Fire extinguishing strategy planning method and device, equipment, storage medium and program product

Abstract

The invention relates to a fire extinguishing strategy planning method, device and equipment, a storage medium and a program product, and the method comprises the steps: determining the transportation position and at least one fire extinguishing position of a fire extinguishing unmanned plane according to the traffic geographic information and fire point positions in a target region, and grouping fire points; a control right is distributed to first control equipment located at the transportation position, so that the first control equipment controls the fire extinguishing unmanned aerial vehicle to fly from the transportation position to the target fire extinguishing position; and a control right is distributed to second control equipment located at the target fire extinguishing position, so that the second control equipment controls the fire extinguishing unmanned aerial vehicle to complete fire extinguishing bomb loading work at the target fire extinguishing position and fly to each target fire point included in the target fire point group to complete fire extinguishing until fire extinguishing of each fire point included in each fire point group is completed. The transportation position and the fire extinguishing position can be reasonably planned, the fire extinguishing unmanned aerial vehicle is controlled to fly to the fire extinguishing position to extinguish multiple fire points, the manual carrying time is saved, and the fire extinguishing efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of forest fire prevention technology, and in particular to a fire extinguishing strategy planning method, device, equipment, storage medium and program product. Background Art

[0002] With the global climate change and the intensification of human activities, wildfire accidents frequently occur in the transmission line corridors, posing a severe challenge to the safety and stability of the power grid. Although traditional firefighting methods such as backpack firefighting equipment and long-distance high-lift live firefighting platforms have been put into use, their effects are often unsatisfactory due to factors such as complex terrain, inconvenient transportation and high labor intensity. Although helicopter firefighting technology has the advantages of fast speed and no terrain restrictions, the high rental cost and lack of night operation capabilities make it difficult to continue to use it in large-scale and long-term wildfire prevention and control.

[0003] As an emerging firefighting tool, drones are highly flexible and can be controlled from a distance, without being restricted by the terrain of the fire site. However, in actual applications, due to the high mountains and dangerous roads at wildfire sites, inconvenient transportation, and the various obstacles that may exist around the fire site, drones cannot be directly transported to the best firefighting location. Wildfire sites often show a multi-point burning situation, and the distance between the fire points is far. When a drone extinguishes a fire point, it needs to be quickly transferred to the next fire point. The transportation process of the drone will take a lot of time, resulting in a decrease in the overall firefighting efficiency. Therefore, how to plan drone firefighting strategies to ensure that drones can complete firefighting tasks efficiently and safely is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a fire extinguishing strategy planning method, device, equipment, storage medium and program product.

[0005] A first aspect of an embodiment of the present disclosure provides a fire extinguishing strategy planning method, the method comprising:

[0006] Obtain traffic geographic information, fire location and obstacle location within the target area;

[0007] Determine the transportation position of the fire-fighting drone according to the traffic geographic information and the fire point location, wherein the distance between the transportation position and each fire point location is less than or equal to a preset communication distance;

[0008] Determine at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and group the fire points, each fire point group corresponds to a fire extinguishing position, and there are no obstacles between the fire extinguishing position corresponding to the fire point group and the fire point positions of each fire point included in the fire point group and the transport position;

[0009] Allocating control rights of the fire-fighting drone to a first control device located at the transport position, so that the first control device controls the fire-fighting drone to fly from the transport position to a target fire-fighting position corresponding to a target fire point group in each fire point group;

[0010] Assign control rights to the fire-fighting drone to a second control device located at the target fire-fighting position, so that the second control device controls the fire-fighting drone to complete the loading of fire-fighting bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires at each target fire point included in the target fire point group are extinguished, determine a new target fire point group from each fire point group and assign control rights to the fire-fighting drone until each fire point included in each fire point group has been extinguished.

[0011] A second aspect of an embodiment of the present disclosure provides a fire extinguishing strategy planning device, the device comprising:

[0012] An acquisition module is used to obtain traffic geographic information, fire point locations and obstacle locations within the target area;

[0013] A first determination module is used to determine the transportation position of the fire-fighting drone according to the traffic geographic information and the fire point location, and the distance between the transportation position and each fire point location is less than or equal to a preset communication distance;

[0014] A second determination module is used to determine at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and to group the fire points, each fire point group corresponds to a fire extinguishing position, and there is no obstacle between the fire extinguishing position corresponding to the fire point group and the fire point positions of each fire point included in the fire point group and the transport position;

[0015] A first allocation module is used to allocate the control right of the fire-fighting drone to the first control device located at the transport position, so that the first control device controls the fire-fighting drone to fly from the transport position to the target fire-fighting position corresponding to the target fire point group in each fire point group;

[0016] The second allocation module is used to allocate the control right of the fire-fighting drone to the second control device located at the target fire-fighting position, so that the second control device controls the fire-fighting drone to complete the loading of fire-fighting bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires of each target fire point included in the target fire point group are extinguished, a new target fire point group is determined from each fire point group and the control right of the fire-fighting drone is allocated until each fire point included in each fire point group has been extinguished.

[0017] A third aspect of an embodiment of the present disclosure provides a computer device, including a memory and a processor, and a computer program, wherein the computer program is stored in the memory, and when the computer program is executed by the processor, the fire extinguishing strategy planning method as described in the first aspect above is implemented.

[0018] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the fire extinguishing strategy planning method as described in the first aspect above is implemented.

[0019] A fifth aspect of an embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the fire extinguishing strategy planning method as described in the first aspect above.

[0020] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0021] In the fire extinguishing strategy planning method, device, equipment, storage medium and program product provided in the embodiments of the present disclosure, by acquiring traffic geographic information, fire point location and obstacle location in the target area, the transportation location of the fire extinguishing drone is determined according to the traffic geographic information and the fire point location, and the distance between the transportation location and each fire point location is less than or equal to the preset communication distance. According to the transportation location, the fire point location and the obstacle location, at least one fire extinguishing location is determined, and the fire points are grouped, each fire point group corresponds to a fire extinguishing location, and there are no obstacles between the fire extinguishing location corresponding to the fire point group and the fire point locations of each fire point included in the fire point group and the transportation location. The control right of the fire extinguishing drone is allocated to the first control device located at the transportation location, so that the first control device controls the fire extinguishing drone to fly from the transportation location to the target fire point group corresponding to each fire point group. The target fire extinguishing position is determined, and the control right of the fire-fighting UAV is allocated to the second control device located at the target fire extinguishing position, so that the second control device controls the fire-fighting UAV to complete the loading of fire-extinguishing bombs at the target fire extinguishing position and fly to each target fire point included in the target fire point grouping to complete the fire extinguishing. After the fires of each target fire point included in the target fire point grouping are extinguished, a new target fire point grouping is determined from each fire point grouping and the control right of the fire-fighting UAV is allocated until each fire point included in each fire point grouping has been extinguished. The transportation position and the fire-fighting position can be reasonably planned, so that the fire-fighting UAV can fly directly to the fire-fighting position after being transported to the transportation position, and switch between different fire-fighting positions to realize the extinguishing of multiple fire points, which significantly reduces the transportation and waiting time, improves the efficiency and response speed of multi-fire point fire extinguishing, and provides strong technical support for fire emergency response in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 is a flow chart of a fire extinguishing strategy planning method provided by an embodiment of the present disclosure;

[0025] Figure 2 is a flow chart of a method for grouping fire points provided by an embodiment of the present disclosure;

[0026] Figure 3 is a flow chart of a method for optimizing fire extinguishing position provided by an embodiment of the present disclosure;

[0027] Figure 4 It is a structural schematic diagram of a fire extinguishing strategy planning device provided by an embodiment of the present disclosure;

[0028] Figure 5 It is a structural diagram of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0031] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0032] Figure 1is a flow chart of a fire extinguishing strategy planning method provided by an embodiment of the present disclosure. The method can be executed by a fire extinguishing strategy planning device. The fire extinguishing strategy planning device can be implemented in software and / or hardware. The fire extinguishing strategy planning device can be configured in an electronic device, such as a server or a terminal, wherein the terminal specifically includes a mobile phone, a computer or a tablet computer, etc. Figure 1 As shown, the fire extinguishing strategy planning method provided in this embodiment includes the following steps:

[0033] S101. Obtain traffic geographic information, fire point locations, and obstacle locations within a target area.

[0034] The target area in the disclosed embodiment can be understood as an area where a fire-fighting drone is required to extinguish a wildfire. For example, the size of the target area can be pre-set based on the maximum communication distance of the fire-fighting drone receiving the signal.

[0035] The traffic geographic information in the embodiment of the present disclosure may include road information and geographic information (such as terrain information, elevation information, etc.).

[0036] The obstacles in the embodiments of the present disclosure can be understood as obstacles that block the sight of the operator or the control equipment when the drone is being controlled to fly or perform fire-fighting tasks, thereby hindering the operation.

[0037] In the disclosed embodiment, the fire extinguishing strategy planning device can obtain traffic geographic information, the location of the fire point, and the location of obstacles that block the line of sight in the target area when it is necessary to plan a fire extinguishing strategy for a wildfire accident in the target area.

[0038] In an exemplary implementation of the disclosed embodiment, the fire extinguishing strategy planning device can filter out the traffic geographic information and obstacle locations in the target area from the pre-acquired traffic geographic information and obstacle location information of each area based on the location information of the target area (such as the longitude and latitude of the center point, the area radius or the longitude and latitude of the area boundary point, etc.), and then determine the fire point location in the target area based on the fire point location information input by the staff or the collected bird's-eye view image of the fire scene.

[0039] S102: Determine the transportation position of the fire-fighting drone based on the traffic geographic information and the fire point location, and the distance between the transportation position and each fire point location is less than or equal to a preset communication distance.

[0040] The transport location in the disclosed embodiment may be understood as the location where the vehicle carrying the fire-fighting drone transports the fire-fighting drone to and unloads the fire-fighting drone.

[0041] The communication distance in the embodiment of the present disclosure can be understood as the maximum distance at which the fire-fighting drone can receive the control signal when the drone is remotely controlled.

[0042] In the disclosed embodiment, after acquiring the traffic geographic information, fire point location and obstacle location in the target area, the fire extinguishing strategy planning device can determine a transportation position whose distance to each fire point location is less than or equal to the communication distance based on the pre-acquired communication distance of the fire extinguishing drone.

[0043] In an exemplary implementation of the disclosed embodiment, the fire extinguishing strategy planning device can first determine multiple communication areas with each fire point location as the center and the communication distance as the radius, and then determine the intersection area of ​​each communication area, and then determine the driving position that the vehicle transporting the fire-fighting drone can reach based on the traffic geographic information, and determine a driving position located in the intersection area as the transportation position.

[0044] S103. Determine at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and group the fire points, wherein each fire point group corresponds to a fire extinguishing position, and there are no obstacles between the fire extinguishing position corresponding to the fire point group and the fire point positions of each fire point included in the fire point group and the transport position.

[0045] The fire extinguishing position in the embodiment of the present disclosure can be understood as the position where the fire extinguishing drone takes off and lands and loads fire extinguishing bombs when performing fire extinguishing operations on one or more fire points. When manual control of the fire extinguishing drone is required to complete the fire extinguishing task, the fire extinguishing position is also the position of the control personnel.

[0046] In the disclosed embodiment, the fire extinguishing strategy planning device can determine at least one fire extinguishing position and fire point grouping according to the above information after determining the transportation position, fire point position and obstacle position, and each fire point grouping corresponds to a fire extinguishing position to ensure that there are no obstacles between the fire extinguishing positions corresponding to each fire point grouping and the fire point positions of each fire point included in the fire point grouping, and at the same time, there are no obstacles between the fire extinguishing positions corresponding to each fire point grouping and the transportation position, thereby ensuring that the control personnel's line of sight is not blocked by obstacles when controlling the fire extinguishing drone to fly to each fire point at the fire extinguishing position.

[0047] In an exemplary implementation of the disclosed embodiment, the fire extinguishing strategy planning device may input the transport position, the fire point position and the obstacle position into a pre-trained spatial analysis model, and the spatial analysis model may output the fire extinguishing position and the corresponding fire point grouping. Specifically, the spatial analysis model may first preliminarily screen the fire extinguishing positions, and then perform a line of sight analysis on each preliminarily screened fire extinguishing position to ensure that there are no obstacles on the straight line between it and the fire point position of each fire point group, and also ensure that there are no obstacles on the straight line between these fire extinguishing positions and the transport position. Based on the results of the line of sight analysis, the fire points are grouped to ensure that the fire points in each fire point group can be effectively covered by their corresponding fire extinguishing positions and meet the obstacle-free condition.

[0048] Optionally, preset constraints can be used to determine the fire extinguishing positions and fire point groupings, and the constraints may include at least one of the following conditions: the distance between the fire extinguishing positions corresponding to each fire point grouping and the fire point positions of each fire point included in the fire point grouping is less than or equal to the communication distance, the maximum distance between the fire extinguishing drone and the transportation position during the flight is less than or equal to the communication distance, the maximum distance between the fire extinguishing drone and at least one fire extinguishing position during the flight is less than or equal to the communication distance, there are no obstacles between the fire extinguishing position and the transportation position, there are no obstacles between the fire extinguishing drone and both the transportation position and the fire extinguishing position during the flight, and the total number of fire extinguishing positions is a minimum.

[0049] S104. Allocate control rights of the fire-fighting drone to the first control device located at the transport position, so that the first control device controls the fire-fighting drone to fly from the transport position to the target fire-fighting position corresponding to the target fire point group in each fire point group.

[0050] In the disclosed embodiment, the fire extinguishing strategy planning device can allocate control rights of the fire-fighting drone to the first control device located at the transport position after determining each fire point grouping and its corresponding fire extinguishing position, so that the first control device with control rights can control the fire-fighting drone to fly from the transport position to the target fire-fighting position corresponding to the target fire point group in each fire point grouping. Specifically, relevant personnel performing the fire-fighting task can control the fire-fighting drone to fly from the transport position to the target fire-fighting position through the first control device.

[0051] S105. Assign control rights of a fire-fighting drone to a second control device located at the target fire-fighting position, so that the second control device controls the fire-fighting drone to complete the loading of fire-fighting bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires of each target fire point included in the target fire point group are extinguished, determine a new target fire point group from each fire point group and assign control rights of the fire-fighting drone until each fire point included in each fire point group has been extinguished.

[0052] In the disclosed embodiment, the fire extinguishing strategy planning device can allocate the control right of the fire extinguishing drone to the second control device located at the target fire extinguishing position after the first control device controls the fire extinguishing drone to fly from the transport position to the target fire extinguishing position, so that the second control device controls the fire extinguishing drone to complete the loading of fire extinguishing bombs at the target fire extinguishing position and fly to each target fire point included in the target fire point group to complete the fire extinguishing. After the fires of each target fire point included in the target fire point group are extinguished, a new target fire point group is determined from each fire point group, and then a new target fire extinguishing position corresponding to the new target fire point group is determined, and the control right of the fire extinguishing drone is allocated to the control device located at the new target fire extinguishing position, so that the control device controls the fire extinguishing drone to complete the loading of fire extinguishing bombs at the new target fire extinguishing position and fly to each target fire point included in the new target fire point group to complete the fire extinguishing, and so on, until each fire point included in each fire point group has been extinguished.

[0053] In an exemplary implementation of the disclosed embodiment, when the distance between the transport position and the first target fire extinguishing position is greater than the communication distance, the fire extinguishing strategy planning device can, during the process in which the first control device controls the fire extinguishing drone to fly from the transport position to the first target fire extinguishing position, when the distance between the fire extinguishing drone and the transport position is about to reach the communication distance, allocate the control right of the fire extinguishing drone to the second control device located at the target fire extinguishing position, so that the second control device controls the fire extinguishing drone to fly from the current position to the first target fire extinguishing position, and then controls the fire extinguishing drone to complete the loading of fire extinguishing bombs at the target fire extinguishing position and fly to each target fire point included in the target fire point grouping to complete the fire extinguishing. When the distance between the next target fire extinguishing position and the current target fire extinguishing position is greater than the communication distance, the fire extinguishing strategy planning device can also use a similar method to allocate control rights to the control device.

[0054] Optionally, when the number of control equipment or fire-fighting related personnel is limited, the control equipment or fire-fighting related personnel can move between the transportation position or different fire-fighting positions. For example, after the first control device located at the transportation position controls the fire-fighting drone to fly from the transportation position to the fire-fighting position A, the first control device moves from the transportation position to the fire-fighting position B. After the second control device located at the fire-fighting position A controls the fire-fighting drone to complete the loading of fire-fighting bombs at the fire-fighting position A and fly to each fire point included in the fire point group corresponding to the fire-fighting position A to complete the fire-fighting, and controls the fire-fighting drone to fly from the fire-fighting position A to the fire-fighting position B, the second control device moves from the fire-fighting position A to the fire-fighting position C. At the same time, the first control device located at the fire-fighting position B continues to control the fire-fighting drone to complete the loading of fire-fighting bombs at the fire-fighting position B and fly to each fire point included in the fire point group corresponding to the fire-fighting position B to complete the fire-fighting, and controls the fire-fighting drone to fly from the fire-fighting position B to the fire-fighting position C, and so on, until all the fire points included in each fire point group have been extinguished.

[0055] The disclosed embodiment obtains traffic geographic information, fire point locations and obstacle locations in a target area, determines the transportation location of the fire-fighting drone based on the traffic geographic information and the fire point locations, wherein the distance between the transportation location and each fire point location is less than or equal to a preset communication distance, determines at least one fire-fighting location based on the transportation location, the fire point location and the obstacle location, and groups the fire points, wherein each fire point group corresponds to a fire-fighting location, wherein there are no obstacles between the fire-fighting locations corresponding to the fire point groups and the fire point locations of each fire point included in the fire point group and the transportation location, and allocates control rights of the fire-fighting drone to a first control device located at the transportation location, so that the first control device controls the fire-fighting drone to fly from the transportation location to the target fire-fighting location corresponding to the target fire point group in each fire point group, and controls the fire-fighting drone located at the target fire point group. The second control device at the position allocates control rights of the fire-fighting UAV, so that the second control device controls the fire-fighting UAV to complete the loading of fire-extinguishing bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires of each target fire point included in the target fire point group are extinguished, a new target fire point group is determined from each fire point group and control rights of the fire-fighting UAV are allocated until all fire points included in each fire point group have been extinguished. The transportation position and the fire-fighting position can be reasonably planned, so that the fire-fighting UAV can fly directly to the fire-fighting position after being transported to the transportation position, and switch between different fire-fighting positions to achieve fire-fighting of multiple fire points, which significantly reduces the transportation and waiting time, improves the efficiency and response speed of fire-fighting at multiple fire points, and provides strong technical support for fire emergency response in complex environments.

[0056] Figure 2 is a flow chart of a method for grouping fire points provided by an embodiment of the present disclosure, such as Figure 2 As shown, based on the above embodiment, the fire points can be grouped by the following method.

[0057] S201. Determine a fire extinguishing position according to the transport position, the fire point position and the obstacle position, so that the sum of the number of obstacles between the fire extinguishing position and each fire point position is minimized, and there is no obstacle between the fire extinguishing position and the transport position.

[0058] In the disclosed embodiment, when determining the fire extinguishing position and fire point grouping, the fire extinguishing strategy planning device can first determine a fire extinguishing position where the sum of the number of obstacles between each fire point position is the smallest and there are no obstacles between the fire extinguishing position and the transport position based on the transport position, fire point position and obstacle position. This fire extinguishing position is the first fire extinguishing position determined.

[0059] In an exemplary implementation of the present disclosure, the fire extinguishing strategy planning device can use a search algorithm (including global search and local search) combined with pre-set obstacle constraints to determine an optimal solution, which is the coordinates of the target determined fire extinguishing position.

[0060] S202: If the sum of the number of obstacles between the fire extinguishing position and each fire point position is zero, and the distance between the fire extinguishing position and each fire point position is less than or equal to the communication distance, it is determined that the fire point group corresponding to the fire extinguishing position contains each fire point.

[0061] In the disclosed embodiment, after determining a fire extinguishing position, the fire extinguishing strategy planning device can determine that the fire extinguishing position can cover all fire points if the sum of the number of obstacles between the fire extinguishing position and the positions of each fire point is equal to zero, and the distances between the fire extinguishing position and the positions of each fire point are less than or equal to the communication distance. Therefore, it can be determined that the fire point group corresponding to the fire extinguishing position contains each fire point.

[0062] S203. If the sum of the number of obstacles between the fire extinguishing position and each fire point position is greater than zero, and / or there is a fire point position whose distance from the fire extinguishing position is greater than the communication distance, then the fire point corresponding to the fire point position whose number of obstacles between the fire extinguishing position is zero and whose distance from the fire extinguishing position is less than or equal to the communication distance is determined as the fire point included in the fire point group corresponding to the fire extinguishing position, and the next fire extinguishing position and the fire points included in the fire point group corresponding to the next fire extinguishing position are determined based on the transportation position, the fire point positions of the ungrouped fire points and the obstacle positions, until the fire points are grouped.

[0063] In the disclosed embodiment, after determining a fire extinguishing position, the fire extinguishing strategy planning device may screen out fire points whose number of obstacles between the fire extinguishing position and the positions of each fire point is equal to zero and whose distance between the corresponding fire point position and the fire extinguishing position is less than or equal to the communication distance if the fire extinguishing position satisfies at least one of the following conditions: the sum of the number of obstacles between the fire extinguishing position and the positions of each fire point is greater than zero, and the distance between the fire extinguishing position and the fire point position of at least one fire point is greater than the communication distance, and determine the screened out fire points as the fire points included in the fire point group corresponding to the fire extinguishing position. After the fire point group corresponding to the first fire extinguishing position is determined, continue to determine the next fire extinguishing position and the fire points included in the fire point group corresponding to the next fire extinguishing position based on the transportation position, the fire point positions of the ungrouped fire points, and the obstacle positions. The specific method is the same as the method for determining the first fire extinguishing position and the fire point group corresponding to the first fire extinguishing position, and so on, until all fire points have been grouped.

[0064] Optionally, when there are at least two fire extinguishing positions, there is no obstacle between any two adjacent fire extinguishing positions determined based on the determination order of each fire extinguishing position, that is, starting from the second fire extinguishing position, there is no obstacle between the newly determined fire extinguishing position and the previously determined fire extinguishing position, thereby ensuring that the line of sight of fire-fighting personnel is not blocked by obstacles when they control the fire-fighting drone at the fire extinguishing position to fly to the next fire extinguishing position.

[0065] The disclosed embodiment determines a fire extinguishing position according to the transport position, the fire point position and the obstacle position, so that the sum of the number of obstacles between the fire extinguishing position and each fire point position is minimized, and there are no obstacles between the fire extinguishing position and the transport position. If the sum of the number of obstacles between the fire extinguishing position and each fire point position is equal to zero, and the distance between the fire extinguishing position and each fire point position is less than or equal to the communication distance, then it is determined that the fire point group corresponding to the fire extinguishing position contains each fire point. If the sum of the number of obstacles between the fire extinguishing position and each fire point position is greater than zero, and / or there is a distance between the fire extinguishing position and each fire point position greater than the communication distance, The fire point position is determined as the fire point corresponding to the fire point position whose number of obstacles between the fire extinguishing position and the fire point position is zero and whose distance to the fire extinguishing position is less than or equal to the communication distance. The next fire extinguishing position and the fire points included in the fire point group corresponding to the fire extinguishing position are determined according to the transportation position, the fire point position of the ungrouped fire point and the obstacle position, until the fire points are grouped, so that the fire extinguishing position can cover as many fire points as possible, reduce the setting of the fire extinguishing position, thereby shortening the flight time of the fire extinguishing drone between different fire extinguishing positions and improving the fire extinguishing efficiency.

[0066] Optionally, the fire extinguishing strategy planning device can determine at least one fire extinguishing position based on the transportation position, the fire point position and the obstacle position, and after grouping the fire point positions, determine the first fire extinguishing position as the target fire extinguishing position based on the determination order of each fire extinguishing position, and when determining a new target fire point grouping from each fire point grouping, determine the fire point grouping corresponding to the next fire extinguishing position determined after the target fire extinguishing position as the new target fire point grouping based on the determination order of each fire extinguishing position.

[0067] Specifically, after executing S103, the fire extinguishing strategy planning device can determine the first fire extinguishing position determined first as the target fire extinguishing position according to the determination order of each fire extinguishing position, and when executing S105, when it is necessary to determine a new target fire point grouping from each fire point grouping, according to the latest target fire extinguishing position currently determined, in accordance with the determination order of each fire extinguishing position in S203, the next fire extinguishing position of the target fire extinguishing position is determined as the new target fire extinguishing position, and the fire point group corresponding to the new target fire extinguishing position is determined as the new target fire point grouping.

[0068] Figure 3 is a flow chart of a method for optimizing fire extinguishing position provided by an embodiment of the present disclosure, such as Figure 3 As shown, based on the above embodiments, the fire extinguishing position can be optimized by the following method.

[0069] S301. Determine a candidate fire extinguishing position area according to the transport position, the fire point position and the obstacle position, and determine a fire extinguishing position in the candidate fire extinguishing position area. The sum of the number of obstacles between any position in the candidate fire extinguishing position area and each fire point position is the smallest and there is no obstacle between any position in the candidate fire extinguishing position area and the transport position.

[0070] In the disclosed embodiment, the fire extinguishing strategy planning device can determine, based on the transport position, the fire point position and the obstacle position, a fire extinguishing position where the sum of the numbers of obstacles between each fire point position and there are no obstacles between the fire extinguishing position and the transport position. The device can first determine a fire extinguishing position candidate area that meets the above conditions, and any position within the fire extinguishing position candidate area also meets the above conditions, and then select a fire extinguishing position within the fire extinguishing position candidate area.

[0071] S302: Obtain the fire area and vegetation type of each fire point included in the fire point group corresponding to the fire extinguishing position, and determine the fire extinguishing difficulty coefficient corresponding to the vegetation type.

[0072] The fire extinguishing difficulty coefficient in the embodiment of the present disclosure can be understood as an indicator for measuring the difficulty of fire extinguishing, which is comprehensively evaluated based on the characteristics of different vegetation types, such as flammability, density, structure, distribution and other factors.

[0073] In the disclosed embodiment, the fire extinguishing strategy planning device can obtain the fire area and vegetation type of each fire point contained in the fire point group after determining the fire extinguishing location and the fire point group corresponding to the fire extinguishing location, and determine the fire extinguishing difficulty coefficient corresponding to the vegetation type.

[0074] In an exemplary implementation of the disclosed embodiment, the fire extinguishing strategy planning device can obtain the fire area and vegetation type of each fire point input by the staff, or determine the fire area and vegetation type of each fire point based on the pre-collected fire scene bird's-eye view image, and determine the fire extinguishing difficulty coefficient corresponding to the vegetation type based on the correspondence between the pre-acquired vegetation type and the fire extinguishing difficulty coefficient. For example, the fire extinguishing difficulty coefficient corresponding to the thatch vegetation type is 3, the fire extinguishing difficulty coefficient corresponding to the shrub vegetation type is 1.2, the fire extinguishing difficulty coefficient corresponding to the tree vegetation type is 1, the fire extinguishing difficulty coefficient corresponding to the stepped combustible vegetation type without thatch is 1.5, and the fire extinguishing difficulty coefficient corresponding to the stepped combustible vegetation type with thatch is 1.8.

[0075] S303. According to the fire extinguishing efficiency parameters corresponding to each fire point contained in the fire point grouping, the optimal fire extinguishing position with the highest comprehensive efficiency is determined from the fire extinguishing position candidate area. The fire extinguishing efficiency parameter is determined based on the fire area of ​​each fire point, the fire extinguishing difficulty coefficient and the distance between the fire point position and each position in the position candidate area.

[0076] The fire extinguishing efficiency parameter in the embodiment of the present disclosure can be understood as a parameter used to evaluate the fire extinguishing speed of each fire point. For example, for position A in the position candidate area, the fire extinguishing efficiency parameter corresponding to fire point 1 can be calculated in the following way: the fire area of ​​fire point 1 × the fire extinguishing difficulty coefficient of fire point 1 / the distance between the fire point position of fire point 1 and position A, and the comprehensive efficiency can be understood as the average value of the fire extinguishing efficiency parameters corresponding to each fire point contained in the fire point group for a certain position in the position candidate area.

[0077] In the disclosed embodiment, the fire extinguishing strategy planning device can, after determining the fire area and fire extinguishing difficulty coefficient corresponding to each fire point included in the fire point grouping, calculate the fire extinguishing efficiency parameters of each fire point corresponding to each position in the position candidate area, and then calculate the fire point grouping corresponding to the fire point grouping as a whole based on the fire extinguishing efficiency parameters of each fire point, select the position with the highest comprehensive efficiency in the position candidate area, and determine it as the optimal fire extinguishing position.

[0078] S304: Update the fire extinguishing position using the optimal fire extinguishing position.

[0079] In the disclosed embodiment, after determining the optimal fire extinguishing position, the fire extinguishing strategy planning device may use the optimal fire extinguishing position to update the fire extinguishing position determined in S301.

[0080] The disclosed embodiment determines a fire extinguishing position candidate area according to the transport position, the fire point position and the obstacle position, and determines a fire extinguishing position in the fire extinguishing position candidate area, the sum of the number of obstacles between any position in the fire extinguishing position candidate area and each fire point position is the smallest and there is no obstacle between any position and the transport position, obtains the fire field area and vegetation type of each fire point included in the fire point group corresponding to the fire extinguishing position, and determines the fire extinguishing difficulty coefficient corresponding to the vegetation type, and determines the optimal fire extinguishing position with the highest comprehensive efficiency from the fire extinguishing position candidate area according to the fire extinguishing efficiency parameters corresponding to each fire point included in the fire point group, the fire extinguishing efficiency parameters are determined according to the fire field area of ​​each fire point, the fire extinguishing difficulty coefficient and the distance between the fire point position and each position in the position candidate area, and the fire extinguishing position is updated by using the optimal fire extinguishing position, so that the fire point that is difficult to extinguish is closer to the fire extinguishing position, which is convenient for the fire-fighting drone to return to the fire extinguishing position for multiple times to load fire extinguishing bombs and then return to the fire point that is difficult to extinguish for extinguishing, and the round-trip flight distance is shorter, thereby further improving the fire extinguishing efficiency.

[0081] Optionally, when the distance between the transport position and each fire extinguishing position is less than or equal to the communication distance, the fire extinguishing strategy planning device can allocate control rights of the fire-fighting drone to the third control device located at the transport position after all the fire points included in each fire point group have been extinguished, so that the third control device controls the fire-fighting drone to fly from the current fire extinguishing position to the transport position.

[0082] Specifically, when the distance between the transport position and each fire extinguishing position is less than or equal to the communication distance, the fire extinguishing strategy planning device can, after all the fire points included in each fire point group have been extinguished, no matter which fire extinguishing position the fire extinguishing drone is currently located at, the distance between it and the transport position is less than or equal to the communication distance. The third control device located at the transport position can directly control the fire extinguishing drone to fly from the current fire extinguishing position to the transport position to complete the recovery of the fire extinguishing drone.

[0083] Optionally, when there is a fire-fighting position whose distance from the transport position is greater than the communication distance, if after extinguishing all fire points, the distance between the current fire-fighting position of the fire-fighting drone and the transport position is less than or equal to the communication distance, the control right of the fire-fighting drone is allocated to the third control device located at the transport position, so that the third control device controls the fire-fighting drone to fly from the current fire-fighting position to the transport position. If the distance between the current fire-fighting position of the fire-fighting drone and the transport position is greater than the communication distance, the control device located at the current fire-fighting position of the fire-fighting drone is used to control the fire-fighting drone to fly to the previous fire-fighting position, and the control right is allocated to the control device located at the previous fire-fighting position, and then it is determined whether the distance between the previous fire-fighting position and the transport position is less than or equal to the communication distance. If so, the control device is used to control the fire-fighting drone to fly directly to the transport position, otherwise the control device continues to be used to control the fire-fighting drone to fly to the next previous fire-fighting position, and so on, until the fire-fighting drone flies back to the transport position.

[0084] Figure 4 Schematic diagram of a fire extinguishing strategy planning device provided by an embodiment of the present disclosure. Figure 4As shown, the fire extinguishing strategy planning device 400 includes: an acquisition module 410, a first determination module 420, a second determination module 430, a first allocation module 440, and a second allocation module 450, wherein the acquisition module 410 is used to acquire traffic geographic information, fire point locations, and obstacle locations in the target area; the first determination module 420 is used to determine the transportation location of the fire-fighting drone according to the traffic geographic information and the fire point locations, and the distance between the transportation location and each fire point location is less than or equal to the preset communication distance; the second determination module 430 is used to determine at least one fire extinguishing location according to the transportation location, the fire point location, and the obstacle location, and group the fire points, each fire point group corresponds to a fire extinguishing location, and the fire extinguishing location corresponding to the fire point group is consistent with the fire point locations of each fire point contained in the fire point group and the transportation location There are no obstacles between the positions; a first allocation module 440 is used to allocate the control right of the fire-fighting UAV to the first control device located at the transport position, so that the first control device controls the fire-fighting UAV to fly from the transport position to the target fire-fighting position corresponding to the target fire point group in each fire point group; a second allocation module 450 is used to allocate the control right of the fire-fighting UAV to the second control device located at the target fire-fighting position, so that the second control device controls the fire-fighting UAV to complete the loading of fire-fighting bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires of each target fire point included in the target fire point group are extinguished, a new target fire point group is determined from each fire point group and the control right of the fire-fighting UAV is allocated until each fire point included in each fire point group has been extinguished.

[0085] Optionally, the first determination module 420 includes: a first determination unit, used to determine a fire extinguishing position according to the transport position, the fire point position and the obstacle position, so that the sum of the number of obstacles between the fire extinguishing position and each fire point position is minimized, and there is no obstacle between the fire extinguishing position and the transport position; a second determination unit, used to determine that the fire point group corresponding to the fire extinguishing position contains each fire point if the sum of the number of obstacles between the fire extinguishing position and each fire point position is equal to zero, and the distance between the fire extinguishing position and each fire point position is less than or equal to the communication distance; a third determination unit, used to If the sum of the number of obstacles between the fire extinguishing position and each fire point position is greater than zero, and / or there is a fire point position whose distance from the fire extinguishing position is greater than the communication distance, then the fire point corresponding to the fire point position whose number of obstacles between the fire extinguishing position is zero and whose distance from the fire extinguishing position is less than or equal to the communication distance is determined as the fire point included in the fire point group corresponding to the fire extinguishing position, and based on the transport position, the fire point positions of the ungrouped fire points and the obstacle position, the next fire extinguishing position and the fire points included in the fire point group corresponding to the next fire extinguishing position are determined until the fire points are grouped.

[0086] Optionally, when there are at least two fire extinguishing positions, there is no obstacle between any two adjacent fire extinguishing positions determined based on the determination order of the fire extinguishing positions.

[0087] Optionally, the fire extinguishing strategy planning device 400 includes: a third determination module, used to determine the first fire extinguishing position as the target fire extinguishing position based on the determination order of each fire extinguishing position; the second allocation module 450 includes: a fourth determination unit, used to determine the fire point group corresponding to the next fire extinguishing position determined after the target fire extinguishing position as the new target fire point group based on the determination order of each fire extinguishing position.

[0088] Optionally, the first determination unit is specifically used to determine a fire extinguishing position candidate area according to the transport position, the fire point position and the obstacle position, and to determine a fire extinguishing position within the fire extinguishing position candidate area, wherein the sum of the number of obstacles between any position within the fire extinguishing position candidate area and each fire point position is minimal and there is no obstacle between the position and the transport position; the first determination module 420 also includes: an acquisition unit, used to acquire the fire area and vegetation type of each fire point contained in the fire point grouping corresponding to the fire extinguishing position, and determine the fire extinguishing difficulty coefficient corresponding to the vegetation type; an optimization unit, used to determine the optimal fire extinguishing position with the highest comprehensive efficiency from the fire extinguishing position candidate area according to the fire extinguishing efficiency parameters corresponding to each fire point contained in the fire point grouping, wherein the fire extinguishing efficiency parameters are determined based on the fire area of ​​each fire point, the fire extinguishing difficulty coefficient and the distance between the fire point position and each position in the position candidate area; an updating unit, used to update the fire extinguishing position using the optimal fire extinguishing position.

[0089] Optionally, the distance between the transport position and each fire-fighting position is less than or equal to the communication distance, and the fire-fighting strategy planning device 400 includes: a third allocation module, used to allocate control rights of the fire-fighting drone to a third control device located at the transport position, so that the third control device controls the fire-fighting drone to fly from the current fire-fighting position to the transport position.

[0090] The fire extinguishing strategy planning device provided in this embodiment can execute the method described in any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0091] Figure 5 It is a structural diagram of a computer device provided in an embodiment of the present disclosure.

[0092] like Figure 5 As shown, the computer device may include a processor 510 and a memory 520 storing computer program instructions.

[0093] Specifically, the processor 510 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0094] The memory 520 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 520 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 520 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 520 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 520 is a non-volatile solid-state memory. In a particular embodiment, the memory 520 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0095] The processor 510 reads and executes the computer program instructions stored in the memory 520 to perform the steps of the fire extinguishing strategy planning method provided in the embodiment of the present disclosure.

[0096] In one example, the computer device may further include a transceiver 530 and a bus 540. Figure 5 As shown, the processor 510, the memory 520 and the transceiver 530 are connected via a bus 540 and communicate with each other.

[0097] The bus 540 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 540 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0098] The embodiments of the present disclosure also provide a computer-readable storage medium, which may store a computer program. When the computer program is executed by a processor, the processor implements the fire extinguishing strategy planning method provided by the embodiments of the present disclosure.

[0099] The above-mentioned storage medium may, for example, include a memory 520 of computer program instructions, and the above-mentioned instructions may be executed by the processor 510 of the fire extinguishing strategy planning device to complete the fire extinguishing strategy planning method provided by the embodiment of the present disclosure. Optionally, the storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact DiscROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc. The above-mentioned computer program may be written in any combination of one or more programming languages ​​to form a program code for executing the operation of the embodiment of the present disclosure, and the programming language includes an object-oriented programming language, such as Java, C++, etc., and also includes a conventional procedural programming language, such as "C" language or a similar programming language. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device, partially on the remote computing device, or entirely on the remote computing device or server.

[0100] The embodiment of the present disclosure also provides a computer program product, including a computer program. When the computer program is executed by a processor, the processor implements the fire extinguishing strategy planning method provided by the embodiment of the present disclosure.

[0101] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0102] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire extinguishing strategy planning method, characterized in that: The method comprises: Obtain traffic geographic information, fire location and obstacle location within the target area; Determine the transportation position of the fire-fighting drone according to the traffic geographic information and the fire point location, wherein the distance between the transportation position and each fire point location is less than or equal to a preset communication distance; Determine at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and group the fire points, each fire point group corresponds to a fire extinguishing position, and there are no obstacles between the fire extinguishing position corresponding to the fire point group and the fire point positions of each fire point included in the fire point group and the transport position; Allocating control rights of the fire-fighting drone to a first control device located at the transport position, so that the first control device controls the fire-fighting drone to fly from the transport position to a target fire-fighting position corresponding to a target fire point group in each fire point group; Assign control rights to the fire-fighting drone to a second control device located at the target fire-fighting position, so that the second control device controls the fire-fighting drone to complete the loading of fire-fighting bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires at each target fire point included in the target fire point group are extinguished, determine a new target fire point group from each fire point group and assign control rights to the fire-fighting drone until each fire point included in each fire point group has been extinguished.

2. The method according to claim 1, characterized in that The step of determining at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and grouping the fire points comprises: Determine a fire extinguishing position according to the transport position, the fire point position and the obstacle position, so that the sum of the number of obstacles between the fire extinguishing position and each fire point position is minimized, and there is no obstacle between the fire extinguishing position and the transport position; If the sum of the number of obstacles between the fire extinguishing position and each fire point position is equal to zero, and the distance between the fire extinguishing position and each fire point position is less than or equal to the communication distance, then it is determined that the fire point group corresponding to the fire extinguishing position contains each fire point; If the sum of the number of obstacles between the fire extinguishing position and each fire point position is greater than zero, and / or there is a fire point position whose distance from the fire extinguishing position is greater than the communication distance, then the fire point corresponding to the fire point position whose number of obstacles between the fire extinguishing position is zero and whose distance from the fire extinguishing position is less than or equal to the communication distance is determined as the fire point included in the fire point group corresponding to the fire extinguishing position, and based on the transport position, the fire point positions of the ungrouped fire points and the obstacle position, the next fire extinguishing position and the fire points included in the fire point group corresponding to the next fire extinguishing position are determined until the fire points are grouped.

3. The method according to claim 2, characterized in that When there are at least two fire extinguishing positions, there is no obstacle between any two adjacent fire extinguishing positions determined based on the determination order of the fire extinguishing positions.

4. The method according to claim 3, characterized in that After determining at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and grouping the fire points, the method further includes: Based on the determination order of each fire extinguishing position, determining the first fire extinguishing position as the target fire extinguishing position; The step of determining a new target fire point grouping from each fire point grouping comprises: Based on the determination order of each fire extinguishing position, the fire point group corresponding to the next fire extinguishing position determined after the target fire extinguishing position is determined as the new target fire point group.

5. The method according to claim 2, characterized in that: The step of determining a fire extinguishing position according to the transport position, the fire point position and the obstacle position comprises: Determine a fire extinguishing position candidate area according to the transport position, the fire point position and the obstacle position, and determine a fire extinguishing position in the fire extinguishing position candidate area, wherein the sum of the number of obstacles between any position in the fire extinguishing position candidate area and each fire point position is the smallest and there is no obstacle between any position in the fire extinguishing position candidate area and the transport position; After determining that the fire point group corresponding to the fire extinguishing position includes each fire point, the method further includes: Obtaining the fire area and vegetation type of each fire point included in the fire point group corresponding to the fire extinguishing position, and determining the fire extinguishing difficulty coefficient corresponding to the vegetation type; Determine an optimal fire extinguishing position with the highest comprehensive efficiency from the fire extinguishing position candidate area according to the fire extinguishing efficiency parameters corresponding to each fire point included in the fire point group, wherein the fire extinguishing efficiency parameters are determined according to the fire scene area of ​​each fire point, the fire extinguishing difficulty coefficient, and the distance between the fire point position and each position in the position candidate area; The fire extinguishing position is updated using the optimal fire extinguishing position.

6. The method according to claim 1, characterized in that The distance between the transport position and each fire extinguishing position is less than or equal to the communication distance, and the new target fire point group is determined from each fire point group and the control right of the fire extinguishing drone is allocated until each fire point included in each fire point group has been extinguished. The method further includes: The control right of the fire-fighting drone is allocated to the third control device located at the transport position, so that the third control device controls the fire-fighting drone to fly from the current fire-fighting position to the transport position.

7. A fire extinguishing strategy planning device, characterized in that: include: An acquisition module is used to obtain traffic geographic information, fire point locations and obstacle locations within the target area; A first determination module is used to determine the transportation position of the fire-fighting drone according to the traffic geographic information and the fire point location, and the distance between the transportation position and each fire point location is less than or equal to a preset communication distance; A second determination module is used to determine at least one fire extinguishing position according to the transport position, the fire point position and the obstacle position, and to group the fire points, each fire point group corresponds to a fire extinguishing position, and there is no obstacle between the fire extinguishing position corresponding to the fire point group and the fire point positions of each fire point included in the fire point group and the transport position; A first allocation module is used to allocate the control right of the fire-fighting drone to the first control device located at the transport position, so that the first control device controls the fire-fighting drone to fly from the transport position to the target fire-fighting position corresponding to the target fire point group in each fire point group; The second allocation module is used to allocate the control right of the fire-fighting drone to the second control device located at the target fire-fighting position, so that the second control device controls the fire-fighting drone to complete the loading of fire-fighting bombs at the target fire-fighting position and fly to each target fire point included in the target fire point group to complete the fire-fighting. After the fires of each target fire point included in the target fire point group are extinguished, a new target fire point group is determined from each fire point group and the control right of the fire-fighting drone is allocated until each fire point included in each fire point group has been extinguished.

8. A computer device, characterized in that: include: Memory; processor; And a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the fire extinguishing strategy planning method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the fire extinguishing strategy planning method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the fire extinguishing strategy planning method according to any one of claims 1 to 6 is implemented.

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