A high-rise fire rescue UAV collision prevention and warning method

Abstract

The present application provides a high-rise firefighting and rescue UAV anti-collision warning method, which relates to the technical field of UAV anti-collision warning, and obtains real-time Beidou positioning information and a planned flight path of a rescue UAV; constructs a three-dimensional flight path based on the real-time Beidou positioning information and the planned flight path, and divides the three-dimensional flight path into airspaces to obtain all flight airspaces; collects obstacle information on the planned flight path, performs conflict screening on each flight airspace based on the obstacle information, and then obtains all collision and conflict airspaces, and determines the conflict and collision coefficients of each collision and conflict airspace respectively, and determines the collision threat degree of the rescue UAV according to all the conflict and collision coefficients; performs anti-collision warning on the high-rise firefighting and rescue process of the rescue UAV according to each conflict and collision coefficient and the collision threat degree. The present application can perform collision warning on the planned flight path of the rescue UAV in a complex obstacle environment to ensure the flight safety of the rescue UAV.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicle collision avoidance and early warning, and more specifically, to a high-rise firefighting and rescue unmanned aerial vehicle collision avoidance and early warning method. Background Art

[0002] With the rapid development of drone technology, especially in the field of high-rise firefighting and rescue, the application of drones is gradually becoming an important rescue means. High-rise firefighting and rescue drones can not only conduct reconnaissance and real-time monitoring in dangerous environments, but also carry fire-fighting equipment, transport emergency supplies or evacuate personnel.

[0003] However, the complex environment of high-rise buildings and dynamically changing climate conditions pose many challenges to drone flight. The diversity of shapes, materials and surrounding environments of high-rise buildings complicates obstacle detection. Different lighting conditions and weather conditions (such as smoke, rain, etc.) may affect the performance of sensors and reduce the accuracy of obstacle recognition. In addition, the environment at the fire scene is dynamically changing. Factors such as fire, smoke, and wind direction will constantly affect the flight path of the drone. In this case, collision avoidance warning needs to have a high degree of dynamic adaptability in order to maintain safety in the changes. Therefore, how to provide collision warning for the planned flight path of rescue drones in complex obstacle environments to ensure the flight safety of rescue drones is a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a high-rise fire rescue UAV collision avoidance warning method, which can provide collision warning for the planned flight path of the rescue UAV in a complex obstacle environment to ensure the flight safety of the rescue UAV.

[0005] The present application provides a high-rise fire rescue drone anti-collision warning method, the warning method comprising the following steps:

[0006] Obtaining real-time Beidou positioning information of the rescue drone and determining the planned flight path of the rescue drone during high-rise firefighting and rescue operations;

[0007] Constructing a three-dimensional flight path of the rescue drone during high-rise firefighting and rescue according to the real-time Beidou positioning information of the rescue drone and the planned flight path, dividing the three-dimensional flight path into airspaces, and obtaining all flight airspaces;

[0008] Obstacle information on the three-dimensional flight path is collected, and conflicts are screened for each flight airspace based on the obstacle information, thereby obtaining all collision conflict airspaces of the rescue drone, respectively determining the conflict collision coefficients of each collision conflict airspace, and determining the collision threat degree of the rescue drone flying along the three-dimensional flight path during high-rise firefighting and rescue according to all the conflict collision coefficients;

[0009] According to each conflict collision coefficient and the collision threat degree, an anti-collision warning is performed on the high-rise firefighting and rescue process of the rescue drone.

[0010] In this embodiment, the real-time Beidou positioning information of the rescue drone is obtained through the Beidou positioning system carried by the rescue drone.

[0011] In this embodiment, the planned flight path of the rescue drone during high-rise firefighting and rescue operations is determined by a path planning algorithm.

[0012] In this embodiment, constructing the three-dimensional flight path of the rescue drone during high-rise firefighting and rescue according to the real-time Beidou positioning information of the rescue drone and the planned flight path specifically includes:

[0013] Obtain rescue needs during high-rise firefighting;

[0014] Setting a plurality of flight waypoints in the planned flight path according to the rescue needs;

[0015] Based on the real-time Beidou positioning information of the rescue drone and the environmental conditions of the fire rescue area, a flight simulation is performed using simulation software to obtain the three-dimensional coordinates of each flight waypoint;

[0016] The three-dimensional flight path of the rescue drone during high-rise firefighting and rescue is constructed according to the three-dimensional coordinates of each flight waypoint.

[0017] In this embodiment, the three-dimensional flight path is divided into airspaces, and all flight airspaces obtained specifically include:

[0018] Acquire all flight waypoints in the three-dimensional flight path;

[0019] dividing the three-dimensional flight path into a plurality of three-dimensional flight path segments according to all flight waypoints;

[0020] Constructing an extended collision box of the rescue drone;

[0021] All flight airspaces are determined by the expanded collision box of the rescue drone and each three-dimensional flight path segment.

[0022] In this embodiment, constructing the extended collision box of the rescue drone specifically includes:

[0023] Obtaining basic shape parameters of the rescue drone;

[0024] Initialize the collision rectangular box of the rescue drone according to the basic shape parameters;

[0025] Setting an expansion coefficient based on the motion characteristics of the rescue drone;

[0026] The extended collision box of the rescue drone is constructed using the collision rectangular box and the expansion coefficient.

[0027] In this embodiment, the obstacle information on the three-dimensional flight path is collected in real time by the laser radar carried by the rescue drone.

[0028] In this embodiment, conflict screening is performed on each flight airspace based on the obstacle information, and all collision conflict airspaces of the rescue drone are obtained, including:

[0029] For each flight airspace, extract obstacle parameters corresponding to the flight airspace from the obstacle information;

[0030] Determining a flight conflict vector corresponding to the flight airspace according to the flight airspace and corresponding obstacle parameters;

[0031] If the direction of the flight conflict vector faces the flight airspace, the flight airspace is used as the collision conflict airspace, and then all the collision conflict airspaces of the rescue drone are obtained.

[0032] In this embodiment, determining the collision threat level of the rescue drone flying along the three-dimensional flight path during high-rise firefighting and rescue according to all conflict collision coefficients specifically includes:

[0033] The product of the sum of all conflict collision coefficients and the total number of collision conflict airspaces in the three-dimensional flight path is calculated, and then the ratio of the calculation result to the total number of flight airspaces in the three-dimensional flight path is used as the collision threat level of the rescue drone flying along the three-dimensional flight path during the high-rise firefighting and rescue process. In this embodiment, the anti-collision warning for the high-rise firefighting and rescue process of the rescue drone based on each conflict collision coefficient and the collision threat level specifically includes:

[0034] For each conflict collision coefficient, when the conflict collision coefficient is higher than a set collision threshold, an anti-collision warning signal of the rescue drone in the conflict airspace corresponding to the conflict collision coefficient is sent to the fire control center;

[0035] When the collision threat level is higher than a set threat threshold, an anti-collision warning signal of the rescue drone on the three-dimensional aircraft path is sent to a fire control center, and the flight path of the rescue drone is replanned.

[0036] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0037] By acquiring the real-time Beidou positioning information of the rescue drone, the planned flight path of the rescue drone during the high-rise firefighting and rescue process is determined; the three-dimensional flight path of the rescue drone during the high-rise firefighting and rescue process is constructed based on the real-time Beidou positioning information of the rescue drone and the planned flight path, and the three-dimensional flight path is divided into airspaces to obtain all flight airspaces; obstacle information on the three-dimensional flight path is collected, and conflicts are screened for each flight airspace based on the obstacle information, thereby obtaining all collision and conflict airspaces of the rescue drone, and the conflict and collision coefficients of each collision and conflict airspace are determined respectively, and the collision threat degree of the rescue drone flying along the three-dimensional flight path during the high-rise firefighting and rescue process is determined based on all the conflict and collision coefficients; and anti-collision warnings are given to the high-rise firefighting and rescue process of the rescue drone based on each conflict and collision coefficient and the collision threat degree.

[0038] It can be seen that in this application, a collision warning is performed on the planned flight path of the rescue drone in a complex obstacle environment; among them, by dividing the airspace of the three-dimensional flight path, the flight trajectory of the rescue drone in space can be more clearly displayed, and the real-time Beidou positioning information can ensure that the rescue drone always maintains an accurate position in a complex environment, helping to formulate a more reasonable flight path; then, by collecting obstacle information in real time, potential dangers on the flight path can be identified in time to help the drone avoid collision risks, and by visualizing the collision conflict coefficient and collision threat degree, it can help operators quickly understand the flight environment, optimize the flight path design, and ensure that the rescue drone flies along the safest and most effective route; finally, based on each conflict collision coefficient and collision threat degree, a collision avoidance warning is performed on the high-level firefighting and rescue process of the rescue drone to ensure the flight safety of the rescue drone.

[0039] To sum up, the technical solution adopted in this application can provide collision warning for the planned flight path of the rescue drone in a complex obstacle environment to ensure the flight safety of the rescue drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 is an exemplary flow chart of the high-rise fire rescue drone collision avoidance warning method provided by the present application;

[0042] Figure 2is an exemplary flow chart for determining a three-dimensional flight path according to the present application;

[0043] Figure 3 It is an exemplary flowchart for determining collision conflict airspace provided by the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] The embodiment of the present application provides a high-rise firefighting and rescue UAV anti-collision warning method, the core of which is to obtain the real-time Beidou positioning information of the rescue UAV, determine the planned flight path of the rescue UAV during the high-rise firefighting and rescue process; construct the three-dimensional flight path of the rescue UAV during the high-rise firefighting and rescue process according to the real-time Beidou positioning information of the rescue UAV and the planned flight path, divide the three-dimensional flight path into airspaces, and obtain all the flight airspaces; collect obstacle information on the three-dimensional flight path, perform conflict screening on each flight airspace based on the obstacle information, and then obtain all the collision and conflict airspaces of the rescue UAV, respectively determine the conflict and collision coefficients of each collision and conflict airspace, and determine the collision threat degree of the rescue UAV flying according to the three-dimensional flight path during the high-rise firefighting and rescue process according to all the conflict and collision coefficients; perform anti-collision warning on the high-rise firefighting and rescue process of the rescue UAV according to each conflict and collision coefficient and the collision threat degree. The above scheme can be used to perform collision warning on the planned flight path of the rescue UAV in a complex obstacle environment to ensure the flight safety of the rescue UAV.

[0046] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1 As shown in FIG. 1 , this figure is an exemplary flow chart of a high-rise fire rescue drone anti-collision warning method according to this embodiment of the present application, and the warning method includes the following steps:

[0047] In step S1, the real-time Beidou positioning information of the rescue drone is obtained to determine the planned flight path of the rescue drone during the high-rise fire rescue process.

[0048] In specific implementation, the real-time Beidou positioning information of the rescue drone can be obtained through the Beidou positioning system carried by the rescue drone; first, start the Beidou positioning system carried by the rescue drone to ensure its normal operation and start receiving satellite signals; then, extract the real-time Beidou positioning information of the rescue drone from the Beidou positioning system, and the real-time Beidou positioning information includes the real-time longitude, latitude and altitude data of the rescue drone.

[0049] In addition, in the specific implementation, the planned flight path of the rescue drone during the high-rise firefighting and rescue process can be determined by a path planning algorithm; first, the starting point and end point of the rescue drone are determined; then, a suitable path planning algorithm is selected. In this application, the selected path planning algorithm is the A* algorithm. The A* algorithm is a heuristic search algorithm suitable for finding the shortest path and can efficiently handle obstacles; finally, the planned flight path of the rescue drone during the high-rise firefighting and rescue process can be determined by the path planning algorithm, and the planned flight path is a path on a two-dimensional plane.

[0050] In step S2, a three-dimensional flight path of the rescue drone during high-rise firefighting and rescue is constructed based on the real-time Beidou positioning information of the rescue drone and the planned flight path, and the three-dimensional flight path is divided into airspaces to obtain all flight airspaces.

[0051] Preferably, in this embodiment, reference Figure 2 As shown in FIG. 1 , this figure is an exemplary flow chart for determining a three-dimensional flight path in an embodiment of the present application. In this embodiment, the three-dimensional flight path of the rescue drone in the high-rise fire rescue process is constructed based on the real-time Beidou positioning information of the rescue drone and the planned flight path, which can be specifically implemented by the following steps:

[0052] First, in step S21, the rescue demand in the high-rise fire fighting process is obtained;

[0053] Then, in step S22, a plurality of flight waypoints are set in the planned flight path according to the rescue needs;

[0054] Secondly, in step S23, a flight simulation is performed using simulation software based on the real-time Beidou positioning information of the rescue drone and the environmental conditions of the fire rescue area, thereby obtaining the three-dimensional coordinates of each flight waypoint;

[0055] Finally, in step S24, a three-dimensional flight path of the rescue drone during high-rise firefighting and rescue is constructed according to the three-dimensional coordinates of each flight waypoint.

[0056] In the specific implementation, first, the rescue needs in the high-rise fire fighting process can be obtained, and the fire command center can be communicated with to understand the specific needs of high-rise building fire rescue, including the location, number, possible risk areas, etc. of the trapped persons; then, multiple flight waypoints can be set in the planned flight path according to the rescue needs, that is, in the planned flight path, multiple flight waypoints are set to ensure that the rescue drone can cover all locations that need rescue, and each flight waypoint should be reasonably arranged according to the structural characteristics of the high-rise building and the specific location of the trapped persons.

[0057] In addition, in the specific implementation, the flight simulation can be performed using simulation software based on the real-time Beidou positioning information of the rescue UAV and the environmental conditions of the fire rescue area. The environmental conditions of the fire rescue area include wind force, wind direction, visibility and whether it is raining. The wind speed and wind direction information of the current area can be obtained, which can usually be obtained through the meteorological station, meteorological API or real-time sensors. The current visibility conditions are recorded, especially the visibility changes under smoke, haze or other conditions, and whether there is rainfall and the rainfall intensity is determined, which can be obtained through meteorological data or precipitation sensors; then, suitable simulation software (such as Gazebo, MATLAB / Simulink, etc.) can be selected to support the modeling and simulation of the flight path of the rescue UAV, so as to input the real-time Beidou positioning information into the simulation software to simulate the rescue. During the flight process of the drone, the wind force and wind direction are set in the simulation software to simulate its impact on the flight of the drone, and the visibility is set in the visualization environment to affect the perception ability of the drone. If there is rainfall, its impact on flight performance (such as the impact of rainfall on battery life and flight stability) is simulated, and the basic parameters of the drone are input, such as model, weight, power system and sensor characteristics; then, according to the set multiple flight waypoints, the simulation software calculates the flight path of the rescue drone from the starting point to each flight waypoint and generates the corresponding three-dimensional coordinates; finally, the three-dimensional flight path of the rescue drone in the high-rise firefighting and rescue process can be constructed according to the three-dimensional coordinates of each flight waypoint, that is, according to the three-dimensional coordinates of each flight waypoint, the flight waypoints are connected one by one to form a three-dimensional flight path of the rescue drone in the high-rise firefighting and rescue process.

[0058] In this embodiment, the three-dimensional flight path is divided into airspaces to obtain all flight airspaces in the following manner, namely:

[0059] Acquire all flight waypoints in the three-dimensional flight path;

[0060] dividing the three-dimensional flight path into a plurality of three-dimensional flight path segments according to all flight waypoints;

[0061] Constructing an extended collision box of the rescue drone;

[0062] All flight airspaces are determined by the expanded collision box of the rescue drone and each three-dimensional flight path segment.

[0063] In the specific implementation, first, all flight waypoints can be extracted from the constructed three-dimensional flight path; then, the three-dimensional flight path can be divided into multiple three-dimensional flight path segments based on all the flight waypoints, that is, each three-dimensional flight path segment is composed of the three-dimensional paths directly between two adjacent flight waypoints. For example, if there are adjacent flight waypoints A, B, and C, it can be divided into three-dimensional flight path segment AB and three-dimensional flight path segment BC; secondly, an extended collision box of the rescue drone can be constructed, which is a rectangular box model of the rescue drone; finally, all flight airspaces can be determined by the extended collision box of the rescue drone and each three-dimensional flight path segment, that is, for each three-dimensional flight path segment, the extended collision box of the rescue drone is used to perform flight simulation in the three-dimensional flight path segment, so that the spatial domain contained in the extended collision box in the process is used as the flight airspace corresponding to the three-dimensional flight path segment, and all flight airspaces can be obtained in the above manner.

[0064] In this embodiment, the extended collision box of the rescue drone may be constructed in the following manner:

[0065] Obtaining basic shape parameters of the rescue drone;

[0066] Initialize the collision rectangular box of the rescue drone according to the basic shape parameters;

[0067] Setting an expansion coefficient based on the motion characteristics of the rescue drone;

[0068] The extended collision box of the rescue drone is constructed using the collision rectangular box and the expansion coefficient.

[0069] In the specific implementation, first, the basic shape parameters of the rescue drone can be obtained from the production manual of the rescue drone. The basic shape parameters include the length, width, and height of the rescue drone. It should be noted that the basic shape parameters in this application are obtained after considering the geometric characteristics of the rescue drone fuselage (such as wingspan, propeller radius, etc.); then, according to the obtained basic shape parameters, a collision rectangular box can be initialized, which is usually an axis-aligned cuboid. The size of the collision rectangular box should cover the overall shape of the rescue drone to ensure that no part is missed, and the origin position of the collision rectangular box is determined, which is usually the center of gravity or bottom of the rescue drone. center position of the part; secondly, according to the motion characteristics of the UAV (such as speed, rotation radius, etc.), set an appropriate expansion coefficient, which determines the degree of expansion of the collision box. The expansion coefficient set in this application is 1.3. Other values ​​can also be set in actual implementation, which is not limited here; finally, the collision rectangular box and the expansion coefficient can be used to construct the expanded collision box of the rescue UAV. For example, if the length, width, and height of the collision rectangular box are L, W, and H respectively, and the expansion coefficient is E, then the length, width, and height after expansion are L+E, W+E, and H+E respectively. The expanded collision box of the rescue UAV can be constructed by calculating the new size.

[0070] It should be noted that by dividing the airspace of the three-dimensional flight path, the flight trajectory of the rescue drone in space can be displayed more clearly, and the real-time Beidou positioning information can ensure that the rescue drone always maintains an accurate position in a complex environment, helping to formulate a more reasonable flight path.

[0071] In step S3, obstacle information on the three-dimensional flight path is collected, and conflicts are screened for each flight airspace based on the obstacle information to obtain all collision and conflict airspaces of the rescue drone, and the collision and conflict coefficients of each collision and conflict airspace are determined respectively. The collision threat degree of the rescue drone flying along the three-dimensional flight path during high-rise firefighting and rescue is determined based on all the collision and collision coefficients.

[0072] In specific implementation, the laser radar carried by the rescue drone can be used to collect obstacle information on the three-dimensional flight path in real time; after the rescue drone takes off, the laser radar starts to scan the surrounding environment in real time and collect laser point cloud data of obstacles on the three-dimensional flight path, that is, obstacle information.

[0073] Preferably, in this embodiment, reference Figure 3 As shown in FIG. 1 , this figure is an exemplary flow chart for determining the collision conflict airspace in an embodiment of the present application. In this embodiment, each flight airspace is subjected to conflict screening based on the obstacle information, and then all the collision conflict airspaces of the rescue drone are obtained, which can be specifically implemented by the following steps:

[0074] First, in step S31, for each flight airspace, obstacle parameters corresponding to the flight airspace are extracted from the obstacle information;

[0075] Then, in step S32, a flight conflict vector corresponding to the flight airspace is determined according to the flight airspace and corresponding obstacle parameters;

[0076] Finally, in step S33, if the direction of the flight conflict vector faces the flight airspace, the flight airspace is used as the collision conflict airspace, and then all the collision conflict airspaces of the rescue drone are obtained.

[0077] In the specific implementation, first, the pre-collected obstacle information is matched with the divided flight airspace. For each flight airspace, the relevant obstacle parameters in the obstacle information are extracted, including the position (coordinates), size (height, width, depth), shape, area and type of the obstacle; then, the flight conflict vector corresponding to the flight airspace can be determined according to the flight airspace and the corresponding obstacle parameters. The flight conflict vector is a vector used to represent the degree of conflict between the flight airspace and the obstacle. The distance between the obstacle and the flight airspace boundary can be calculated according to the obstacle parameters as the value of the flight conflict vector corresponding to the flight airspace. If the obstacle exists in the flight airspace, the direction of the flight conflict vector is facing the flight airspace. If the obstacle exists in the flight airspace, the direction of the flight conflict vector is facing the flight airspace boundary; finally, if the direction of the flight conflict vector faces the flight airspace, the flight airspace is used as a collision conflict airspace, which represents the flight airspace where the rescue drone may have a collision conflict. All collision conflict airspaces of the rescue drone can be obtained in the above manner.

[0078] In this embodiment, the collision coefficient of each collision airspace may be determined in the following manner, namely:

[0079] For each collision conflict airspace, obtain the value of the flight conflict vector corresponding to the collision conflict airspace;

[0080] The conflict-collision coefficient of the conflict-collision airspace is determined by the value of the flight conflict vector and the obstacle parameter corresponding to the conflict-collision airspace, and then the conflict-collision coefficient of each conflict-collision airspace is obtained.

[0081] In specific implementation, first, for each collision conflict airspace, the value of the flight conflict vector of the previously calculated flight airspace can be used as the value of the flight conflict vector corresponding to the collision conflict airspace; then, the collision conflict coefficient of the collision conflict airspace can be determined by the value of the flight conflict vector and the obstacle parameters corresponding to the collision conflict airspace. The collision conflict coefficient indicates the degree of collision risk faced by the rescue drone in the collision conflict airspace. In actual implementation, the collision conflict coefficient can be determined according to the following formula:

[0082]

[0083] Among them, C represents the conflict coefficient of the collision airspace, D represents the value of the flight conflict vector corresponding to the collision airspace, A represents the obstacle area in the obstacle parameter corresponding to the collision airspace, and A max represents the preset maximum obstacle area, T represents the obstacle type weight coefficient in the obstacle parameters corresponding to the collision conflict airspace, K1, K2 and K3 represent the weight coefficients determined based on historical experience, and the conflict collision coefficients of each collision conflict airspace can be determined by the above method.

[0084] In this embodiment, the collision threat level of the rescue drone flying along the three-dimensional flight path during high-rise firefighting and rescue can be determined based on all conflict collision coefficients in the following manner, namely:

[0085] The product of the sum of all conflict collision coefficients and the total number of collision conflict airspaces in the three-dimensional flight path is calculated, and then the ratio of the calculation result to the total number of flight airspaces in the three-dimensional flight path is used as the collision threat degree of the rescue drone flying along the three-dimensional flight path during high-rise firefighting and rescue.

[0086] It should be noted that in the present application, the collision threat degree refers to the collision threat level faced by the rescue drone when flying along a three-dimensional flight path during high-rise firefighting and rescue. The greater the collision threat degree, the greater the possibility of a collision between the rescue drone and the three-dimensional flight path.

[0087] In addition, it should be noted that by collecting obstacle information in real time, potential dangers on the flight path can be identified in a timely manner, helping drones avoid collision risks. By visualizing the collision conflict coefficient and collision threat level, it can help operators quickly understand the flight environment, optimize the flight path design, and ensure that rescue drones fly along the safest and most effective route.

[0088] In step S4, an anti-collision warning is performed on the high-rise firefighting and rescue process of the rescue drone according to each conflict collision coefficient and the collision threat degree.

[0089] In this embodiment, the following methods can be used to perform anti-collision warning on the high-rise firefighting and rescue process of the rescue drone according to each conflict collision coefficient and the collision threat degree, namely:

[0090] For each conflict collision coefficient, when the conflict collision coefficient is higher than a set collision threshold, an anti-collision warning signal of the rescue drone in the conflict airspace corresponding to the conflict collision coefficient is sent to the fire control center;

[0091] When the collision threat level is higher than a set threat threshold, an anti-collision warning signal of the rescue drone on the three-dimensional aircraft path is sent to a fire control center, and the flight path of the rescue drone is replanned.

[0092] In specific implementation, a collision threshold can be set according to historical data and environmental characteristics. For each conflict collision coefficient, when the conflict collision coefficient is higher than the set collision threshold, the warning mechanism is triggered to send an anti-collision warning signal of the rescue drone in the collision airspace corresponding to the conflict collision coefficient to the fire control center. The anti-collision warning signal includes the rescue drone ID, detailed information of the current conflict collision airspace (such as location, obstacle type), the current conflict collision coefficient value and recommended countermeasures (such as recommended flight altitude adjustment).

[0093] In addition, during the specific implementation, the threat threshold can be set according to the urgency of the rescue mission and the complexity of the environment. If the collision threat level is higher than the set threat threshold, the warning procedure will be executed to send a collision avoidance warning signal of the rescue drone on the three-dimensional aircraft path to the fire control center. The collision avoidance warning signal includes the rescue drone ID, detailed information of the current three-dimensional flight path, the current collision threat level and specific response suggestions for high threats (such as the need to adjust the flight path immediately), and the path planning algorithm will be started to find a new flight path to avoid high-risk areas.

[0094] It can be seen that in this application, a collision warning is performed on the planned flight path of the rescue drone in a complex obstacle environment; among them, by dividing the airspace of the three-dimensional flight path, the flight trajectory of the rescue drone in space can be more clearly displayed, and the real-time Beidou positioning information can ensure that the rescue drone always maintains an accurate position in a complex environment, helping to formulate a more reasonable flight path; then, by collecting obstacle information in real time, potential dangers on the flight path can be identified in time to help the drone avoid collision risks, and by visualizing the collision conflict coefficient and collision threat degree, it can help operators quickly understand the flight environment, optimize the flight path design, and ensure that the rescue drone flies along the safest and most effective route; finally, based on each conflict collision coefficient and collision threat degree, a collision avoidance warning is performed on the high-level firefighting and rescue process of the rescue drone to ensure the flight safety of the rescue drone.

[0095] To sum up, the technical solution adopted in this application can provide collision warning for the planned flight path of the rescue drone in a complex obstacle environment to ensure the flight safety of the rescue drone.

[0096] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, the storage medium including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0098] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

Claims

1. A high-rise fire rescue drone anti-collision warning method, characterized in that: The early warning method comprises the following steps: Obtaining real-time Beidou positioning information of the rescue drone and determining the planned flight path of the rescue drone during high-rise firefighting and rescue operations; Constructing a three-dimensional flight path of the rescue drone during high-rise firefighting and rescue according to the real-time Beidou positioning information of the rescue drone and the planned flight path, dividing the three-dimensional flight path into airspaces, and obtaining all flight airspaces; Obstacle information on the three-dimensional flight path is collected, and conflict screening is performed on each flight airspace based on the obstacle information, thereby obtaining all collision and conflict airspaces of the rescue drone, and respectively determining the conflict and conflict coefficients of each collision and conflict airspace, Specifically, first, for each collision conflict airspace, the value of the flight conflict vector of the flight airspace is used as the value of the flight conflict vector corresponding to the collision conflict airspace; then, the collision conflict coefficient of the collision conflict airspace is determined by the value of the flight conflict vector and the obstacle parameters corresponding to the collision conflict airspace. The collision conflict coefficient represents the degree of collision risk faced by the rescue drone in the collision conflict airspace. The collision conflict coefficient is determined according to the following formula: ， Among them, C represents the conflict coefficient of the collision airspace, D represents the value of the flight conflict vector corresponding to the collision airspace, and the flight conflict vector is a vector used to represent the degree of conflict between the flight airspace and the obstacle. A represents the obstacle area in the obstacle parameter corresponding to the collision airspace. represents the preset maximum obstacle area, T represents the obstacle type weight coefficient in the obstacle parameters corresponding to the collision conflict airspace, , and represents the weight coefficient determined based on historical experience, Determine the collision threat level of the rescue drone flying along the three-dimensional flight path during high-rise firefighting and rescue according to all conflict collision coefficients, Specifically, the product of the sum of all conflict and collision coefficients and the total number of collision and conflict airspaces in the three-dimensional flight path is calculated, and then the ratio of the calculation result to the total number of flight airspaces in the three-dimensional flight path is used as the collision threat degree of the rescue drone flying along the three-dimensional flight path during the high-rise firefighting and rescue process; According to each conflict collision coefficient and the collision threat degree, an anti-collision warning is performed on the high-rise firefighting and rescue process of the rescue drone.

2. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: The real-time Beidou positioning information of the rescue drone is obtained through the Beidou positioning system carried by the rescue drone.

3. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: The planned flight path of the rescue drone during high-rise firefighting and rescue is determined by a path planning algorithm.

4. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: Constructing the three-dimensional flight path of the rescue drone during high-rise firefighting and rescue according to the real-time Beidou positioning information of the rescue drone and the planned flight path specifically includes: Obtain rescue needs during high-rise firefighting; Setting a plurality of flight waypoints in the planned flight path according to the rescue needs; Based on the real-time Beidou positioning information of the rescue drone and the environmental conditions of the fire rescue area, a flight simulation is performed using simulation software to obtain the three-dimensional coordinates of each flight waypoint; The three-dimensional flight path of the rescue drone during high-rise firefighting and rescue is constructed according to the three-dimensional coordinates of each flight waypoint.

5. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: The three-dimensional flight path is divided into airspaces, and all flight airspaces are obtained, including: Acquire all flight waypoints in the three-dimensional flight path; dividing the three-dimensional flight path into a plurality of three-dimensional flight path segments according to all flight waypoints; Constructing an extended collision box of the rescue drone; All flight airspaces are determined by the expanded collision box of the rescue drone and each three-dimensional flight path segment.

6. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 5, characterized in that: Constructing the extended collision box of the rescue drone specifically includes: Obtaining basic shape parameters of the rescue drone; Initialize the collision rectangular box of the rescue drone according to the basic shape parameters; Setting an expansion coefficient based on the motion characteristics of the rescue drone; The extended collision box of the rescue drone is constructed using the collision rectangular box and the expansion coefficient.

7. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: Obstacle information on the three-dimensional flight path is collected in real time by the laser radar carried by the rescue drone.

8. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: Based on the obstacle information, each flight airspace is screened for conflicts, and then all collision conflict airspaces of the rescue drone are obtained, including: For each flight airspace, extract obstacle parameters corresponding to the flight airspace from the obstacle information; Determining a flight conflict vector corresponding to the flight airspace according to the flight airspace and corresponding obstacle parameters; If the direction of the flight conflict vector faces the flight airspace, the flight airspace is used as the collision conflict airspace, and then all the collision conflict airspaces of the rescue drone are obtained.

9. A high-rise fire rescue UAV anti-collision warning method as claimed in claim 1, characterized in that: The anti-collision warning for the high-rise firefighting and rescue process of the rescue drone according to each conflict collision coefficient and the collision threat degree specifically includes: For each conflict collision coefficient, when the conflict collision coefficient is higher than a set collision threshold, an anti-collision warning signal of the rescue drone in the conflict airspace corresponding to the conflict collision coefficient is sent to the fire control center; When the collision threat level is higher than a set threat threshold, an anti-collision warning signal of the rescue drone on the three-dimensional flight path is sent to the fire control center, and the flight path of the rescue drone is replanned.

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