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

Abstract

The present disclosure relates to a fire extinguishing strategy planning method, device, equipment, storage medium and program product. The method comprises: determining a transportation position and at least one fire extinguishing position of a fire extinguishing unmanned aerial vehicle according to traffic geographic information and fire point positions in a target area, and grouping the fire points; assigning control right to a first control device located at the transportation position, so that the first control device controls the fire extinguishing unmanned aerial vehicle to fly from the transportation position to a target fire extinguishing position; assigning control right to a second control device located at the target fire extinguishing position, so that the second control device 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 a target fire point group to complete fire extinguishing, until each fire point included in each fire point group has been completely extinguished. The present disclosure can reasonably plan the transportation position and the fire extinguishing position, and control the fire extinguishing unmanned aerial vehicle to fly to the fire extinguishing position to extinguish multiple fire points, thereby saving the time of manual transportation and improving the fire extinguishing efficiency.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of forest fire prevention, and particularly relates to a fire extinguishing strategy planning method, device, equipment, storage medium and program product. BACKGROUND

[0002] With the intensification of global climate change and human activities, forest fire accidents frequently occur in power transmission line corridors, posing a serious challenge to the safety and stability of power grids. Although traditional fire extinguishing methods such as backpack fire extinguishing equipment and long-distance high-lift live-line fire extinguishing platforms have been put into use, their effectiveness is often unsatisfactory due to factors such as complex terrain, poor transportation conditions and high labor intensity. Although helicopter fire extinguishing technology has the advantages of fast speed and no terrain restrictions, the high leasing cost and lack of night operation capability make it difficult to be continuously applied in large-scale and long-term forest fire prevention.

[0003] As a new fire extinguishing tool, a UAV has high flexibility and can be remotely controlled without being restricted by the terrain of the fire site. However, in actual application, the forest fire site is often dangerous with difficult transportation, and various obstacles may exist around the fire site, making it impossible for the UAV to be directly transported to the optimal fire extinguishing position. In addition, the forest fire site often presents a multi-point burning state, and the distance between the fire points is far. When the UAV extinguishes one fire point, it needs to be quickly transferred to the next fire point, and the transportation process of the UAV will consume a lot of time, resulting in a decrease in overall fire extinguishing efficiency. Therefore, how to plan the fire extinguishing strategy of the UAV to ensure that the UAV can efficiently and safely complete the fire extinguishing task is a technical problem to be solved at present. SUMMARY

[0004] 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, which comprises:

[0006] acquiring traffic geographic information, fire point positions and obstacle positions in a target area;

[0007] determining a transportation position of a fire extinguishing UAV according to the traffic geographic information and the fire point positions, the distance between the transportation position and each fire point position being less than or equal to a preset communication distance;

[0008] determining at least one fire extinguishing position according to the transportation position, the fire point positions and the obstacle positions, and grouping the fire points, each fire point group corresponding to one fire extinguishing position, and the fire extinguishing position corresponding to the fire point group not existing obstacles between the transportation position and the fire point positions of each fire point contained in the fire point group;

[0009] allocate control right of the fire extinguishing unmanned aerial vehicle to a first control device located at the transportation position, so that the first control device controls the fire extinguishing unmanned aerial vehicle to fly from the transportation position to a target fire extinguishing position corresponding to a target fire point group in each fire point group;

[0010] allocate control right of the fire extinguishing unmanned aerial vehicle to a second control device located at the target fire extinguishing position, so that the second control device 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 in the target fire point group to complete fire extinguishing, and after fire extinguishing of each target fire point in the target fire point group is completed, determine a new target fire point group from each fire point group and allocate control right of the fire extinguishing unmanned aerial vehicle, until fire extinguishing of each fire point in each fire point group is completed.

[0011] A second aspect of the embodiments of the present disclosure provides a fire extinguishing strategy planning device, which comprises:

[0012] an acquisition module, configured to acquire traffic geographic information, fire point positions and obstacle positions in a target region;

[0013] a first determination module, configured to determine a transportation position of a fire extinguishing unmanned aerial vehicle according to the traffic geographic information and the fire point positions, the distance between the transportation position and each fire point position being less than or equal to a preset communication distance;

[0014] a second determination module, configured to determine at least one fire extinguishing position according to the transportation position, the fire point positions and the obstacle positions, and group fire points, each fire point group corresponding to one fire extinguishing position, and the fire extinguishing position corresponding to the fire point group not existing obstacles between the fire point positions of each fire point included in the fire point group and the transportation position;

[0015] a first allocation module, configured to allocate control right of the fire extinguishing unmanned aerial vehicle to a first control device located at the transportation position, so that the first control device controls the fire extinguishing unmanned aerial vehicle to fly from the transportation position to a target fire extinguishing position corresponding to a target fire point group in each fire point group;

[0016] a second allocation module, configured to allocate control right of the fire extinguishing unmanned aerial vehicle to a second control device located at the target fire extinguishing position, so that the second control device 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 in the target fire point group to complete fire extinguishing, and after fire extinguishing of each target fire point in the target fire point group is completed, determine a new target fire point group from each fire point group and allocate control right of the fire extinguishing unmanned aerial vehicle, until fire extinguishing of each fire point in each fire point group is completed.

[0017] A third aspect of this disclosure provides a computer device including a memory and a processor, and a computer program, wherein the memory stores the computer program, and when the computer program is executed by the processor, it implements the fire suppression strategy planning method as described in the first aspect above.

[0018] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the fire suppression strategy planning method as described in the first aspect above.

[0019] A fifth aspect of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the fire suppression strategy planning method as described in the first aspect above.

[0020] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0021] In the fire suppression strategy planning method, apparatus, device, storage medium, and program product provided in this disclosure, traffic geographic information, fire point locations, and obstacle locations within a target area are acquired. Based on the traffic geographic information and fire point locations, the transport location of the fire suppression drone is determined. The distance between the transport location and each fire point location is less than or equal to a preset communication distance. Based on the transport location, fire point locations, and obstacle locations, at least one fire suppression location is determined. The fire points are grouped, with each fire point group corresponding to a fire suppression location. There are no obstacles between the fire suppression location corresponding to a fire point group, the fire point locations of each fire point included in the fire point group, and the transport location. Control rights of the fire suppression drone are assigned to a first control device located at the transport location, so that the first control device controls the fire suppression drone to fly from the transport location to the target fire point group corresponding to each fire point group. The system assigns control of firefighting drones to a second control device located at the target fire extinguishing location. This allows the second control device to control the firefighting drones to load fire extinguishing bombs at the target fire extinguishing location and fly to each target fire point within the target fire point group to extinguish the fires. After all target fire points within the target fire point group have been extinguished, a new target fire point group is determined from each fire point group, and control of the firefighting drones is assigned to it. This process continues until all fire points within each fire point group have been extinguished. This system enables the rational planning of transportation and fire extinguishing locations, allowing the firefighting drones to fly directly to the fire extinguishing location after being transported to the transportation location and switch between different fire extinguishing locations. This achieves fire extinguishing of multiple fire points, significantly reducing transportation and waiting time, improving the efficiency and response speed of fire extinguishing at multiple fire points, and providing strong technical support for fire emergency response in complex environments. Attached Figure Description

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

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a fire suppression strategy planning method provided in an embodiment of this disclosure;

[0025] Figure 2 This is a flowchart of a method for grouping fire points according to an embodiment of this disclosure;

[0026] Figure 3 This is a flowchart of a method for optimizing fire extinguishing locations provided in an embodiment of this disclosure;

[0027] Figure 4 This is a schematic diagram of the structure of a fire extinguishing strategy planning device provided in an embodiment of this disclosure;

[0028] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure. Detailed Implementation

[0029] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0030] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

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

[0032] Figure 1This is a flowchart of a fire suppression strategy planning method provided in an embodiment of this disclosure. The method can be executed by a fire suppression strategy planning device, which can be implemented using software and / or hardware. The fire suppression strategy planning device can be configured in an electronic device, such as a server or terminal, wherein the terminal specifically includes a mobile phone, computer, or 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 location, and obstacle location within the target area.

[0034] The target area in this embodiment can be understood as the area where firefighting drones are needed to extinguish a wildfire. For example, the size of the target area can be preset based on the maximum communication distance of the firefighting drone's received signal.

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

[0036] In this disclosure, obstacles can be understood as those that obstruct the view of the operator or control equipment when controlling a drone to fly or to perform firefighting tasks, thereby hindering the operation.

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

[0038] In one exemplary embodiment of this disclosure, the fire extinguishing strategy planning device can filter out the traffic geographic information and obstacle location within the target area from the traffic geographic information and obstacle location information of each area obtained in advance, based on the location information of the target area (such as the latitude and longitude of the center point, the radius of the area, or the latitude and longitude of the boundary point of the area), and then determine the fire location within the target area based on the fire location information input by the staff or the collected aerial image of the fire scene.

[0039] S102. Based on traffic geographic information and fire location, determine the transport location of the fire-fighting drone. The distance between the transport location and each fire location is less than or equal to the preset communication distance.

[0040] In this embodiment of the disclosure, the transportation location can be understood as the location where the vehicle carrying the fire-fighting drone arrives and unloads the fire-fighting drone.

[0041] The communication distance in this embodiment can be understood as the maximum distance at which the fire-fighting drone can receive control signals when it is remotely controlled.

[0042] In this embodiment of the disclosure, the fire suppression strategy planning device can, after acquiring traffic geographic information, fire location and obstacle location within the target area, determine a transportation location whose distance to each fire location is less than or equal to the communication distance of the pre-acquired fire suppression drone.

[0043] In one exemplary embodiment of the present disclosure, 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, then determine the intersection area of ​​each communication area, determine the driving position that the vehicle transporting the fire extinguishing drone can reach based on traffic geographic information, and determine a driving position located in the intersection area as the transportation position.

[0044] S103. Based on the transportation location, fire location, and obstacle location, determine at least one fire extinguishing location, and group the fire points. Each fire point group corresponds to a fire extinguishing location. 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, as well as the transportation location.

[0045] In this embodiment of the disclosure, the fire extinguishing location can be understood as the location where the fire extinguishing drone takes off and lands to load fire extinguishing bombs when extinguishing one or more fire points. When the fire extinguishing drone needs to be manually controlled to complete the fire extinguishing task, the fire extinguishing location is also the location of the control personnel.

[0046] In this embodiment of the disclosure, the fire extinguishing strategy planning device can determine at least one fire extinguishing location and fire point group based on the above information after determining the transportation location, fire point location, and obstacle location. Each fire point group corresponds to a fire extinguishing location to ensure that there are no obstacles between the fire extinguishing location corresponding to each fire point group and the fire point location of each fire point contained in the fire point group. At the same time, there are also no obstacles between the fire extinguishing location corresponding to each fire point group and the transportation location, thereby ensuring that the view of the control personnel is not obstructed by obstacles when controlling the fire extinguishing drone to fly to each fire point from the fire extinguishing location.

[0047] In one exemplary embodiment of this disclosure, the fire extinguishing strategy planning device can input the transportation location, fire point location, and obstacle location into a pre-trained spatial analysis model. The spatial analysis model outputs the fire extinguishing location and the corresponding fire point group. Specifically, the spatial analysis model can first preliminarily screen the fire extinguishing locations, and then perform line-of-sight analysis on each preliminarily screened fire extinguishing location to ensure that there are no obstacles on the straight line between the fire extinguishing location and the fire point location in each fire point group, and also ensure that there are no obstacles on the straight line between these fire extinguishing locations and the transportation location. 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 locations and meet the obstacle-free condition.

[0048] Optionally, preset constraints can be used to determine the fire extinguishing locations and fire point groups. The constraints may include at least one of the following conditions: the distance between the fire extinguishing location corresponding to each fire point group and the fire point location of each fire point contained in the fire point group is less than or equal to the communication distance; the maximum distance between the fire extinguishing drone and the transport location during flight is less than or equal to the communication distance; the maximum distance between the fire extinguishing drone and at least one fire extinguishing location during flight is less than or equal to the communication distance; there are no obstacles between the fire extinguishing location and the transport location; there are no obstacles between the fire extinguishing drone and both the transport location and the fire extinguishing location during flight; and the total number of fire extinguishing locations is minimized.

[0049] S104. Assign control 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 this embodiment of the disclosure, after determining each fire point group and its corresponding fire extinguishing location, the fire extinguishing strategy planning device can assign control of the fire extinguishing drone to the first control device located at the transportation location, so that the first control device with control can control the fire extinguishing drone to fly from the transportation location to the target fire point group corresponding to the target fire extinguishing location in each fire point group. Specifically, the relevant personnel performing the fire extinguishing task can control the fire extinguishing drone to fly from the transportation location to the target fire extinguishing location through the first control device.

[0051] S105. Assign control 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 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 extinguishing. After each target fire point included in the target fire point group has been extinguished, determine a new target fire point group from each fire point group and assign control of the fire-fighting drone, until each fire point included in each fire point group has been extinguished.

[0052] In this embodiment of the disclosure, after the first control device controls the fire-fighting drone to fly from the transport location to the target fire-fighting location, the fire-fighting strategy planning device can assign control of the fire-fighting drone to a second control device located at the target fire-fighting location. This allows the second control device to control the fire-fighting drone to complete the loading of fire extinguishing bombs at the target fire-fighting location and fly to each target fire point included in the target fire point group to complete the fire extinguishing. After all the target fire points included in the target fire point group have been extinguished, a new target fire point group is determined from each fire point group, and a new target fire-fighting location corresponding to the new target fire point group is determined. Control of the fire-fighting drone is then assigned to the control device located at the new target fire-fighting location, allowing the control device to control the fire-fighting drone to complete the loading of fire extinguishing bombs at the new target fire-fighting location and fly to each target fire point included in the new target fire point group to complete the fire extinguishing. This process continues until all fire points included in each fire point group have been extinguished.

[0053] In one exemplary embodiment of this disclosure, when the distance between the transport location and the first target fire extinguishing location is greater than the communication distance, the fire extinguishing strategy planning device can, during the flight of the fire extinguishing drone controlled by the first control device from the transport location to the first target fire extinguishing location, when the distance between the fire extinguishing drone and the transport location is about to reach the communication distance, allocate control of the fire extinguishing drone to the second control device located at the target fire extinguishing location. This allows the second control device to control the fire extinguishing drone to fly from its current location to the first target fire extinguishing location, then control the fire extinguishing drone to complete the loading of fire extinguishing bombs at the target fire extinguishing location and fly to each target fire point included in the target fire point group to complete the fire extinguishing. When the distance between the next target fire extinguishing location and the current target fire extinguishing location is greater than the communication distance, the fire extinguishing strategy planning device can also use a similar method to allocate control to the control device.

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

[0055] This embodiment of the disclosure acquires traffic geographic information, fire point locations, and obstacle locations within a target area. Based on the traffic geographic information and fire point locations, it determines the transport location of a fire-fighting drone. The distance between the transport location and each fire point location is less than or equal to a preset communication distance. Based on the transport location, fire point locations, and obstacle locations, at least one fire-fighting location is determined. The fire points are grouped, with each fire point group corresponding to a fire-fighting location. There are no obstacles between the fire-fighting location corresponding to a fire point group, the fire point locations of each fire point included in the fire point group, and the transport location. Control of the fire-fighting drone is assigned to a first control device located at the transport location, enabling the first control device to control the fire-fighting drone to fly from the transport location to the target fire point group corresponding to the target fire-fighting location within each fire point group, thus extinguishing the fire at the target location. The second control device at the location assigns control of the firefighting drone, enabling it to load fire extinguishing bombs at the target fire location and fly to each target fire point within the target fire point group to extinguish the fires. After the fires within each target fire point group are extinguished, a new target fire point group is determined from the existing fire point groups, and control of the firefighting drone is assigned to it, until all fire points within each fire point group have been extinguished. This allows for the rational planning of transport and firefighting locations, enabling the firefighting drone to fly directly to the firefighting location after being transported to the transport location and switch between different firefighting locations to extinguish multiple fire points. This significantly reduces transportation and waiting time, improves the efficiency and response speed of extinguishing multiple fire points, and provides strong technical support for fire emergency response in complex environments.

[0056] Figure 2 This is a flowchart of a method for grouping fire points according to an embodiment of this disclosure, such as... Figure 2 As shown, based on the above embodiments, fire points can be grouped using the following method.

[0057] S201. Based on the transportation location, fire location, and obstacle location, determine a fire extinguishing location such that the sum of the number of obstacles between the fire extinguishing location and each fire location is minimized, and there are no obstacles between the fire extinguishing location and the transportation location.

[0058] In this embodiment of the present disclosure, when determining the fire extinguishing location and fire point grouping, the fire extinguishing strategy planning device can first determine a fire extinguishing location with the minimum sum of the number of obstacles between the fire point locations and the transportation location, and with no obstacles between the transportation location and the transportation location, based on the transportation location, fire point location, and obstacle location. This fire extinguishing location is the first fire extinguishing location determined.

[0059] In one exemplary embodiment of this disclosure, the fire extinguishing strategy planning device can use a search algorithm (including global search and local search) and combine it with pre-set obstacle constraints to determine an optimal solution, which is the coordinates of the fire extinguishing location determined by the target.

[0060] S202. If the sum of the number of obstacles between the fire extinguishing location and each fire point location is equal to zero, and the distance between the fire extinguishing location and each fire point location is less than or equal to the communication distance, then the fire point group corresponding to the fire extinguishing location is determined to include each fire point.

[0061] In this embodiment of the present disclosure, after determining a fire extinguishing location, if the sum of the number of obstacles between the fire extinguishing location and each fire point location is equal to zero, and the distance between the fire extinguishing location and each fire point location is less than or equal to the communication distance, then it is determined that the fire extinguishing location can cover all fire points. Therefore, it can be determined that the fire point group corresponding to the fire extinguishing location includes each fire point.

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

[0063] In this embodiment of the disclosure, after determining a fire extinguishing location, the fire extinguishing strategy planning device can, if the fire extinguishing location meets at least one of the following conditions: the sum of the number of obstacles between the fire extinguishing location and each fire point location is greater than zero, and the distance between the fire extinguishing location and the fire point location of at least one fire point is greater than the communication distance, then filter out fire points whose number of obstacles between them and the fire extinguishing location is equal to zero, and whose distance between the corresponding fire point location and the fire extinguishing location is less than or equal to the communication distance, and determine the filtered fire points as the fire points included in the fire point group corresponding to the fire extinguishing location. After the fire point group corresponding to the first fire extinguishing location is determined, the next fire extinguishing location and the fire points included in the fire point group corresponding to the next fire extinguishing location are determined based on the transport location, the fire point location of the ungrouped fire points, and the obstacle location. The specific method is the same as the method for determining the first fire extinguishing location and the fire point group corresponding to the first fire extinguishing location, and so on, until all fire points have been grouped.

[0064] Optionally, when there are at least two fire extinguishing locations, there are no obstacles between any two adjacent fire extinguishing locations determined based on the order of their determination. In other words, starting from the second fire extinguishing location, there are no obstacles between the newly determined fire extinguishing location and the previous determined fire extinguishing location, thereby ensuring that the line of sight of fire extinguishing personnel is not obstructed by obstacles while controlling the fire extinguishing drone to fly to the next fire extinguishing location.

[0065] This embodiment of the disclosure determines a fire extinguishing location based on the transportation location, fire point location, and obstacle location, such that the sum of the number of obstacles between the fire extinguishing location and each fire point location is minimized, and there are no obstacles between the fire extinguishing location and the transportation location. If the sum of the number of obstacles between the fire extinguishing location and each fire point location is zero, and the distance between the fire extinguishing location and each fire point location is less than or equal to the communication distance, then the fire point group corresponding to the fire extinguishing location is determined to include each fire point. If the sum of the number of obstacles between the fire extinguishing location and each fire point location is greater than zero, and / or, there exists a distance between the fire extinguishing location and the fire point location that is greater than the communication distance. If the number of obstacles between the fire point and the fire point is zero, and the distance between the fire point and the fire point is less than or equal to the communication distance, then the fire point corresponding to the fire point group of the fire point is determined. Then, based on the transport location, the fire point location of the ungrouped fire point, and the obstacle location, the next fire point is determined, as well as the fire point group corresponding to the next fire point. This process continues until the fire points are grouped. This allows the fire point to cover as many fire points as possible, reduces the number of fire point settings, and shortens the flight time of the fire-fighting drone between different fire points, thereby improving fire-fighting efficiency.

[0066] Optionally, the fire suppression strategy planning device can determine at least one fire suppression location based on the transportation location, fire location, and obstacle location, and group the fire locations. Then, based on the determination order of each fire suppression location, it can determine the first fire suppression location as the target fire suppression location. When determining a new target fire point group from each fire point group, it can determine the fire point group corresponding to the next fire suppression location determined after the target fire suppression location as the new target fire point group based on the determination order of each fire suppression location.

[0067] Specifically, after completing S103, the fire extinguishing strategy planning device can determine the first determined fire extinguishing position as the target fire extinguishing position according to the determination order of each fire extinguishing position. When performing S105, if it is necessary to determine a new target fire point group from each fire point group, the device can determine the next fire extinguishing position of the target fire extinguishing position as the new target fire extinguishing position according to the determination order of each fire extinguishing position in S203, based on the latest determined target fire extinguishing position. The fire point group corresponding to the new target fire extinguishing position is then determined as the new target fire point group.

[0068] Figure 3 This is a flowchart of a method for optimizing fire extinguishing locations provided in an embodiment of this disclosure, such as... Figure 3 As shown, based on the above embodiments, the fire extinguishing location can be optimized by the following method.

[0069] S301. Based on the transportation location, fire location, and obstacle location, determine a candidate area for fire extinguishing location, and determine a fire extinguishing location within the candidate area for fire extinguishing location. The sum of the number of obstacles between any location in the candidate area for fire extinguishing location and each fire location is minimized, and there are no obstacles between any location and the transportation location.

[0070] In this embodiment of the present disclosure, the fire extinguishing strategy planning device can determine a fire extinguishing location that minimizes the sum of the number of obstacles between each fire location and the transportation location, and has no obstacles between the transportation location and the transportation location, based on the transportation location, the fire location, and the obstacle location. First, it determines a candidate area for a fire extinguishing location that meets the above conditions. Any location within the candidate area for a fire extinguishing location also meets the above conditions. Then, it selects a fire extinguishing location within the candidate area for a fire extinguishing location.

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

[0072] The fire extinguishing difficulty coefficient in this embodiment can be understood as an index that measures the ease or difficulty of fire extinguishing, based on a comprehensive evaluation of the characteristics of different vegetation types, such as flammability, density, structure, and distribution.

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

[0074] In one exemplary embodiment of this disclosure, the fire suppression strategy planning device can acquire 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 pre-collected aerial images of the fire scene. Furthermore, based on the pre-acquired correspondence between vegetation type and fire suppression difficulty coefficient, the device determines the fire suppression difficulty coefficient corresponding to each vegetation type. For example, the fire suppression difficulty coefficient corresponding to thatch vegetation type is 3, the fire suppression difficulty coefficient corresponding to shrub vegetation type is 1.2, the fire suppression difficulty coefficient corresponding to tree vegetation type is 1, the fire suppression difficulty coefficient corresponding to stepped combustible vegetation type without thatch is 1.5, and the fire suppression difficulty coefficient corresponding to stepped combustible vegetation type containing thatch is 1.8.

[0075] S303. Based on the fire extinguishing efficiency parameters corresponding to each fire point in the fire point group, determine the optimal fire extinguishing location with the highest overall efficiency from the fire extinguishing location candidate area. 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 location and each location in the location candidate area.

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

[0077] In this embodiment of the disclosure, the fire extinguishing strategy planning device can, after determining the fire area and fire extinguishing difficulty coefficient corresponding to each fire point in the fire point group, calculate the fire extinguishing efficiency parameter of each fire point corresponding to each location in the location candidate area, and then calculate the fire point group corresponding to the whole fire point group based on the fire extinguishing efficiency parameter of each fire point, and select the location with the highest comprehensive efficiency in the location candidate area as the optimal fire extinguishing location.

[0078] S304. Update the fire extinguishing location using the optimal fire extinguishing location.

[0079] In this embodiment of the present disclosure, the fire extinguishing strategy planning device can update the fire extinguishing position determined in S301 using the optimal fire extinguishing position after determining the optimal fire extinguishing position.

[0080] This embodiment of the disclosure determines a candidate area for fire extinguishing location based on the transportation location, fire point location, and obstacle location. Within this candidate area, a fire extinguishing location is determined. The candidate area has the minimum sum of obstacles between any location and each fire point location, and no obstacles exist between any location and the transportation location. The fire area and vegetation type of each fire point in the fire point group corresponding to the fire extinguishing location are obtained, and the fire extinguishing difficulty coefficient corresponding to the vegetation type is determined. Based on the fire extinguishing efficiency parameters corresponding to each fire point in the fire point group, the optimal fire extinguishing location with the highest overall efficiency is determined from the candidate area. 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 location and each location in the candidate area. Updating the fire extinguishing location using the optimal location brings difficult-to-extinguish fire points closer to the fire extinguishing location. This shortens the round-trip flight distance for fire extinguishing drones that need to return multiple times to the fire extinguishing location to load fire extinguishing bombs before returning to difficult-to-extinguish fire points, thereby further improving fire extinguishing efficiency.

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

[0082] Specifically, when the distance between the transport location and each fire extinguishing location 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, regardless of which fire extinguishing location the fire extinguishing drone is currently located at, and the distance between it and the transport location is less than or equal to the communication distance, directly control the fire extinguishing drone to fly from its current fire extinguishing location to the transport location to complete the recovery of the fire extinguishing drone.

[0083] Optionally, when there is a fire extinguishing location where the distance to the transport location is greater than the communication distance, if after all fires are extinguished, the distance between the fire extinguishing drone's current fire extinguishing location and the transport location is less than or equal to the communication distance, then the third control device located at the transport location is assigned control of the fire extinguishing drone, so that the third control device can control the fire extinguishing drone to fly from its current fire extinguishing location to the transport location. If the distance between the fire extinguishing drone's current fire extinguishing location and the transport location is greater than the communication distance, then the control device located at the fire extinguishing drone's current fire extinguishing location is used to control the fire extinguishing drone to fly to the previous fire extinguishing location, and control is assigned to the control device located at the previous fire extinguishing location. Then it is determined whether the distance between the previous fire extinguishing location and the transport location is less than or equal to the communication distance. If so, the control device is used to control the fire extinguishing drone to fly directly to the transport location; otherwise, the control device continues to control the fire extinguishing drone to fly to the next previous fire extinguishing location, and so on, until the fire extinguishing drone flies back to the transport location.

[0084] Figure 4 This is a schematic diagram of the structure of a fire extinguishing strategy planning device provided in an embodiment of this disclosure. Figure 4As shown, the fire suppression 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. The acquisition module 410 is used to acquire traffic geographic information, fire location, and obstacle location within a target area. The first determination module 420 is used to determine the transport location of the fire suppression drone based on the traffic geographic information and the fire location, wherein the distance between the transport location and each fire location is less than or equal to a preset communication distance. The second determination module 430 is used to determine at least one fire suppression location based on the transport location, the fire location, and the obstacle location, and to group the fire locations, with each fire location group corresponding to a fire suppression location. The fire suppression location corresponding to each fire location group is associated with the fire location of each fire location within the fire location group and the transport location. There are no obstacles between the locations; the first allocation module 440 is used to allocate control of the fire-fighting drone to the first control device located at the transport location, so that the first control device controls the fire-fighting drone to fly from the transport location to the target fire-fighting location corresponding to the target fire point group in each fire point group; the second allocation module 450 is used to allocate control of the fire-fighting drone to the second control device located at the target fire-fighting location, so that the second control device controls the fire-fighting drone to complete the loading of fire extinguishing bombs at the target fire-fighting location and fly to each target fire point included in the target fire point group to complete the fire extinguishing, and after each target fire point included in the target fire point group is extinguished, a new target fire point group is determined from each fire point group and control of the fire-fighting drone is allocated, until each fire point included in each fire point group has been extinguished.

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

[0086] Optionally, when there are at least two fire extinguishing locations, there are no obstacles between any two adjacent fire extinguishing locations determined based on the order in which the fire extinguishing locations are determined.

[0087] Optionally, the fire extinguishing strategy planning device 400 includes: a third determining 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; and a second allocation module 450, including: a fourth determining 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 determining unit is specifically used to determine a candidate area for extinguishing a fire, based on the transport location, the fire location, and the obstacle location, and to determine a extinguishing location within the candidate area, wherein the sum of the number of obstacles between any location in the candidate area and each fire location is minimized and there are no obstacles between any location and the transport location; the first determining module 420 further includes: an acquisition unit, used to acquire the fire area and vegetation type of each fire point in the fire point group corresponding to the extinguishing location, and to determine the extinguishing difficulty coefficient corresponding to the vegetation type; an optimization unit, used to determine the optimal extinguishing location with the highest overall efficiency from the candidate area for extinguishing a fire, based on the extinguishing efficiency parameters corresponding to each fire point in the fire point group, wherein the extinguishing efficiency parameters are determined based on the fire area of ​​each fire point, the extinguishing difficulty coefficient, and the distance between the fire point location and each location in the candidate area; and an updating unit, used to update the extinguishing location using the optimal extinguishing location.

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

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

[0091] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this 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), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0094] Memory 520 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 520 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 520 may include removable or non-removable (or fixed) media. Where appropriate, memory 520 may be internal or external to the integrated gateway device. In a particular embodiment, memory 520 is a non-volatile solid-state memory. In a particular embodiment, memory 520 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

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

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

[0097] Bus 540 may include hardware, software, or both. For example, and not limited to, 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 Infinite Bandwidth 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, bus 540 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0098] This disclosure also provides a computer-readable storage medium that can store a computer program. When the computer program is executed by a processor, the processor implements the fire suppression strategy planning method provided in this disclosure.

[0099] The aforementioned storage medium may, for example, include a memory 520 for computer program instructions, which can be executed by the processor 510 of the fire suppression strategy planning device to complete the fire suppression strategy planning method provided in this embodiment. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device. The aforementioned computer program may be written in any combination of one or more programming languages ​​to perform the operations of this embodiment, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code may be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0100] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, causes the processor to implement the fire suppression strategy planning method provided in this disclosure.

[0101] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily 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 this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for planning fire suppression strategies, characterized in that, The method includes: Acquire traffic geographic information, fire location, and obstacle location within the target area; Based on the traffic geographic information and the fire location, the transport location of the fire-fighting drone is determined, and the distance between the transport location and each fire location is less than or equal to a preset communication distance. Based on the transportation location, the fire 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. There are no obstacles between the fire extinguishing location corresponding to the fire point group, the fire point locations of each fire point included in the fire point group, and the transportation location. The first control device located at the transport location is assigned control of the fire-fighting drone, so that the first control device controls the fire-fighting drone to fly from the transport location to the target fire-fighting location corresponding to the target fire point group in each fire point group; The second control device located at the target fire extinguishing position is assigned control of the fire extinguishing drone, 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 extinguish the fire. After each target fire point included in the target fire point group has been extinguished, a new target fire point group is determined from each fire point group and control of the fire extinguishing drone is assigned, 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 location based on the transportation location, the fire location, and the obstacle location, and grouping the fire locations, includes: Based on the transportation location, the fire location, and the obstacle location, a fire extinguishing location is determined such that the sum of the number of obstacles between the fire extinguishing location and each fire location is minimized, and there are no obstacles between the fire extinguishing location and the transportation location. If the sum of the number of obstacles between the fire extinguishing location and each fire point location is equal to zero, and the distance between the fire extinguishing location and each fire point location is less than or equal to the communication distance, then it is determined that the fire point group corresponding to the fire extinguishing location includes each fire point. If the sum of the number of obstacles between the fire extinguishing location and each fire point location is greater than zero, and / or, there exists a fire point location whose distance from the fire extinguishing location is greater than the communication distance, then the fire point corresponding to the fire point location whose number of obstacles between the fire extinguishing location is equal to zero and whose distance from the fire extinguishing location 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 location. Based on the transportation location, the fire point locations of ungrouped fire points, and the obstacle locations, the next fire extinguishing location and the fire point included in the fire point group corresponding to the next fire extinguishing location 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 locations, there are no obstacles between any two adjacent fire extinguishing locations determined based on the order in which the fire extinguishing locations are determined.

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

5. The method according to claim 2, characterized in that, Determining a fire extinguishing location based on the transportation location, the fire location, and the obstacle location includes: Based on the transportation location, the fire location, and the obstacle location, a candidate area for fire extinguishing location is determined, and a fire extinguishing location is determined within the candidate area for fire extinguishing location. The sum of the number of obstacles between any location in the candidate area for fire extinguishing location and each fire location is minimized, and there are no obstacles between any location and the transportation location. After determining that the fire point group corresponding to the fire extinguishing location includes each fire point, the method further includes: Obtain the fire area and vegetation type of each fire point in the fire point group corresponding to the fire extinguishing location, and determine the fire extinguishing difficulty coefficient corresponding to the vegetation type. Based on the fire extinguishing efficiency parameters corresponding to each fire point in the fire point group, the optimal fire extinguishing location with the highest overall efficiency is determined from the fire extinguishing location candidate area. 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 location and each location in the location candidate area. The fire extinguishing location is updated using the optimal fire extinguishing location.

6. The method according to claim 1, characterized in that, The distance between the transport location and each firefighting location is less than or equal to the communication distance. The method further includes determining new target fire point groups from each fire point group and allocating control of the firefighting drone until all fire points within each fire point group have been extinguished. Control of the firefighting drone is assigned to a third control device located at the transport location, so that the third control device can control the firefighting drone to fly from its current firefighting location to the transport location.

7. A fire extinguishing strategy planning device, characterized in that, include: The acquisition module is used to acquire traffic geographic information, fire location, and obstacle location within the target area; The first determining module is used to determine the transport location of the fire-fighting drone based on the traffic geographic information and the fire location, wherein the distance between the transport location and each fire location is less than or equal to a preset communication distance. The second determining module is used to determine at least one fire extinguishing location based on the transportation location, the fire point location, and the obstacle location, and to group the fire points, with each fire point group corresponding 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 first allocation module is used to allocate control 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 control 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 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 extinguishing. After the fire points included in the target fire point group are extinguished, a new target fire point group is determined from each fire point group and control of the fire-fighting drone is allocated, until all fire points included in each fire point group have 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 configured to be executed by the processor to implement the fire suppression strategy planning method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the fire suppression strategy planning method as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the fire suppression strategy planning method as described in any one of claims 1-6.

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