-site rescue data feedback unit, used for: Conduct rescue analysis on real-time monitoring data, determine whether fire fighting and rescue are completed based on the rescue analysis results, and send the analysis results in the form of text and images to the display terminal of the fire rescue center; The fire alarm data control and rescue unit comprises: Drone control rescue module for: The fire rescue center transmits abnormal warning data to the drone control center; The drone control center obtains the sensor positioning data in the abnormal warning data; The drone automatically plans its path based on the sensor positioning data, and then flies automatically after the path planning is completed; Among them, the drone will first perform a self-check before automatic flight. After the self-check is completed and qualified, it will fly automatically and record the flight position in real time; After the drone flies to the designated abnormal monitoring area, it will make a fire judgment. The fire judgment is based on the forward-looking camera, the downward-looking camera, the optical flow sensor, the laser ranging sensor and the air pressure sensor installed on the drone to monitor and judge the abnormal monitoring area. If a fire is detected in an abnormal monitoring area during fire judgment, the monitoring data of the forward camera, the downward camera, the optical flow sensor, the laser ranging sensor and the air pressure sensor are first stored to obtain the drone monitoring data; The drone will give a light alarm and the drone will aim the downward camera at the fire source. After aiming, the drone will lower its flight altitude and drop a fire extinguishing bag. After the fire extinguishing bag is dropped, the drone will resume its flight altitude. Fire truck control rescue module for: The fire rescue center transmits abnormal warning data to the fire truck control center; The fire truck shall conduct self-inspection before driving, and drive only after the self-inspection is completed and qualified; The fire truck plans the driving route according to the real-time flight position of the drone during automatic flight, and the planned driving route is displayed on the display screen inside the fire truck for navigation; The fire truck searches for the fire source based on the drone monitoring data of the drone, wherein the fire truck searches for the fire source through the on-board visual search sensor; After the search is completed, firefighting work will be carried out, and the fire truck will return after the firefighting is completed; Rescue data integration module for: Integrate the fire extinguishing data monitored by the drone through the forward-facing camera and the downward-looking camera with the fire extinguishing data monitored by the fire truck; Real-time monitoring data is obtained after data integration.

2. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 1 is characterized by: The park early warning monitoring unit includes: Monitoring equipment confirmation module, used to: Divide the park into several monitoring areas, and install temperature and humidity sensors, smoke sensors, and flame sensors in each monitoring area; Temperature and humidity sensors, smoke sensors and flame sensors will monitor the monitoring area for real-time data; The temperature and humidity sensor includes a resistive humidity sensing element and an NTC temperature measuring element, and the temperature and humidity sensor is connected to an 8-bit single-chip microcomputer; The smoke sensor detects combustible gases and smoke in the air of the monitoring area, including methane, liquefied petroleum gas, hydrogen and smoke particles; The flame sensor detects flames or light sources with wavelengths in the range of 760 nanometers to 1100 nanometers in the monitoring area. At the same time, the detection angle of the flame sensor is 60 degrees.

3. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 2 is characterized by: The park early warning monitoring unit also includes: Monitoring equipment self-test module, used for: Perform equipment self-test on the temperature and humidity sensors, smoke sensors, and flame sensors; Among them, the self-test of the temperature and humidity sensor includes appearance test, power supply test, function test, calibration verification test and response time test; The smoke sensor's self-test includes appearance test, power supply test, analog test and alarm function test; The flame sensor's self-test includes appearance test, power supply test, function test, alarm function test and response range test; After the temperature and humidity sensors, smoke sensors, and flame sensors have passed the self-test, regional monitoring is carried out, and the monitored data is marked as park monitoring data, where the park monitoring data includes the positioning data of each sensor.

4. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 3 is characterized by: The monitoring data judgment unit is also used for: The park monitoring data is confirmed, and the confirmed park monitoring data is respectively converted into curve data, and the real-time monitoring curve data is obtained after the curve data conversion. The real-time monitoring curve data includes the curve data of the temperature and humidity sensor monitoring data, the curve data of the smoke sensor monitoring data, and the curve data of the flame sensor monitoring data; Retrieve standard sensor monitoring data from the database, and convert the standard sensor monitoring data into curve data to obtain standard monitoring curve data, wherein the standard monitoring curve data includes qualified thresholds of temperature and humidity sensor monitoring data, qualified thresholds of smoke sensor monitoring data, and qualified thresholds of flame sensor monitoring data in the monitoring area; Overlapping and comparing the real-time monitoring curve data with the standard monitoring curve data; After the curves are overlapped and compared, the area without overlap during comparison is obtained, and the area of ​​the area without overlap is confirmed; Determine whether it is abnormal data based on the area value of the area without overlapping areas; If the area value of the non-overlapping area reaches the warning threshold index, the real-time monitoring curve data is judged as abnormal warning data.

5. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 4 is characterized by: The fire alarm data transmission unit comprises: The data transmission volume confirmation module is used to: Divide the abnormal warning data into data segments, wherein the data segmentation includes dividing the abnormal warning data into a plurality of data segments with the same length; Confirming the size of each data segment, wherein the size of the data segment is confirmed according to the length of the data segment; Finally, the transmission volume data of abnormal warning data is confirmed based on the number of data segments and the size of each data segment.

6. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 5 is characterized by: The fire alarm data transmission unit further comprises: The transmission channel confirmation module is used to: When transmitting abnormal warning data to the fire rescue center, the transmission channels shall be no less than eight; Acquire the channel remaining capacity and channel signal strength data of each transmission channel; Selecting a first transmission channel according to the transmission volume data of the abnormal warning data, wherein the channel remaining capacity of the first transmission channel is greater than the transmission volume data of the abnormal warning data; When the number of first transmission channels is greater than one, selecting a channel with the strongest signal strength as the second transmission channel; The abnormal warning data is transmitted to the fire rescue center through the first transmission channel or the second transmission channel.

7. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 6 is characterized by: The on-site rescue data feedback unit is also used for: Transmit real-time monitoring data to the fire rescue center for fire situation determination; Determine whether there is a risk of the fire reigniting based on the determination result; Among them, when the risk of fire reigniting reaches the preset threshold, the fire command is resent to the drone control center and the fire truck control center; Finally, the fire situation determination results are sent to the display terminal of the fire rescue center in the form of images and text for display.

8. The park monitoring, early warning, and fire fighting and rescue system based on air-ground collaboration according to claim 7 is characterized by: The fire alarm data transmission unit comprises: A construction module is used to determine the transmission line channel parameters and construct a transfer function of the channel frequency with respect to the fading characteristics and the noise characteristics before transmitting the abnormal warning data to the fire rescue center based on the wired channel mode; ； in, is the transfer function of the channel frequency with respect to the fading characteristics and noise characteristics; is the number of channels, N=4; is the trade-off factor between the ith channel and the transmission line channel topology, and its value is (0,1); is the first attenuation coefficient, and its value range is (0.5,1); is the second attenuation coefficient, and its value range is (0.3, 0.5); is the third attenuation coefficient, and its value range is (0.2, 0.3); is the channel frequency; is the length of the transmission line corresponding to the i-th channel; is an imaginary unit; is the medium constant of the transmission line; is the speed of light; A detection module is used for the channel frequency of each channel, and calculates the average channel frequency, and determines the channel attenuation information based on the transfer function; The partitioning module is used to partition the abnormal warning data and determine the priority of each sub-data; The matching module is used to match data according to the channel attenuation information and the priority of each sub-data, determine each corresponding channel and transmission time as a transmission plan; and transmit the abnormal warning data to the fire rescue center based on the transmission plan.

9. The park monitoring, early warning and fire fighting and rescue system based on air-ground collaboration according to claim 8 is characterized by: After the drone flies to the designated abnormal monitoring area, it will make a fire assessment, including: Acquire regional images of abnormal monitoring areas based on the forward-facing camera and the downward-looking camera; Scanning the abnormal monitoring area based on the laser ranging sensor to obtain three-dimensional point cloud data, and performing feature extraction to obtain a first three-dimensional Gabor feature; the three-dimensional point cloud data includes the shape, size and position of the object in the abnormal monitoring area; The second three-dimensional Gabor feature is extracted based on the Gabor filter by using the depth estimation method for the regional image; Comparing the first three-dimensional Gabor feature and the second three-dimensional Gabor feature based on the Euclidean distance to determine the corresponding relationship between the two; The fusion process is performed according to the corresponding relationship and the splicing method of the feature vector to obtain a scene display map; Determine the current combustion information based on the scene display diagram; The scene display image is divided into a plurality of sub-images, the plurality of sub-images are recognized, and the material properties of the objects included in each sub-image are determined; The current combustion information and the material properties of the objects included in each sub-image are input into a pre-trained fire prediction model, the fire prediction information is determined and displayed, and the fire situation is judged based on the displayed results.

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