Fire rescue system based on flight equipment and working method thereof

Abstract

The invention discloses a fire rescue system based on flight equipment and a working method thereof, and relates to the technical field of fire rescue, the fire rescue system comprises first flight equipment, second flight equipment and a rear-end system, a first control module controls a first flight equipment body to fly according to a preset cruise route, and a second control module controls a second flight equipment body to fly according to a preset cruise route; the infrared thermal imaging module and the environmental data acquisition module are used for cruising a fire scene, receiving a thermal imaging image acquired by the infrared thermal imaging module and environmental data acquired by the environmental data acquisition module in the cruising process, performing image recognition on the thermal imaging image, determining fire information, generating a fire extinguishing route and a fire extinguishing bomb launching position point by the rear-end system based on the fire information and the environmental data, and transmitting the fire extinguishing bomb launching position point. And the second control module controls the second flight equipment body to fly according to the fire extinguishing route and controls the fire extinguishing module to launch the fire extinguishing bomb at the fire extinguishing bomb launching position point in the flight process, fire rescue is completed, fire information can be accurately recognized, and fire rescue is further completed.

Description

Technical Field

[0001] The present application relates to the field of fire rescue technology, and in particular to a fire rescue system based on flying equipment and a working method thereof. Background Art

[0002] Fires are sudden, destructive, and difficult to extinguish, making it difficult to respond in time if only relying on human rescue. The emergence of flying equipment provides a new solution. As a remotely controlled aircraft, flying equipment, with its excellent flexibility and maneuverability, has brought unprecedented possibilities to fire rescue work, greatly making up for the shortcomings of human rescue.

[0003] However, flying equipment still faces a series of complex and severe challenges in actual use. The environment at the fire scene and the thick smoke generated by the fire cause great interference to the visual perception of flying equipment. There is an urgent need for a technology to cope with this complex visual environment to ensure accurate identification of fire information and further complete fire rescue. Summary of the invention

[0004] The purpose of this application is to provide a fire rescue system based on flight equipment and its working method, which can accurately identify fire information and further complete fire rescue.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a fire rescue system based on an aircraft device, the fire rescue system based on an aircraft device comprising: a first aircraft device, a second aircraft device and a backend system, wherein the first aircraft device and the second aircraft device are both communicatively connected to the backend system;

[0007] The first flying device comprises a first flying device body, the first flying device body is equipped with a first control module, an infrared thermal imaging module and an environmental data acquisition module, the first control module is respectively connected to the infrared thermal imaging module and the environmental data acquisition module in communication;

[0008] The second flying device comprises a second flying device body, the second flying device body is loaded with a second control module and a fire extinguishing module, and the second control module is communicatively connected with the fire extinguishing module;

[0009] The first control module is used to control the first flying device body to fly according to a preset cruising route to cruise the fire scene;

[0010] The infrared thermal imaging module is used to perform thermal imaging of the fire scene during the cruise process to obtain a thermal imaging image; the first control module is also used to perform image recognition on the thermal imaging image to determine fire information; the fire information includes the location of the fire source, the scope of the fire and the size of the fire;

[0011] The environmental data acquisition module is used to collect environmental information of the fire scene during the cruise process to obtain environmental data;

[0012] The back-end system is used to receive the fire information and the environmental data, and generate a fire extinguishing plan based on the fire information and the environmental data; the fire extinguishing plan includes a fire extinguishing route and a fire extinguishing bomb launching position point;

[0013] The second control module is used to receive the fire extinguishing plan, and control the second flying device body to fly according to the fire extinguishing route, and control the fire extinguishing module to launch the fire extinguishing bomb at the fire extinguishing bomb launching position during the flight to complete the fire rescue.

[0014] Optionally, the first flying device body and the second flying device body have the same structure; the first flying device body includes a frame and a shell, and the shell is installed on the frame; the frame is made of magnesium-aluminum alloy material; the shell is made of carbon fiber material.

[0015] Optionally, the first flying device body is further equipped with a first positioning module, the first positioning module is communicatively connected with the first control module; the first positioning module adopts the Beidou satellite navigation system;

[0016] The first positioning module is used to locate the first flying device body, obtain a first position of the first flying device body, and send the first position to the first control module;

[0017] The first control module is further used to control the first flying device body to fly based on a preset cruising route and the first position, so as to cruise the fire scene;

[0018] The second flying device body is also equipped with a second positioning module, which is in communication connection with the second control module; the second positioning module adopts the Beidou satellite navigation system;

[0019] The second positioning module is used to locate the second flying device body, obtain a second position of the second flying device body, and send the second position to the second control module;

[0020] The second control module is further used to control the flight of the second flying device body based on the fire extinguishing route and the second position.

[0021] Optionally, the first control module is further used to perform image recognition on the thermal imaging image based on OpenCV to determine fire information.

[0022] Optionally, the back-end system is also used to establish a digital twin model of the fire scene based on the fire information and the environmental data, and generate a fire extinguishing plan based on the digital twin model.

[0023] Optionally, the back-end system is also used to establish a digital twin model of the fire scene based on the fire information and the environmental data, and generate a material deployment plan based on the digital twin model; the material deployment plan includes a fire plan and a material delivery plan; the material delivery plan includes the material types required for each material delivery point on the fire-fighting route and the quantity of each type of material.

[0024] Optionally, the first flying device body is further loaded with a first battery, and the second flying device body is further loaded with a second battery, and both the first battery and the second battery are lithium iron sulfate batteries;

[0025] The first battery is electrically connected to the first control module, the infrared thermal imaging module, the environmental data acquisition module and the first positioning module respectively;

[0026] The second battery is electrically connected to the second control module, the fire extinguishing module and the second positioning module respectively.

[0027] Optionally, the fire extinguishing module is used to launch a fire extinguishing bomb using a cold launch method, and the fire extinguishing bomb is filled with compressed carbon dioxide gas.

[0028] Optionally, the environmental data includes environmental images, temperature, humidity, wind speed, and terrain.

[0029] In a second aspect, the present application provides a working method of a fire rescue system based on an aircraft, which is applied to any one of the fire rescue systems based on an aircraft, and the working method of the fire rescue system based on an aircraft includes:

[0030] The first control module controls the first flying device body to fly according to a preset cruising route to cruise the fire scene, and receives the thermal imaging image acquired by the infrared thermal imaging module and the environmental data acquired by the environmental data acquisition module during the cruising process;

[0031] The first control module performs image recognition on the thermal imaging image to determine fire information; the fire information includes the location of the fire source, the scope of the fire, and the size of the fire;

[0032] The first control module sends the fire information and the environmental data to the back-end system, and receives a fire extinguishing plan generated by the back-end system based on the fire information and the environmental data; the fire extinguishing plan includes a fire extinguishing route and a fire extinguishing bomb launching position point;

[0033] The second control module controls the second flying device body to fly according to the fire extinguishing route, and controls the fire extinguishing module to launch the fire extinguishing bomb at the fire extinguishing bomb launching position during the flight to complete the fire rescue.

[0034] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0035] The present application provides a fire rescue system based on flight equipment and a working method thereof, the fire rescue system comprising: a first flight equipment, a second flight equipment and a back-end system, the first flight equipment comprising a first flight equipment body, the first flight equipment body being equipped with a first control module, an infrared thermal imaging module, and an environmental data acquisition module, the second flight equipment comprising a second flight equipment body, the second flight equipment body being equipped with a second control module and a fire extinguishing module, the first control module controlling the first flight equipment body to fly according to a preset cruising route to cruise the fire scene, the infrared thermal imaging module performing thermal imaging of the fire scene during the cruising process to obtain a thermal imaging image, the first control module performing image recognition on the thermal imaging image to determine fire information, the environmental data acquisition module collecting environmental information of the fire scene during the cruising process to obtain environmental data, the back-end system generating a fire extinguishing plan based on the fire information and environmental data, the fire extinguishing plan comprising a fire extinguishing route and a fire extinguishing bomb launching position point, the second control module controlling the second flight equipment body to fly according to the fire extinguishing route, and controlling the fire extinguishing module to launch a fire extinguishing bomb at the fire extinguishing bomb launching position point during the flight process to complete the fire rescue. By introducing an infrared thermal imaging module, this application can perform thermal imaging of the fire scene, thereby preventing the environment at the fire scene and the thick smoke generated by the fire from greatly interfering with the visual perception of the flight equipment. It can cope with complex visual environments, ensure that fire information can be accurately identified, and further combine the back-end system, the second control module and the fire extinguishing module to extinguish the fire and complete fire rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the system architecture of a fire rescue system based on flight equipment provided in Example 1 of the present application.

[0038] Figure 2 Schematic diagram of real-time monitoring of a drone provided in Example 1 of the present application.

[0039] Figure 3 Schematic diagram of the large-model digital twin technology analysis provided in Example 1 of the present application.

[0040] Figure 4 A schematic diagram of material allocation provided in Example 1 of the present application.

[0041] Figure 5 A flowchart of a working method of a fire rescue system based on flight equipment provided in Example 2 of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] Example 1

[0044] like Figure 1 As shown, this embodiment provides a fire rescue system based on flight equipment, and the fire rescue system based on flight equipment includes: a first flight equipment, a second flight equipment and a back-end system, and the first flight equipment and the second flight equipment are both communicatively connected to the back-end system.

[0045] The first flying device comprises a first flying device body, which is equipped with a first control module, an infrared thermal imaging module and an environmental data acquisition module. The first control module is respectively connected to the infrared thermal imaging module and the environmental data acquisition module for communication.

[0046] The second flying device includes a second flying device body, the second flying device body is loaded with a second control module and a fire extinguishing module, and the second control module is communicatively connected with the fire extinguishing module.

[0047] The first control module is used to control the first flying device body to fly according to a preset cruising route to cruise the fire scene.

[0048] The infrared thermal imaging module can be installed under the nose or on the side of the fuselage of the first flight equipment body, and is used to perform thermal imaging of the fire scene during cruising, obtain thermal imaging images, and send the thermal imaging images to the first control module. The first control module is also used to perform image recognition on the thermal imaging images to determine the fire information, which includes the location of the fire source, the scope of the fire, and the size of the fire, so that the location of the fire source, the scope of the fire, and the size of the fire can be quickly identified, providing accurate data support for fire fighting operations.

[0049] The environmental data acquisition module is used to collect environmental information of the fire scene during the cruise process, obtain environmental data, and send the environmental data to the first control module.

[0050] The first control module is also used to send the fire information and environmental data to the back-end system. The back-end system is used to receive the fire information and environmental data, generate a fire extinguishing plan based on the fire information and environmental data, and send the fire extinguishing plan to the second control module. The fire extinguishing plan includes a fire extinguishing route and a fire extinguishing bomb launch location point.

[0051] The second control module is also used to receive the fire extinguishing plan, and control the flight of the second flying equipment body according to the fire extinguishing route, and control the fire extinguishing module to launch fire extinguishing bombs at the fire extinguishing bomb launching position during the flight to complete the fire rescue.

[0052] This embodiment introduces an infrared thermal imaging module to perform thermal imaging of the fire scene, which can solve the problem that the environment at the fire scene and the thick smoke generated by the fire greatly interfere with the visual perception of the flight equipment. It can cope with complex visual environments and ensure that fire information can be accurately identified. At the same time, the back-end system combines environmental data and fire information to generate a fire extinguishing plan, and uses the second flight equipment to further extinguish the fire and complete fire rescue.

[0053] The body material of the flying device must withstand the test of the extremely high temperature at the fire scene and have sufficient strength to cope with the strong air resistance, ensuring that the flying device can operate stably and continuously at the fire scene. In order to solve this problem, in this embodiment, the first flying device body and the second flying device body have the same structure. The first flying device body includes a frame and a shell, and the shell is mounted on the frame. The frame is made of magnesium-aluminum alloy material, and the shell is made of carbon fiber material, ensuring that the flying device can still operate stably under high temperature and strong air resistance environment.

[0054] Although magnesium-aluminum alloy materials have high strength, excessive use will increase the weight of the flight equipment body, so the load must be reduced to maintain normal operation. Therefore, the shell of this embodiment is designed to use carbon fiber material. Carbon fiber material has the following advantages: (1) Lightweight and high strength: The density of carbon fiber is much lower than that of traditional metal materials, but the strength is very high. This allows it to significantly reduce the overall weight of the flight equipment body while ensuring strength and improve flight performance. (2) Good high temperature resistance: Carbon fiber has good high temperature resistance and can maintain its mechanical properties and chemical stability under high temperature conditions, which is particularly important for the application of flight equipment in complex environments. (3) Low thermal expansion coefficient: The thermal expansion coefficient of carbon fiber is much lower than that of metal materials, which means that under high temperature conditions, carbon fiber is not easily deformed or damaged due to thermal expansion.

[0055] The skeleton refers to the supporting rods of the flight equipment body, and the outer shell includes a supporting plate, which mainly plays a supporting role and is used to support each module. Shock absorbers or elastic components can be integrated into the supporting plate to play a shock-absorbing and buffering role when the flight equipment body lands or encounters vibrations, protecting the flight equipment body and its internal components from damage.

[0056] In a complex fire rescue environment, the positioning module must be accurate and reliable to ensure that the flight equipment can accurately identify and avoid obstacles and avoid collisions. At the same time, the accuracy of the positioning module is also directly related to the delivery accuracy of the fire extinguishing bomb (also known as the fire extinguishing bomb). Only by ensuring accurate delivery can the spread of the fire be effectively blocked. In order to solve this problem, in this embodiment, the first flight equipment body is also equipped with a first positioning module, the first positioning module is connected to the first control module in communication, and the first positioning module adopts the Beidou satellite navigation system. The first positioning module is used to locate the first flight equipment body, obtain the first position of the first flight equipment body, and send the first position to the first control module. The first control module is also used to control the flight of the first flight equipment body based on the preset cruise route and the first position to cruise the fire scene. The second flight equipment body is also equipped with a second positioning module, the second positioning module is connected to the second control module in communication, and the second positioning module adopts the Beidou satellite navigation system. The second positioning module is used to locate the second flight equipment body, obtain the second position of the second flight equipment body, and send the second position to the second control module. The second control module is also used to control the flight of the second flight equipment body based on the fire extinguishing route and the second position. The flight equipment of this embodiment achieves precise positioning through the Beidou satellite navigation system, thereby greatly improving the accuracy and efficiency of flight operations.

[0057] The flight equipment of this embodiment will adopt an obstacle avoidance algorithm during the flight process, so as to achieve obstacle avoidance flight and improve flight safety. Specifically, the first flight equipment will adopt an obstacle avoidance algorithm during the cruising flight based on a preset cruising route and the second flight equipment will adopt an obstacle avoidance algorithm during the fire-fighting flight based on a fire-fighting route.

[0058] The specific steps of the obstacle avoidance algorithm are as follows:

[0059] (1) Obstacle detection and tracking

[0060] Real-time detection: Use laser radar, visual sensors (such as cameras) and other sensors installed on the flight equipment to detect dynamic obstacles in the surrounding environment in real time.

[0061] Feature extraction: Extract key features of dynamic obstacles such as distance, position, speed, direction, size, etc. from sensor measurement data.

[0062] Tracking and prediction: Use tracking algorithms (such as Kalman filter algorithm) to track detected dynamic obstacles and predict their future motion trajectory.

[0063] Among them, the specific steps of the Kalman filter algorithm are as follows:

[0064] (1.1) System Modeling

[0065] Define state variables: First, you need to define the state variables of the flight device and the state variables of the obstacles. For the flight device, the state variables include position, velocity, and acceleration, etc.; for obstacles, the state variables include position and velocity.

[0066] Establish a dynamic model: According to the physical characteristics of the flight equipment and obstacles, their dynamic models are established. The dynamic model describes the change pattern of the state variables of the flight equipment and obstacles over time.

[0067] (1.2) Design of Kalman filter

[0068] State space representation: The dynamic model of the flight equipment and obstacles is converted into a state space representation, including the state equation and the observation equation. The state equation describes the evolution law of the state, while the observation equation describes how to obtain the state information from the sensor measurement data.

[0069] Initialize the filter: Set the initial state and covariance matrix of the Kalman filter. It should be set reasonably according to the actual situation to reduce the initial error.

[0070] (1.3) Prediction step

[0071] Using the current state estimate and the dynamics model, the state estimate and its covariance matrix at the next moment are predicted through the state equation.

[0072] (1.4) Update steps

[0073] When new sensor measurements are available, the sensor measurements are compared to the state estimate predicted by the system using the observation equation. Based on the comparison results and the Kalman gain, the state estimate and covariance matrix are updated.

[0074] (1.5) Trajectory tracking and prediction:

[0075] The prediction step and the update step are repeated to continuously estimate the state of the flight device and obstacles. Based on the updated state estimate, the flight trajectory of the flight device and the motion trajectory of the obstacle can be extracted. The prediction function of the Kalman filter is used to predict the future motion trajectory of the flight device and obstacles based on the current state and the dynamic model.

[0076] This embodiment uses multi-sensor fusion technology to fuse the measurement data from different sensors, which can improve the reliability and accuracy of the sensor measurement data, and thus improve the performance of the Kalman filter. This embodiment uses an adaptive Kalman filter algorithm to dynamically adjust the filter parameters (such as Kalman gain, noise covariance, etc.) according to real-time data, which can enable the filter to maintain good performance under different environments. For nonlinear systems, traditional Kalman filter algorithms may no longer be applicable. At this time, nonlinear Kalman filter algorithms such as extended Kalman filter and unscented Kalman filter can be used to process. These algorithms can better handle the state estimation problem of nonlinear systems. This embodiment can use parallel processing technology and hardware acceleration devices (such as GPU, FPGA, etc.) to accelerate the calculation process of the Kalman filter algorithm, which can significantly improve the execution efficiency of the algorithm and meet application scenarios with high real-time requirements.

[0077] (2) Obstacle avoidance strategy formulation

[0078] Safety distance calculation: Calculate the minimum safety distance required to avoid collision based on the flight speed, acceleration of the aircraft and the movement state of the obstacle.

[0079] Path planning: Combine the predicted trajectory of obstacles and the flight trajectory of the flying device, and use a path planning algorithm (such as A*, RRT, etc.) to generate a feasible path to avoid obstacles.

[0080] Priority judgment: When multiple obstacles appear at the same time, the priority of obstacle avoidance is determined based on factors such as the distance, speed, and size of the obstacles.

[0081] (3) Real-time adjustment and execution

[0082] Trajectory generation: Generates the obstacle avoidance flight trajectory of the aircraft based on the selected obstacle avoidance strategy.

[0083] Control command generation: Convert obstacle avoidance flight trajectories into control commands for the flight device, including speed, direction, altitude, etc.

[0084] Real-time feedback and adjustment: During obstacle avoidance, the movement status of obstacles and the flight status of the aircraft are monitored in real time, and necessary adjustments are made based on the feedback.

[0085] (4) Emergency brake mechanism

[0086] Collision risk assessment: The collision risk is continuously assessed during the obstacle avoidance process, and the emergency braking mechanism is immediately activated once the risk exceeds the preset threshold.

[0087] Braking strategy execution: During emergency braking, the optimal braking strategy is selected based on the current state of the aircraft and the surrounding environment, such as hovering, rapid descent, or changing flight direction.

[0088] In this embodiment, the first control module is also used to perform image recognition on the thermal imaging image based on OpenCV to determine the fire information, which includes the location of the fire source, the scope of the fire and the size of the fire, and send the location of the fire source, the scope of the fire and the size of the fire to the back-end system. That is, the first control module of this embodiment also includes an OpenCV control unit, which is loaded inside the first control module. The OpenCV control unit accurately identifies the fire information through image recognition technology, and subsequently generates a fire extinguishing plan based on the fire information, specifically including planning the best fire extinguishing route and the launch position of the fire extinguishing bomb, so as to reach the fire scene more quickly for fire extinguishing.

[0089] In this embodiment, the first control module can also adjust the preset cruise route according to the fire information, so that the adjusted cruise route can avoid the dangerous area, prevent the first flight equipment from being damaged by dangerous factors such as high temperature and thick smoke, and ensure the safety of the first flight equipment. At the same time, the second control module can also adjust the preset fire extinguishing route according to the fire information, so that the adjusted fire extinguishing route can avoid the dangerous area, prevent the second flight equipment from being damaged by dangerous factors such as high temperature and thick smoke, and ensure the safety of the second flight equipment. By analyzing the image recognition results in real time, the flight equipment can continuously adjust its flight path to adapt to the changing environment of the fire scene. This real-time adjustment capability is crucial for the autonomous flight of the flight equipment. It can help the flight equipment maintain a stable flight state in a complex environment and effectively respond to various emergencies, such as autonomously adjusting the flight attitude, speed, altitude, etc., to perform tasks more efficiently and avoid damage to the flight equipment due to dangerous factors such as fire, which enhances its autonomous flight capability in specific scenarios.

[0090] Of course, this embodiment can not only use OpenCV, a powerful computer vision library, but also replace OpenCV with other similar libraries or algorithms, such as TensorFlow, PyTorch, etc., to achieve similar image recognition functions.

[0091] The flight equipment of this embodiment is equipped with advanced visual navigation and image processing technology, which can cope with the complex visual environment of the fire scene, ensure accurate identification of fire information even in thick smoke, and improve fire-fighting efficiency.

[0092] In this embodiment, the back-end system is also used to build a digital twin model of the fire scene based on fire information and environmental data, and generate a fire extinguishing plan based on the digital twin model. This embodiment introduces large-model digital twin technology, through which a digital twin model of the fire scene is constructed. The digital twin model can reflect the real situation of the fire scene in real time, including the fire spread trend, temperature distribution, etc., to provide intuitive and accurate decision-making basis for rescue personnel, and further generate a fire extinguishing plan based on the digital twin model.

[0093] The specific steps to generate a digital twin model are as follows:

[0094] (1) Data collection and preprocessing

[0095] The infrared thermal imaging module (such as an infrared thermal imager) and the environmental data acquisition module (such as a high-definition camera, temperature sensor, humidity sensor, meteorological sensor, etc.) loaded on the first flight equipment body are used to collect real-time data at the fire scene, including fire information and environmental data. The collected real-time data is pre-processed by cleaning, denoising, format conversion, etc. to ensure the accuracy and availability of the real-time data.

[0096] (2) Establishing a digital twin model

[0097] Using 3D modeling software, simulation software and other tools, a digital twin model of the fire scene is established based on pre-processed real-time data. The digital twin model includes key information such as the location of the fire source, the size of the fire, the direction of the fire spread, ambient temperature, humidity, etc. Through the Internet of Things technology, real-time data interaction between the physical fire scene and the digital twin model is achieved, ensuring that the digital twin model can be dynamically updated as the fire scene changes, ensuring the accuracy of the digital twin model.

[0098] (3) Model verification and optimization

[0099] The initially established digital twin model is verified to ensure that it can accurately reflect the actual situation at the fire scene. According to the verification results, necessary adjustments and optimizations are made to the digital twin model to improve the accuracy and reliability of the digital twin model.

[0100] The specific steps for generating a fire extinguishing plan based on the digital twin model are as follows:

[0101] (1) Fire situation analysis

[0102] Artificial intelligence technology is used to analyze the digital twin model in real time to identify key information such as the location of the fire source, the size of the fire, and the direction of fire spread. The analysis results are displayed on the big screen in an intuitive way (such as charts, animations, etc.) for the reference of the commanders.

[0103] (2) Fire extinguishing plan formulation

[0104] Based on the results of the fire situation analysis and combined with parameters such as the flight capability and load capacity of the flying equipment, a detailed fire-fighting plan is formulated to specifically determine key elements such as the fire-fighting route of the second flying equipment, the type, quantity, location and timing of the fire-fighting bombs to be dropped.

[0105] (3) Task execution and monitoring

[0106] The fire-fighting plan is sent to the second flight equipment, and the second flight equipment goes to the fire scene to perform the task according to the predetermined fire-fighting route. During the execution of the task, the fire situation and the status of the second flight equipment are monitored in real time through the digital twin model to ensure the smooth progress of the task. The digital twin model is updated according to the real-time data fed back in real time, and the fire-fighting plan is further adjusted and optimized as necessary to cope with the changes at the fire scene.

[0107] In this embodiment, the back-end system is also used to establish a digital twin model of the fire scene based on fire information and environmental data, and to generate a material deployment plan based on the digital twin model. The material deployment plan includes a fire plan and a material delivery plan. The material delivery plan includes the types of materials required for each material delivery point on the fire-fighting route and the quantity of each type of material.

[0108] The specific steps for generating a material deployment plan based on a digital twin model are as follows:

[0109] (1) Material demand analysis and forecast

[0110] Demand analysis: Based on the fire situation in the digital twin model, analyze the types and quantities of materials that may be needed now and in the future. Materials include fire extinguishing agents, protective equipment, rescue equipment, etc.

[0111] Demand forecasting: Using machine learning algorithms in artificial intelligence technology, combined with historical data and current fire scene conditions, material demand can be predicted, which helps to prepare and allocate materials in advance and improve response speed.

[0112] (2) Formulation of material distribution plan

[0113] Prioritization: Prioritize various types of supplies based on the urgency and importance of the supply needs, giving priority to supplies required to ensure life safety, such as fire extinguishing agents and rescue equipment.

[0114] Distribution strategy formulation: Based on the flight capability, load capacity and other parameters of the second flight equipment, as well as the traffic conditions around the fire scene, the location of material storage points and other factors, a detailed material allocation plan is formulated, which includes determining the flight route, delivery point, and delivery order of the second flight equipment.

[0115] Solution optimization: Use optimization algorithms to optimize the preliminary material allocation plan to ensure that materials can be delivered to demand points in the fastest and most economical way.

[0116] (3) Plan implementation and monitoring

[0117] Task distribution: The optimized material allocation plan is distributed to the second flight equipment or other transportation tools, and they are directed to perform the task according to the predetermined strategy.

[0118] Real-time monitoring: The digital twin model is used to monitor the fire situation and material transportation in real time to ensure the smooth progress of the mission. At the same time, necessary adjustments and optimizations are made to the material allocation plan based on real-time feedback data.

[0119] Among them, the optimization algorithm can adopt a genetic algorithm, and the specific steps of the genetic algorithm are as follows:

[0120] (1) Problem definition and coding

[0121] Specify the goal of the material dispatching problem, such as minimizing flight time. Encode the potential solutions to the problem as individuals in the genetic algorithm, usually using binary or real number encoding.

[0122] (2) Initial population generation

[0123] A certain number of individuals are randomly generated as the initial population to ensure the diversity of the population so as to cover a wider solution space during the search process.

[0124] (3) Fitness function design

[0125] Design a fitness function based on the problem's goal to evaluate the individual's performance. The fitness function should be able to reflect the individual's performance in the material allocation problem.

[0126] (4) Select an operation

[0127] According to the fitness function, individuals in the population are selected to eliminate the weak and the strong. Common selection strategies include roulette selection, tournament selection, and elite selection.

[0128] (5) Crossover operation

[0129] Perform a crossover operation on the selected individuals to generate new individuals. The crossover operation should be able to maintain the diversity of the population and help explore new solution spaces.

[0130] (6) Mutation Operation

[0131] Perform mutation operations on individuals in the population to introduce randomness. Mutation operations help to escape from local optimal solutions and improve global search capabilities.

[0132] (7) Termination condition judgment

[0133] Set the termination condition of the algorithm, such as reaching the maximum number of iterations or the convergence of the fitness function value. When the termination condition is met, the optimal solution or the approximate optimal solution is output.

[0134] (8) Result decoding and application

[0135] The optimal solution or approximate optimal solution output by the genetic algorithm is decoded into an actual material allocation plan.

[0136] The endurance and stability of the power module in a high temperature environment are also important challenges that need to be solved. It is necessary to develop more efficient and durable battery technology to ensure that the flight equipment can continue to work stably at the fire scene. In order to solve this problem, in this embodiment, the first flight equipment body is also loaded with a first battery, which is loaded inside the fuselage of the first flight equipment body, and the second flight equipment body is also loaded with a second battery, which is loaded inside the fuselage of the second flight equipment body. The first battery and the second battery are both lithium iron sulfate batteries, which have the characteristics of high energy density, long life and good safety. They can provide a stable power supply for each module loaded on the flight equipment body, ensuring the long-term and high-intensity operation of the flight equipment. The first battery is electrically connected to the first control module, the infrared thermal imaging module, the environmental data acquisition module and the first positioning module respectively to supply power to them, and the second battery is electrically connected to the second control module, the fire extinguishing module and the second positioning module respectively to supply power to them.

[0137] The limitations of external loading technology are also problems that flight equipment needs to overcome in firefighting and rescue. At present, flight equipment still has certain limitations in carrying modules such as fire extinguishing modules and communication modules, which requires improving the loading capacity of flight equipment. In order to solve this problem, this embodiment can optimize the structural design of flight equipment, and specifically adopt a more optimized structural layout and material selection to improve the load capacity of flight equipment. For example, use high-strength lightweight materials, optimize the fuselage structure, and design a detachable modular loading system so that different types of fire extinguishing modules can be quickly replaced as needed. In addition, this embodiment can also develop multi-flight equipment collaborative operation technology, and realize task allocation and cooperation among multiple flight equipment through intelligent scheduling algorithms and collaborative algorithms. In this way, each flight equipment can share part of the load, jointly complete the fire extinguishing task, and improve the overall loading capacity and efficiency.

[0138] The intelligent scheduling algorithm is designed as follows:

[0139] (1) Task allocation: An algorithm is designed to decompose the overall task into multiple subtasks and assign them to different flight equipment for execution.

[0140] (2) Path planning: Plan the optimal or suboptimal flight path from the starting point to the end point for each flying device, taking into account factors such as obstacle avoidance, energy consumption, and time.

[0141] (3) Resource scheduling: Scheduling the materials carried by flight equipment, such as fire extinguishing agents and rescue equipment, according to mission requirements.

[0142] The collaborative algorithm is designed as follows:

[0143] (1) Communication protocol: Design the communication protocol between flight equipment to ensure the reliability and real-time nature of information transmission.

[0144] (2) Formation maintenance: Design algorithms to enable flight equipment to maintain a predetermined formation during flight to improve operational efficiency and safety.

[0145] (3) Obstacle avoidance and conflict resolution: Design obstacle avoidance algorithms and conflict resolution mechanisms to ensure that flying equipment can fly safely in complex environments.

[0146] (4) Collaborative positioning: Utilize the relative position information between multiple flight devices to achieve accurate collaborative positioning of the target area.

[0147] The problem of data transmission delay cannot be ignored. In fire rescue, timely and accurate acquisition and transmission of fire scene information is crucial for command decision-making. Therefore, it is necessary to continuously optimize the data transmission system of flight equipment to ensure that data can be transmitted in real time and stably. In order to solve this problem, this embodiment adopts high-bandwidth, low-latency communication technology, and specifically integrates advanced communication technologies such as 5G and satellite communications on flight equipment to increase the bandwidth of data transmission and reduce latency. These technologies can ensure that fire scene information can be transmitted to the back-end system in real time and stably, providing strong support for command decision-making. In addition, this embodiment also designs a redundant transmission mechanism and an automatic retransmission algorithm. Even if one transmission path is blocked, data can continue to be transmitted through other paths. At the same time, the automatic retransmission mechanism can ensure the integrity and accuracy of the data.

[0148] In this embodiment, the second flight equipment body is loaded with fire extinguishing bombs through a built-in mounting system, and the fire extinguishing module is mounted at the mounting point under the fuselage for directly extinguishing the fire source to improve the fire extinguishing efficiency. Specifically, the fire extinguishing module is used to launch fire extinguishing bombs by cold firing, and the fire extinguishing bombs are filled with compressed carbon dioxide gas.

[0149] In this embodiment, the environmental data includes environmental images, temperature, humidity, wind speed, and terrain.

[0150] In this embodiment, both the first control module and the second control module use a single-chip microcomputer. The single-chip microcomputer is the core control unit of the flight device, which is responsible for receiving and processing data from each module, and controlling the flight status, task execution, etc. of the flight device based on these data. The single-chip microcomputer receives the data collected from each module in real time, processes and analyzes these data through internal programs, determines the current status of the flight device, such as position, speed, attitude, etc., and calculates the next action of the flight device according to the preset task requirements, and generates control instructions. The single-chip microcomputer sends the control instructions to the actuators of the flight device, such as motors, steering gears, etc., to achieve precise control of the flight device.

[0151] When acquiring speed, this embodiment uses GPS sensor, inertial measurement unit and visual odometer to jointly determine speed, and when acquiring attitude, this embodiment uses inertial measurement unit and magnetometer to jointly determine attitude. Fusing data from different sensors can make full use of their respective advantages and make up for their respective deficiencies, thereby improving the overall measurement accuracy.

[0152] The data processing process is as follows:

[0153] (1) Data collection: The microcontroller receives data from various modules installed on the flight equipment through an interface.

[0154] (2) Data preprocessing: Clean, filter and transform the collected raw data to remove noise and invalid data and retain key data.

[0155] (3) Data analysis: In-depth analysis of preprocessed data, such as calculating the current position, speed, and attitude of the flight device.

[0156] (4) Decision making: Based on the results of data analysis and the preset mission requirements, the next action of the flight equipment is determined.

[0157] (5) Control command output: The decision-making results are converted into control commands and sent to the actuators of the flight equipment to achieve precise control of the flight equipment.

[0158] Taking flight control and fire source location as examples, the algorithm principle can be briefly described as follows:

[0159] Flight control algorithm: Use PID (proportional-integral-differential) control algorithm or more advanced control algorithms, such as fuzzy control, neural network control, etc., to continuously calculate the error between the current position and speed of the flight device and the expected position and speed, and adjust the control parameters of the flight device (such as motor speed, servo angle, etc.), so that the flight device can fly stably and accurately along the preset route.

[0160] Fire source location algorithm: Use infrared thermal imaging technology to obtain thermal imaging images of the fire scene, and extract the location and contour information of the fire source through image recognition algorithms (such as edge detection, threshold segmentation, etc.). Then, combined with the location information of the flight equipment, calculate the distance and azimuth of the fire source relative to the flight equipment, and further generate a fire extinguishing plan to provide accurate data support for fire extinguishing operations.

[0161] Based on the above-mentioned fire rescue system based on flight equipment, the method for realizing fire extinguishing includes the following steps:

[0162] Step 1: The first battery supplies power to various modules of the first flight device, including a first control module, an infrared thermal imaging module, an environmental data acquisition module, a first positioning module, etc.

[0163] Step 2: After the first flight device is powered on, it performs self-test and initialization, including checking the working status of each module, loading the preset cruise route, etc., to ensure that all parts of the first flight device are operating normally.

[0164] Step 3: Based on the initialization result of step 2, the first flying device takes off, starts the first positioning module, and cruises according to a preset cruise route.

[0165] Step 4: The first flight device uses OpenCV and infrared thermal imaging technology to collect key data such as fire intensity and temperature at the fire scene in real time, and transmits the data to the back-end system through the microcontroller.

[0166] Step 5: In the back-end system, use the large-model digital twin technology to build a digital twin model of the fire scene. By simulating and analyzing the digital twin model, the back-end system can quickly assess the severity of the fire, predict the development trend of the fire, and give corresponding rescue suggestions, and generate fire extinguishing plans and material deployment plans. In addition, the material deployment plan can also be completed manually. Rescuers switch multiple pages on a computer based on the suggestions given by the back-end system, and display multiple information such as flight equipment monitoring screens and fire severity analysis at the same time. Based on this information, rescuers can make decisions quickly and deploy materials and personnel in a timely manner to maximize rescue and generate material deployment plans.

[0167] Step 6: The second flight device performs the corresponding task. After approaching the fire source, the second flight device launches a carbon dioxide fire extinguishing bomb through the fire extinguishing module to directly extinguish the fire source.

[0168] Step 7: Repeat steps 5-6 until the fire is completely under control or the second aircraft completes the fire extinguishing mission. The second aircraft returns to the destination and lands autonomously according to the preset program, waiting for the next mission.

[0169] During the entire firefighting process, the flight equipment uses the Beidou satellite navigation system to locate in real time to ensure the accuracy and safety of the flight. At the same time, the single-chip microcomputer processes various data in real time through data processing algorithms to provide accurate decision-making support for firefighting operations.

[0170] This embodiment optimizes the fire rescue system based on flight equipment around the shortcomings of flight equipment, so that the fire extinguishing efficiency of flight equipment is greatly improved during the fire extinguishing process. Starting from the assembly of the flight equipment, a carbon fiber shell is selected to avoid damage to the shell of the flight equipment due to the fire temperature, and a lithium iron sulfate battery is selected to ensure its endurance and stable power supply. Opencv and infrared thermal imaging technology are used to monitor the fire scene and calculate the fire source related data, and then the data is transmitted to the back-end system through the single-chip microcomputer for analysis, processing and sharing, and decision-making is made to dispatch the flight equipment to block the fire. After completing the mission, the flight equipment can return and land autonomously according to the preset program and wait for the next mission. Throughout the process, the efficient, stable and intelligent performance of the flight equipment greatly improved the efficiency and safety of fire rescue.

[0171] The advantages of this embodiment are as follows:

[0172] (1) Integration of fire monitoring and control modules: The system integrates control modules, infrared thermal imaging modules, environmental data acquisition modules, and fire extinguishing modules, etc., and can realize real-time monitoring, remote control, and fire extinguishing operations at the fire scene. Each module can work together to improve overall efficiency.

[0173] (2) Autonomous flight and intelligent navigation technology: The flight equipment uses autonomous flight and intelligent navigation technology, which can autonomously avoid obstacles, accurately locate and accurately release fire bombs.

[0174] (3) Application of large-scale digital twin technology: Integrate large-scale digital twin technology to significantly improve the simulation, prediction and analysis capabilities of fires. Through the optimization of large-scale digital twin technology, accurate prediction of fire development trends can be achieved, providing a scientific basis for rescue decisions. Specifically, digital twin technology is used to build a digital twin model of the fire. The digital twin model can reflect the actual situation of the fire scene in real time, including key information such as fire intensity, temperature, wind direction, etc., providing rescue personnel with intuitive and comprehensive fire situation awareness.

[0175] (4) Intelligent decision-making and material allocation: Through large-scale digital twin technology, the severity of the fire can be analyzed in real time. According to factors such as fire intensity, wind speed, and terrain, the severity and spread of the fire can be quickly assessed, providing strong support for rescue decision-making and realizing intelligent material allocation. Specifically, it can automatically calculate the type and quantity of rescue materials required according to the actual situation at the fire scene, and allocate materials through optimization algorithms to ensure that rescue materials can be delivered to the fire scene in a timely and accurate manner.

[0176] This embodiment can be applied to various types of fire rescue scenarios such as forest fires, building fires, and vehicle fires. The flying equipment can be various types of robots or automated equipment with flying functions such as drones and aircraft, so that a drone-based forest fire rescue system can be constructed, which can be used for forest fire rescue.

[0177] Below is an example of real-time monitoring and material allocation of a forest fire based on drones:

[0178] (1) Real-time drone monitoring

[0179] like Figure 2 As shown in the figure, after the fire broke out, multiple drones quickly flew to the fire scene for real-time monitoring. The high-definition cameras and infrared thermal imagers carried by the drones can capture the images and temperature distribution information of the fire scene in real time, and transmit the data to the central control system (i.e., the back-end system) through the wireless communication network.

[0180] (2) Analysis of large-scale digital twin systems

[0181] like Figure 3 As shown, after the central control system receives the data transmitted by the drone, it uses the large-model digital twin system to conduct real-time analysis and prediction of the fire, builds a digital twin model of the fire based on factors such as fire intensity, wind speed, and terrain, and outputs the prediction results of the fire development trend and analysis information of the fire severity.

[0182] (3) Material Allocation

[0183] like Figure 4 As shown, based on the analysis results of the large-model digital twin system and user needs, the central control system automatically calculates the required material types and quantities, and allocates materials through intelligent algorithms. It can display the situation and progress of material allocation in real time, ensuring that rescue materials can be delivered to the fire scene in a timely and accurate manner.

[0184] By integrating large-scale digital twin technology, the upgrade of forest firefighting drone systems has been achieved, key functions such as fire monitoring, analysis and material deployment have been enhanced, and rescue efficiency and intelligence have been improved. Through the demonstration of specific implementation cases, we can see the effect and value of the solution in practical applications, which will bring greater convenience and benefits to forest firefighting work.

[0185] Example 2

[0186] like Figure 5 As shown, this embodiment provides a working method of a fire rescue system based on an aircraft, which is applied to the fire rescue system based on an aircraft described in Example 1. The working method of the fire rescue system based on an aircraft includes:

[0187] S1: The first control module controls the first flying device body to fly according to a preset cruising route to cruise the fire scene, and receives the thermal imaging images acquired by the infrared thermal imaging module and the environmental data acquired by the environmental data acquisition module during the cruising process.

[0188] S2: The first control module performs image recognition on the thermal imaging image to determine fire information; the fire information includes the location of the fire source, the scope of the fire and the size of the fire.

[0189] S3: The first control module sends the fire information and the environmental data to the backend system, and receives a fire extinguishing plan generated by the backend system based on the fire information and the environmental data; the fire extinguishing plan includes a fire extinguishing route and a fire extinguishing bomb launching position point.

[0190] S4: The second control module controls the second flying device body to fly according to the fire extinguishing route, and controls the fire extinguishing module to launch the fire extinguishing bomb at the fire extinguishing bomb launching position during the flight to complete the fire rescue.

[0191] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0192] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0193] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A fire rescue system based on flying equipment, characterized in that: The fire rescue system based on flight equipment includes: a first flight equipment, a second flight equipment and a backend system, wherein the first flight equipment and the second flight equipment are both communicatively connected to the backend system; The first flying device comprises a first flying device body, the first flying device body is equipped with a first control module, an infrared thermal imaging module and an environmental data acquisition module, the first control module is respectively connected to the infrared thermal imaging module and the environmental data acquisition module in communication; The second flying device comprises a second flying device body, the second flying device body is loaded with a second control module and a fire extinguishing module, and the second control module is communicatively connected with the fire extinguishing module; The first control module is used to control the first flying device body to fly according to a preset cruising route to cruise the fire scene; The infrared thermal imaging module is used to perform thermal imaging of the fire scene during the cruise process to obtain a thermal imaging image; the first control module is also used to perform image recognition on the thermal imaging image to determine fire information; the fire information includes the location of the fire source, the scope of the fire and the size of the fire; The environmental data acquisition module is used to collect environmental information of the fire scene during the cruise process to obtain environmental data; The back-end system is used to receive the fire information and the environmental data, and generate a fire extinguishing plan based on the fire information and the environmental data; the fire extinguishing plan includes a fire extinguishing route and a fire extinguishing bomb launching position point; The second control module is used to receive the fire extinguishing plan, and control the second flying device body to fly according to the fire extinguishing route, and control the fire extinguishing module to launch the fire extinguishing bomb at the fire extinguishing bomb launching position during the flight to complete the fire rescue.

2. The fire rescue system based on flying equipment according to claim 1, characterized in that: The first flying device body and the second flying device body have the same structure; the first flying device body includes a frame and an outer shell, and the outer shell is installed on the frame; the frame is made of magnesium-aluminum alloy material; and the outer shell is made of carbon fiber material.

3. The fire rescue system based on flying equipment according to claim 1, characterized in that: The first flying device body is also equipped with a first positioning module, which is in communication connection with the first control module; the first positioning module adopts the Beidou satellite navigation system; The first positioning module is used to locate the first flying device body, obtain a first position of the first flying device body, and send the first position to the first control module; The first control module is further used to control the first flying device body to fly based on a preset cruising route and the first position, so as to cruise the fire scene; The second flying device body is also equipped with a second positioning module, which is in communication connection with the second control module; the second positioning module adopts the Beidou satellite navigation system; The second positioning module is used to locate the second flying device body, obtain a second position of the second flying device body, and send the second position to the second control module; The second control module is further used to control the flight of the second flying device body based on the fire extinguishing route and the second position.

4. The fire rescue system based on flying equipment according to claim 1, characterized in that: The first control module is also used to perform image recognition on the thermal imaging image based on OpenCV to determine fire information.

5. The fire rescue system based on flying equipment according to claim 1, characterized in that: The back-end system is also used to establish a digital twin model of the fire scene based on the fire information and the environmental data, and generate a fire extinguishing plan based on the digital twin model.

6. The fire rescue system based on flying equipment according to claim 1, characterized in that: The back-end system is also used to establish a digital twin model of the fire scene based on the fire information and the environmental data, and generate a material deployment plan based on the digital twin model; the material deployment plan includes a fire plan and a material delivery plan; the material delivery plan includes the material types required for each material delivery point on the fire extinguishing route and the quantity of each type of material.

7. The fire rescue system based on flying equipment according to claim 3, characterized in that: The first flying device body is also loaded with a first battery, and the second flying device body is also loaded with a second battery, and both the first battery and the second battery are lithium iron sulfate batteries; The first battery is electrically connected to the first control module, the infrared thermal imaging module, the environmental data acquisition module and the first positioning module respectively; The second battery is electrically connected to the second control module, the fire extinguishing module and the second positioning module respectively.

8. The fire rescue system based on flying equipment according to claim 1, characterized in that: The fire extinguishing module is used to launch a fire extinguishing bomb in a cold-fire manner, and the fire extinguishing bomb is filled with compressed carbon dioxide gas.

9. The fire rescue system based on flying equipment according to claim 1, characterized in that: The environmental data includes environmental images, temperature, humidity, wind speed, and terrain.

10. A working method of a fire rescue system based on flying equipment, applied to the fire rescue system based on flying equipment according to any one of claims 1 to 9, characterized in that: The working method of the fire rescue system based on flight equipment includes: The first control module controls the first flying device body to fly according to a preset cruising route to cruise the fire scene, and receives the thermal imaging image acquired by the infrared thermal imaging module and the environmental data acquired by the environmental data acquisition module during the cruising process; The first control module performs image recognition on the thermal imaging image to determine fire information; the fire information includes the location of the fire source, the scope of the fire, and the size of the fire; The first control module sends the fire information and the environmental data to the back-end system, and receives a fire extinguishing plan generated by the back-end system based on the fire information and the environmental data; the fire extinguishing plan includes a fire extinguishing route and a fire extinguishing bomb launching position point; The second control module controls the second flying device body to fly according to the fire extinguishing route, and controls the fire extinguishing module to launch the fire extinguishing bomb at the fire extinguishing bomb launching position during the flight to complete the fire rescue.

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