Auxiliary driving system for forest fire scene and crawler-type forest fire-fighting vehicle

Abstract

The invention relates to the technical field of vehicle driving auxiliary systems, in particular to an auxiliary driving system for a forest fire scene and a crawler-type forest fire-fighting vehicle. A vehicle-mounted control system; the vehicle-mounted control system comprises a vehicle-mounted control box arranged on the crawler-type forest fire fighting truck, and the vehicle-mounted control box is provided with a processor, a memory for storing driving environment information and a positioning navigation device. According to the invention, the airborne flight system, the vehicle-mounted control system and the ground processing system realize all-weather, all-dimensional and three-dimensional monitoring and early warning of forest fire by integrating a plurality of advanced technologies such as high-definition video monitoring, intelligent image recognition, big data analysis, Internet of Things communication, unmanned aerial vehicle technology and the like; the system can automatically identify smoke, flame and other initial fire characteristics, and sends out an early warning signal at the first time, thereby providing timely and accurate decision support for forest fire prevention work.

Description

Technical Field

[0001] The present invention relates to an assisted driving system and a tracked forest fire fighting vehicle, and in particular to an assisted driving system and a tracked forest fire fighting vehicle for forest fire scenes, belonging to the technical field of vehicle driving assistance systems. Background Art

[0002] Forest fire is a natural disaster that is sudden, destructive, and difficult to handle and rescue. It can kill a large number of trees, reduce forest stand density, destroy forest structure, and reduce the value of forest utilization. After a forest fire, the forest environment changes drastically, disturbing the forest ecology such as weather, water and soil, and causing it to lose balance, which often takes decades or even hundreds of years to recover.

[0003] Therefore, it is necessary to protect forest fire sites in real time. However, in traditional systems, assessments related to drivability usually change in response to forest factors, including road conditions, fire conditions, etc., and cannot be predicted and prevented in a timely and effective manner. Traditional fire trucks cannot feedback appropriate drivability assessments when implementing driving assistance. Therefore, for forest areas, drivability may be severely reduced.

[0004] Therefore, there is an urgent need to improve the assisted driving system for forest fire scenarios to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide an assisted driving system and a tracked forest fire fighting vehicle for forest fire scenes. The airborne flight system, the vehicle control system and the ground processing system integrate a variety of advanced technologies such as high-definition video monitoring, intelligent image recognition, big data analysis, Internet of Things communication, and drone technology to achieve all-weather, all-round, and three-dimensional monitoring and early warning of forest fires. The system can automatically identify the initial characteristics of fires such as smoke and flames, and issue early warning signals at the first time, providing timely and accurate decision-making support for forest fire prevention.

[0006] In order to achieve the above object, the main technical solutions adopted by the present invention include: An auxiliary driving system for forest fire scenes, applied to tracked forest fire trucks, including: An airborne flight system, the airborne flight system comprising a drone, and the airborne flight system is used to ensure the normal operation of the entire forest fire monitoring system; An on-board control system, which is responsible for the execution of flight control and monitoring tasks of the UAV, real-time collection and transmission of fire data, and pushing images or related data information; and A ground processing system, which is responsible for receiving and processing the data sent back by the vehicle control system, performing intelligent analysis and early warning, and providing functions for command upload and recording the flight trajectory of the UAV and the driving trajectory of the vehicle control system; The vehicle-mounted control system includes a vehicle-mounted control box arranged on the crawler-type forest fire truck, the vehicle-mounted control box is provided with a processor, a storage for storing driving environment information and a positioning and navigation device, the crawler-type forest fire truck is fixedly provided with a fire extinguishing component, the fire extinguishing component establishes a communication connection with the processor, and the positioning and navigation device is used to globally locate the crawler-type forest fire truck and measure and record the movement posture, distance and trajectory of the crawler-type forest fire truck, and provide the real-time position data of the crawler-type forest fire truck; The processor is communicatively connected with a module component, and the module component establishes a communication connection with the onboard flight system in a wireless manner.

[0007] Preferably, the drone is provided with a drone controller, an infrared sensor, an actuator, a CCD camera and a wireless communication module; The drone controller and the wireless communication module both establish communication connections with the module assembly.

[0008] Preferably, the module assembly includes an image digitization module, which is used to acquire image data and convert it into a digital format for computer processing; A GPS module, wherein the GPS module is used to determine the longitude, latitude, altitude and time information of the location of the crawler-type forest fire fighting vehicle, thereby realizing positioning and navigation functions; A laser point cloud input and stitching module, the laser point cloud input and stitching module is used to obtain point cloud data, input it into the ground processing system and merge multiple point cloud data into a larger, coherent point cloud data; An ultrasonic data input and splicing module, which is used to receive data sent by an ultrasonic infrared sensor or an ultrasonic ranging module. The ultrasonic infrared sensor can emit ultrasonic signals and receive reflected signals when encountering obstacles; A multimodal data fusion module, which is used to fuse multimodal data and capture the characteristics of the data; An assisted driving decision module, which is used to provide driving suggestions or automatically perform driving operations based on information and obstacles about the surrounding environment of the crawler-type forest fire truck; An assisted driving decision output interface, which is used to transmit the driving instructions or suggestions calculated by the assisted driving decision module to the vehicle's actuator for intelligent control of the tracked forest fire truck.

[0009] Preferably, the positioning and navigation device includes a camera component, a laser radar component, an ultrasonic component and a smoke detection component; The camera assembly establishes a communication connection with the image digitization module, and the camera assembly is used to capture forest image data; The laser radar component establishes a communication connection with the laser point cloud input and splicing module, and the laser radar component is used to collect distance data of distant objects of the crawler-type forest fire truck in the forest environment; The ultrasonic component establishes a communication connection with the ultrasonic data input and splicing module, and the ultrasonic component is used to collect distance data of objects close to the crawler-type forest fire truck in the forest environment; The smoke detection component is used to detect the smoke state of the forest.

[0010] Preferably, the vehicle-mounted control box is connected to a wireless transmitting module, the ground processing system is provided with a wireless receiving module, and the wireless transmitting module establishes a communication connection with the wireless receiving module; The ground processing system includes a computer and a cloud disk.

[0011] Preferably, the positioning and navigation device includes a GNSS land-based terminal and an inertial navigation system.

[0012] Preferably, the camera assembly includes a first camera, a second camera, a third camera and a fourth camera.

[0013] Preferably, the laser radar assembly includes a first laser radar, a second laser radar, a third laser radar and a fourth laser radar.

[0014] Preferably, the ultrasonic component includes a first ultrasonic wave, a second ultrasonic wave, a third ultrasonic wave and a fourth ultrasonic wave.

[0015] A crawler-type forest fire fighting vehicle, wherein the drone is arranged directly above the crawler-type forest fire fighting vehicle, the fire extinguishing assembly comprises a water storage tank and a water pump, the water pump is in communication connection with the processor, one end of the water pump is connected to a water sprinkling plate, and the water sprinkling plate is fixedly arranged at the bottom of the crawler-type forest fire fighting vehicle; A self-powered electric lifting rod is fixedly arranged at the rear end of the crawler-type forest fire truck, and the smoke detection component is fixedly arranged at the upper end of the self-powered electric lifting rod; The camera component, the laser radar component and the ultrasonic component are all fixedly arranged on the peripheral side of the tracked forest fire truck.

[0016] The present invention has at least the following beneficial effects: 1. The airborne flight system, vehicle control system and ground processing system integrate multiple advanced technologies such as high-definition video surveillance, intelligent image recognition, big data analysis, Internet of Things communications, and drone technology to achieve all-weather, all-round, and three-dimensional monitoring and early warning of forest fires. The system can automatically identify the initial characteristics of fires such as smoke and flames, and issue early warning signals at the first time, providing timely and accurate decision-making support for forest fire prevention.

[0017] 2. Using infrared sensors and other technologies carried by drones to detect hot spots and fire sources around the fire will help firefighters analyze and predict the fire situation, while providing accurate fire source location information, providing strong support for rapid rescue.

[0018] 3. Combined with big data analysis technology, the system can conduct in-depth mining of monitoring data, predict fire risks, and provide scientific decision-making basis for forest fire prevention. In addition, the system can also complete high-altitude command in the complex environment of the fire scene, notify fire extinguishers to evacuate dangerous areas in time, and provide evacuation channels.

[0019] 4. Tracked forest fire trucks can carry water tanks, and use water pumps to pump water and then use sprinkler trays to extinguish fire sources. They perform firefighting tasks under the control of command personnel and provide effective firefighting support for firefighters. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 This is an electrical schematic diagram of an auxiliary driving system for forest fire scenarios in an embodiment of the present invention; Figure 2 The crawler-type forest fire fighting vehicle in the embodiment of the present invention is a three-dimensional Figure 1 ; Figure 3 The crawler-type forest fire fighting vehicle in the embodiment of the present invention is a three-dimensional Figure 2 ; Figure 4 A side view of a tracked forest fire fighting vehicle according to an embodiment of the present invention Figure 1 ; Figure 5 A side view of a tracked forest fire fighting vehicle according to an embodiment of the present invention Figure 2 .

[0021] In the figure, 1. airborne flight system; 101. drone; 102. drone controller; 103. infrared sensor; 104. actuator; 105. CCD camera; 106. wireless communication module; 2. vehicle-mounted control system; 201. tracked forest fire truck; 202. vehicle-mounted control box; 203. wireless transmission module; 3. ground processing system; 301. wireless receiving module; 302. computer; 303. cloud disk; 4. processor; 5. storage; 6. positioning and navigation device; 601. camera assembly; 6011. first camera; 6012. second camera; 6013. third camera; 6014. fourth camera; 602. laser radar assembly; 6021. first laser radar; 6022. second laser radar; 60 23. The third laser radar; 6024. The fourth laser radar; 603. The ultrasonic component; 6031. The first ultrasonic component; 6032. The second ultrasonic component; 6033. The third ultrasonic component; 6034. The fourth ultrasonic component; 604. The smoke detection component; 605. The GNSS land-based terminal; 606. The inertial navigation system; 7. The module component; 701. The image digitization module; 702. The GPS module; 703. The laser point cloud input and stitching module; 704. The ultrasonic data input and stitching module; 705. The multimodal data fusion module; 706. The assisted driving decision module; 707. The assisted driving decision output interface; 8. The fire extinguishing component; 801. The water tank; 802. The water pump; 803. The watering tray; 9. The self-powered electric lifting rod. DETAILED DESCRIPTION

[0022] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0023] like Figure 1-Figure 5 As shown, the auxiliary driving system for forest fire scenes provided in this embodiment is applied to a tracked forest fire fighting vehicle, and includes: An airborne flight system 1, the airborne flight system 1 includes an unmanned aerial vehicle 101, and the airborne flight system 1 is used to ensure the normal operation of the entire forest fire monitoring system; an on-board control system 2, the on-board control system 2 is responsible for the flight control of the unmanned aerial vehicle 101 and the execution of monitoring tasks, real-time collection and transmission of fire data, and pushing images or related data information; and a ground processing system 3, the ground processing system 3 is responsible for receiving and processing data sent back by the on-board control system 2, performing intelligent analysis and early warning, and providing command upload and flight trajectory recording of the unmanned aerial vehicle 101 and the driving trajectory recording of the on-board control system 2. The auxiliary driving system for forest fire scenes integrates a variety of advanced technologies such as high-definition video monitoring, intelligent image recognition, big data analysis, Internet of Things communication, and unmanned aerial vehicle technology to achieve all-weather, all-round, and three-dimensional monitoring and early warning of forest fires. The system can automatically identify the initial characteristics of fires such as smoke and flames, and issue early warning signals as soon as possible, providing timely and accurate decision-making support for forest fire prevention.

[0024] The vehicle-mounted control system 2 includes a vehicle-mounted control box 202 arranged on the crawler forest fire truck 201, and the vehicle-mounted control box 202 is provided with a processor 4, a storage 5 for storing driving environment information, and a positioning and navigation device 6. The crawler forest fire truck 201 is fixedly provided with a fire extinguishing component 8, and the fire extinguishing component 8 establishes a communication connection with the processor 4. The positioning and navigation device 6 is used to globally locate the crawler forest fire truck 201 and measure and record the movement posture, distance and trajectory of the crawler forest fire truck 201, and provide the crawler forest fire truck 201 with real-time position data. The airborne flight system 1 is mounted on the vehicle-mounted control system 2, realizing all-weather, all-round, three-dimensional monitoring and early warning of forest fires. The processor 4 is communicatively connected with a module component 7, and the module component 7 establishes a communication connection with the airborne flight system 1 in a wireless manner, which can realize functions such as fire monitoring and early warning, fire source positioning and tracking, auxiliary decision-making and command, and fire extinguishing support, specifically: Fire monitoring and early warning: Through the drone controller 102, infrared sensor 103, actuator 104, CCD camera 105 and wireless communication module 106 on the drone 101, using high-definition cameras and intelligent image recognition technology, the system can automatically identify the initial characteristics of fire such as smoke and flames. The drone controller 102 and wireless communication module 106 establish communication connections with the module component 7 and push them to the vehicle control system 2 as soon as possible, providing timely and accurate decision support for forest fire prevention work.

[0025] Using technologies such as the infrared sensor 103 carried by the drone 101 to detect hot spots and fire sources around the fire will help firefighters analyze and predict the fire situation, while providing accurate fire source location information, providing strong support for rapid rescue.

[0026] Fire source positioning and tracking: The positioning navigation device 6 includes a camera component 601, a laser radar component 602, an ultrasonic component 603 and a smoke detection component 604. The camera component 601 establishes a communication connection with the image digitization module 701. The camera component 601 is used to capture forest image data. The image digitization module 701 is used to obtain image data and convert it into a digital format for computer processing. Since the signals obtained by the image acquisition device are mostly analog signals, it is necessary to sample and quantize the analog signals through an image acquisition card or similar equipment and convert them into digital signals. This step ensures that the image data can be stored and processed on the computer.

[0027] GPS module 702, GPS module 702 is used to determine the longitude, latitude, altitude and time information of the location of the tracked forest fire truck 201, so as to realize the positioning and navigation functions. The tracked forest fire truck 201 determines the location of the drone 101 through the GPS module 702 to improve timeliness.

[0028] The laser radar component 602 establishes a communication connection with the laser point cloud input and stitching module 703. The laser radar component 602 is used to collect distance data of distant objects of the tracked forest fire truck 201 in the forest environment. The laser point cloud input and stitching module 703 is used to obtain point cloud data, input it into the ground processing system 3, and merge multiple point cloud data into a larger, coherent point cloud data.

[0029] The ultrasonic component 603 establishes a communication connection with the ultrasonic data input and splicing module 704. The ultrasonic component 603 is used to collect distance data of objects closer to the tracked forest fire truck 201 in the forest environment. The ultrasonic data input and splicing module 704 is used to receive data sent by the ultrasonic infrared sensor or the ultrasonic ranging module. The ultrasonic infrared sensor can emit ultrasonic signals and receive reflected signals when encountering obstacles.

[0030] The smoke detection component 604 is used to detect the smoke state of the forest, and then the multimodal data fusion module 705 is used to fuse the multimodal data to capture the characteristics of the data. By fusing the data of multiple modes, the model can better cope with these interferences, thereby improving the accuracy and stability of the prediction. This fusion method enhances the adaptability of the model to different environments and scenarios, making it more reliable in practical applications.

[0031] Assisted decision-making and command: Assisted driving decision module 706, which is used to provide driving suggestions or automatically perform driving operations based on the information and obstacles of the surrounding environment of the tracked forest fire truck 201.

[0032] The assisted driving decision output interface 707 is used to transmit the driving instructions or suggestions calculated by the assisted driving decision module 706 to the vehicle's actuator. For the intelligent control of the tracked forest fire truck 201, combined with big data analysis technology, the system can conduct in-depth mining of monitoring data, predict fire risks, and provide scientific decision-making basis for forest fire prevention work. In addition, the system can also complete high-altitude command in the complex environment of the fire scene, notify the fire extinguisher to evacuate the dangerous area in time, and provide evacuation channels.

[0033] Firefighting support: The UAV 101 is arranged directly above the tracked forest fire truck 201. The firefighting component 8 includes a water tank 801 and a water pump 802. The water pump 802 establishes a communication connection with the processor 4. One end of the water pump 802 is connected to a sprinkler tray 803. The sprinkler tray 803 is fixedly arranged at the bottom of the tracked forest fire truck 201. The tracked forest fire truck 201 can carry a water tank 801, and after water is pumped out by the water pump 802, the fire source is extinguished through the sprinkler tray 803. The firefighting task is performed under the control of the commander, providing effective firefighting support for firefighters.

[0034] Further, such as Figure 1 As shown, the vehicle-mounted control box 202 is connected to a wireless transmitting module 203, and the ground processing system 3 is provided with a wireless receiving module 301. The wireless transmitting module 203 establishes a communication connection with the wireless receiving module 301. The ground processing system 3 includes a computer 302 and a cloud disk 303, which is mainly composed of a data transmission, an image transmission radio, a remote control transmitter, a data processor and a computer 302. The system is responsible for receiving and processing the data sent back by the drone, performing intelligent analysis and early warning, and providing functions such as command uploading and drone flight trajectory recording.

[0035] The positioning and navigation device 6 includes a GNSS land-based terminal 605 and an inertial navigation system 606. The GNSS land-based terminal 605 is a global navigation satellite system, which is used for positioning and navigation, and provides users with three-dimensional coordinates, speed and time information (PVT). The inertial navigation system 606 can continuously and in real time provide navigation information such as the position, speed, and attitude of the carrier. This information is crucial for the control and navigation of the moving carrier, and can help the carrier maintain a stable and accurate motion state in a complex environment.

[0036] Furthermore, Figure 1-Figure 5 As shown, the camera assembly 601 includes a first camera 6011 , a second camera 6012 , a third camera 6013 and a fourth camera 6014 .

[0037] The laser radar assembly 602 includes a first laser radar 6021 , a second laser radar 6022 , a third laser radar 6023 and a fourth laser radar 6024 .

[0038] The ultrasonic component 603 includes a first ultrasonic wave 6031, a second ultrasonic wave 6032, a third ultrasonic wave 6033 and a fourth ultrasonic wave 6034. The camera component 601, the lidar component 602 and the ultrasonic component 603 are all fixedly arranged on the side surface of the tracked forest fire truck 201 to more comprehensively detect the environmental information around the tracked forest fire truck 201 and provide powerful navigation support.

[0039] A self-powered electric lifting rod 9 is fixedly installed at the rear end of the crawler forest fire truck 201, and a smoke detection component 604 is fixedly installed at the upper end of the self-powered electric lifting rod 9 to improve the detection range and accuracy.

[0040] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0041] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0042] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. Changes and variations made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. An auxiliary driving system for forest fire scenes, applied to tracked forest fire trucks, characterized in that: include: An airborne flight system (1), the airborne flight system (1) comprising a drone (101), the airborne flight system (1) being used to ensure the normal operation of the entire forest fire monitoring system; An on-board control system (2), the on-board control system (2) being responsible for the execution of flight control and monitoring tasks of the unmanned aerial vehicle (101), collecting and transmitting fire data in real time, and pushing images or related data information; as well as A ground processing system (3), the ground processing system (3) is responsible for receiving and processing data sent back by the vehicle-mounted control system (2), performing intelligent analysis and early warning, and providing command upload and flight trajectory recording of the UAV (101) and driving trajectory recording of the vehicle-mounted control system (2); The vehicle-mounted control system (2) comprises a vehicle-mounted control box (202) arranged on a tracked forest fire truck (201), the vehicle-mounted control box (202) being provided with a processor (4), a storage device (5) for storing driving environment information, and a positioning and navigation device (6), the tracked forest fire truck (201) being fixedly provided with a fire extinguishing component (8), the fire extinguishing component (8) establishing a communication connection with the processor (4), and the positioning and navigation device (6) being used to globally locate the tracked forest fire truck (201) and measure and record the movement posture, distance and trajectory of the tracked forest fire truck (201), and provide real-time position data of the tracked forest fire truck (201); The processor (4) is communicatively connected to a module component (7), and the module component (7) establishes a communication connection with the onboard flight system (1) in a wireless manner.

2. The assisted driving system for forest fire scenarios according to claim 1, characterized in that: The drone (101) is provided with a drone controller (102), an infrared sensor (103), an actuator (104), a CCD camera (105) and a wireless communication module (106); The drone controller (102) and the wireless communication module (106) both establish communication connections with the module component (7).

3. The assisted driving system for forest fire scenarios according to claim 1, characterized in that: The module assembly (7) comprises an image digitization module (701), wherein the image digitization module (701) is used to obtain image data and convert it into a digital format for computer processing; A GPS module (702), the GPS module (702) being used to determine the longitude, latitude, altitude and time information of the location of the crawler-type forest fire fighting vehicle (201), thereby realizing positioning and navigation functions; A laser point cloud input and splicing module (703), the laser point cloud input and splicing module (703) is used to obtain point cloud data, input it into the ground processing system (3) and merge multiple point cloud data into a larger, coherent point cloud data; An ultrasonic data input and splicing module (704), the ultrasonic data input and splicing module (704) is used to receive data sent by an ultrasonic infrared sensor or an ultrasonic distance measurement module, the ultrasonic infrared sensor is capable of emitting ultrasonic signals and receiving reflected signals when encountering an obstacle; A multimodal data fusion module (705), the multimodal data fusion module (705) is used to fuse multimodal data and capture the characteristics of the data; An assisted driving decision module (706), the assisted driving decision module (706) being used to provide driving advice or automatically perform driving operations based on information about the surrounding environment and obstacles of the crawler-type forest fire truck (201); An assisted driving decision output interface (707), the assisted driving decision output interface (707) is used to transmit the driving instructions or suggestions calculated by the assisted driving decision module (706) to the vehicle's actuator, for intelligent control of the tracked forest fire truck (201).

4. The assisted driving system for forest fire scenarios according to claim 3, characterized in that: The positioning and navigation device (6) comprises a camera component (601), a laser radar component (602), an ultrasonic component (603) and a smoke detection component (604); The camera component (601) establishes a communication connection with the image digitization module (701), and the camera component (601) is used to capture forest image data; The laser radar component (602) establishes a communication connection with the laser point cloud input and splicing module (703), and the laser radar component (602) is used to collect distance data of objects farther away from the crawler-type forest fire truck (201) in a forest environment; The ultrasonic component (603) establishes a communication connection with the ultrasonic data input and splicing module (704), and the ultrasonic component (603) is used to collect distance data of objects close to the crawler-type forest fire truck (201) in a forest environment; The smoke detection component (604) is used to detect the smoke status of the forest.

5. The assisted driving system for forest fire scenarios according to claim 1, characterized in that: The vehicle-mounted control box (202) is connected to a wireless transmission module (203), the ground processing system (3) is provided with a wireless reception module (301), and the wireless transmission module (203) establishes a communication connection with the wireless reception module (301); The ground processing system (3) comprises a computer (302) and a cloud disk (303).

6. The assisted driving system for forest fire scenarios according to claim 1, characterized in that: The positioning and navigation device (6) comprises a GNSS land-based terminal (605) and an inertial navigation system (606).

7. The assisted driving system for forest fire scenarios according to claim 4, characterized in that: The camera assembly (601) includes a first camera (6011), a second camera (6012), a third camera (6013) and a fourth camera (6014).

8. The assisted driving system for forest fire scenarios according to claim 4, characterized in that: The laser radar assembly (602) includes a first laser radar (6021), a second laser radar (6022), a third laser radar (6023) and a fourth laser radar (6024).

9. The assisted driving system for forest fire scenarios according to claim 4, characterized in that: The ultrasonic component (603) includes a first ultrasonic wave (6031), a second ultrasonic wave (6032), a third ultrasonic wave (6033) and a fourth ultrasonic wave (6034).

10. A tracked forest fire fighting vehicle, comprising the vehicle-mounted auxiliary driving system according to any one of claims 1 to 9, characterized in that: The drone (101) is arranged directly above the tracked forest fire truck (201); the fire extinguishing assembly (8) comprises a water tank (801) and a water pump (802); the water pump (802) is in communication with the processor (4); one end of the water pump (802) is connected to a water sprinkling plate (803); and the water sprinkling plate (803) is fixedly arranged at the bottom of the tracked forest fire truck (201); A self-powered electric lifting rod (9) is fixedly arranged at the rear end of the crawler-type forest fire truck (201), and the smoke detection component (604) is fixedly arranged at the upper end of the self-powered electric lifting rod (9); The camera component (601), the laser radar component (602) and the ultrasonic component (603) are all fixedly arranged on the peripheral side of the tracked forest fire truck (201).

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