Unmanned aerial vehicle and unmanned fire boat collaborative fire extinguishing method and device

Abstract

The invention provides a cooperative fire extinguishing method and device for an unmanned aerial vehicle and an unmanned fire boat, and relates to the technical field of fire fighting. The method comprises the following steps: the unmanned aerial vehicle obtains position information of a fire object through an AIS system in a data acquisition module; the fire-fighting mother ship sends a moving instruction to a control module of the unmanned aerial vehicle through a communication module according to the position information; the control module controls the unmanned aerial vehicle to fly to a fire position corresponding to the fire object, a thermal infrared image of the fire object is acquired through an infrared thermal imager in the data acquisition module, and an ignition point is determined according to the thermal infrared image; and a data analysis module of the unmanned aerial vehicle determines a fire-fighting operation area according to the ignition point, the surrounding wind field information of the fire object and the building distribution plane graph of the superstructure of the fire object, and determines an optimal fire extinguishing point in the fire-fighting operation area. Therefore, the optimal fire extinguishing point with both the fire extinguishing efficiency and the safety can be found.

Description

Technical Field

[0001] The present invention relates to the field of fire fighting technology, and in particular to a method and device for cooperative fire fighting by a drone and an unmanned fire boat. Background Art

[0002] With the continuous development of global trade, water traffic is becoming increasingly busy, and water traffic accidents are also increasing. Among them, ship fire accidents are the most serious and common type of water traffic accidents. Once a fire occurs, if the fire cannot be extinguished quickly and effectively, the energy released by the burning of flammable substances such as fuel and chemicals on the ship will cause the fire to spread rapidly or even explode. This not only threatens the safety of the hull, crew and cargo of the burning ship itself, but also has a negative impact on the navigation safety of ships passing by and the smooth passage of waterways.

[0003] The spread of fire at the scene of a ship fire is affected by wind direction, wind speed, superstructure, etc., and is complex and changeable. For example, winds of different directions will affect the direction of fire spread, winds of different intensities will affect the speed of fire spread, and superstructures of different structures will affect the direction and speed of fire spread. If a fireboat is operating in the downwind area of ​​the fire spread, it is very likely that the fire will spread to the fireboat. Although there are some studies on unmanned fireboats, these studies do not consider the selection of fireboat operation positions that take into account both fire extinguishing efficiency and safety. Summary of the invention

[0004] The purpose of the present invention is to provide a method and device for collaborative firefighting of a drone and an unmanned fireboat in response to the above-mentioned deficiencies in the prior art, so as to find the optimal firefighting point for the fireboat that takes into account both firefighting efficiency and safety by identifying the fire point, determining the superstructure distribution of the fire object, and calculating the surrounding wind field information of the fire object.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for collaborative firefighting of a drone and an unmanned fireboat, comprising: the drone obtains the location information of the object on fire through the AIS system in the data acquisition module; the drone and the unmanned fireboat are carried on a fire mother ship; the fire mother ship sends a movement instruction to the control module of the drone through the communication module according to the location information; the control module controls the drone to fly to the fire position corresponding to the object on fire, collects the thermal infrared image of the object on fire through the infrared thermal imager in the data acquisition module, and determines the fire point according to the thermal infrared image; the data analysis module of the drone determines the firefighting operation area according to the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and determines the best fire extinguishing point within the firefighting operation area; the fire mother ship releases the unmanned fireboat and controls the unmanned fireboat to move to the best fire extinguishing point to perform firefighting operations on the fire position.

[0007] In one embodiment, the firefighting operation area is determined based on the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and the optimal fire extinguishing point is determined within the firefighting operation area, including: the wind field calculation module in the data analysis module determines the wind measuring point according to the fire point, and determines the upwind area according to the wind speed and wind direction of the wind measuring point; the unobstructed firefighting operation area is determined based on the fire point and the building distribution plan of the superstructure of the object on fire; the optimal fire extinguishing point calculation module in the data analysis module determines the firefighting operation area based on the upwind area and the unobstructed firefighting operation area, and determines the optimal fire extinguishing point within the firefighting operation area.

[0008] In one embodiment, the method of determining a wind measuring point according to the fire point, and determining an upwind area according to the wind speed and wind direction at the wind measuring point, includes: determining the height of the maximum temperature that the UAV and its mounted equipment can withstand from the fire point through the UWB positioning system in the data acquisition module; the wind field calculation module determines a horizontal movement trajectory according to the fire point, the height, and a preset radius, and sets a wind measuring point on the horizontal movement trajectory; measuring the wind speed and direction of each wind measuring point through an ultrasonic anemometer and anemometer in the data acquisition module, and determining a wind vector according to the wind speed and the wind direction; and determining the upwind area according to the wind vector.

[0009] In one embodiment, determining the upwind area based on the wind vector includes: vector superposition of the wind vectors of each of the wind measuring points with the ignition point as the origin to obtain a sum vector; rotating 90° clockwise and counterclockwise with the sum vector as the starting edge, and determining the obtained area as the downwind area; and determining the area other than the downwind area in the horizontal plane formed by the horizontal movement trajectory as the upwind area.

[0010] In one embodiment, the determining of the unobstructed firefighting operation area based on the fire point and the building distribution plan of the superstructure of the fire object comprises: acquiring the image of the superstructure of the fire object by means of the image recognition module in the data acquisition module; performing contour recognition on the superstructure image by means of an edge detection algorithm to obtain the building distribution plan of the superstructure; and the optimal fire extinguishing point calculation module determining the unobstructed firefighting operation area based on the fire point and the building contour in the building distribution plan.

[0011] In one embodiment, the unobstructed firefighting operation area is determined based on the fire point and the building outline in the building distribution plan, including: determining two rays based on the fire point and the building outline of the superstructure, and determining the area enclosed by the two rays and the curves corresponding to the angle between the two rays in the horizontal moving trajectory as the firefighting operation blind area; and determining the area in the horizontal plane formed by the horizontal moving trajectory except the firefighting operation blind area as the unobstructed firefighting operation area.

[0012] In one embodiment, the firefighting operation area is determined based on the upwind area and the unobstructed firefighting operation area, and the optimal fire-fighting point is determined within the firefighting operation area, including: determining an annular target area based on the fire point, the minimum safety distance and the maximum operating distance of the unmanned fireboat operation; determining the intersection of the upwind area, the unobstructed firefighting operation area and the annular target area to obtain the firefighting operation area; and determining the optimal fire-fighting point within the firefighting operation area.

[0013] In one embodiment, the annular target area is determined based on the fire point, the minimum safe distance for the operation of the unmanned fireboat, and the maximum operating distance, including: determining a first area with the fire point as the center and the minimum safe distance for the operation of the unmanned fireboat as the radius; determining a second area with the fire point as the center and the maximum operating distance for the operation of the unmanned fireboat as the radius; determining the intersection of the first area and the second area to obtain the annular target area.

[0014] In one embodiment, determining the optimal fire extinguishing point in the fire operation area includes: determining an axis according to the fire point and the current wind direction; and determining the point in the fire operation area closest to the axis as the optimal fire extinguishing point.

[0015] In one embodiment, the unmanned fireboat is equipped with a fire water cannon, and the fire water cannon is used for remote fire fighting.

[0016] In the second aspect, the embodiment of the present application also provides a cooperative fire-fighting device of a drone and an unmanned fireboat, comprising: an acquisition module, configured so that the drone obtains the location information of the object on fire through the AIS system in the data acquisition module; the drone and the unmanned fireboat are carried on a fire mother ship; an instruction transmission module, configured so that the fire mother ship sends a movement instruction to the control module of the drone through the communication module according to the location information; a first processing module, configured so that the control module controls the drone to fly to the fire position corresponding to the object on fire, collects the thermal infrared image of the object on fire through the infrared thermal imager in the data acquisition module, and determines the fire point according to the thermal infrared image; a second processing module, configured so that the data analysis module of the drone determines the fire operation area according to the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and determines the best fire extinguishing point within the fire operation area; an execution module, configured so that the fire mother ship releases the unmanned fireboat and controls the unmanned fireboat to move to the best fire extinguishing point to perform firefighting operations on the fire position.

[0017] In one embodiment, the second processing module is configured as follows: the wind field calculation module in the data analysis module determines the wind measurement point according to the fire point, and determines the upwind area according to the wind speed and wind direction of the wind measurement point; determines the unobstructed firefighting operation area according to the fire point and the building distribution plan of the superstructure of the fire object; the best fire extinguishing point calculation module in the data analysis module determines the firefighting operation area according to the upwind area and the unobstructed firefighting operation area, and determines the best fire extinguishing point within the firefighting operation area.

[0018] In one embodiment, the second processing module is configured as follows: determining the height from the fire point at which the maximum temperature that the UAV and its mounted equipment can withstand is determined by the UWB positioning system in the data acquisition module; the wind field calculation module determines the horizontal movement trajectory according to the fire point, the height, and a preset radius, and sets wind measurement points on the horizontal movement trajectory; measuring the wind speed and direction of each wind measurement point by the ultrasonic anemometer and wind direction meter in the data acquisition module, and determining the wind vector according to the wind speed and the wind direction; and determining the upwind area according to the wind vector.

[0019] In one embodiment, the second processing module is configured as follows: determining the upwind area based on the wind vector includes: vector superposition of the wind vectors of each wind measuring point with the ignition point as the origin to obtain a sum vector; rotating 90° clockwise and counterclockwise with the sum vector as the starting edge, and determining the obtained area as the downwind area; and determining the area other than the downwind area in the horizontal plane formed by the horizontal movement trajectory as the upwind area.

[0020] In one embodiment, the second processing module is configured to: collect the superstructure image of the fire object through the image recognition module in the data acquisition module; perform contour recognition on the superstructure image through an edge detection algorithm to obtain a building distribution plan of the superstructure; and the optimal fire extinguishing point calculation module determines the unobstructed firefighting operation area according to the fire point and the building contour in the building distribution plan.

[0021] In one embodiment, the second processing module is configured to: determine two rays based on the fire point and the building outline of the superstructure, and determine the area enclosed by the two rays and the curves corresponding to the angle between the two rays in the horizontal moving trajectory as the firefighting operation blind area; determine the area other than the firefighting operation blind area in the horizontal plane formed by the horizontal moving trajectory as the unobstructed firefighting operation area.

[0022] In one embodiment, the second processing module is configured to: determine an annular target area based on the fire point, the minimum safety distance and the maximum operating distance of the unmanned fireboat; determine the intersection of the upwind area, the unobstructed firefighting operation area and the annular target area to obtain the firefighting operation area; determine the optimal fire extinguishing point within the firefighting operation area.

[0023] In one embodiment, the second processing module is configured to: determine a first area with the fire point as the center and the minimum safe distance of the unmanned fireboat as the radius; determine a second area with the fire point as the center and the maximum operating distance of the unmanned fireboat as the radius; determine the intersection of the first area and the second area to obtain the annular target area.

[0024] In one embodiment, the second processing module is configured to: determine an axis according to the fire point and the current wind direction; and determine the point in the fire operation area that is closest to the axis as the optimal fire extinguishing point.

[0025] In a third aspect, an embodiment of the present application provides a computer device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the computer device is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of any one of the above methods.

[0026] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the above methods are performed.

[0027] The beneficial effects of the present application are as follows: based on a fire-fighting mother ship equipped with a drone and an unmanned fireboat, a data acquisition module, a data analysis module, a control module, and a communication module are arranged on the drone, and a communication module is arranged on the fire-fighting mother ship, by identifying the fire point, determining the superstructure distribution of the fire object, and calculating the surrounding wind field information of the fire object, not only can the best fire-fighting point that takes into account both fire-fighting efficiency and safety be found, but also after determining the best fire-fighting point, the unmanned fireboat can be remotely controlled by the fire-fighting mother ship to perform firefighting operations according to the best fire-fighting point, thereby improving the efficiency of fire-fighting operations; in addition, the best fire-fighting point is determined by identifying the fire point, determining the superstructure distribution of the fire object, calculating the surrounding wind field information of the fire object, determining the upwind area and the unobstructed fire-fighting operation area, and then determining the fire-fighting operation area based on the upwind area and the unobstructed fire-fighting operation area, and then determining it within the fire-fighting operation area, the entire calculation process is completed by the data analysis module of the drone, and the required data is collected by the data acquisition module of the drone, thereby improving the calculation efficiency and the accuracy of the calculation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0030] Figure 2 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0034] Figure 6 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0037] Fig. 9 A schematic diagram of a flow chart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application;

[0038] Fig.10 A schematic diagram of determining and vectors in a method for cooperative firefighting between a drone and an unmanned fireboat provided in an embodiment of the present application;

[0039] Fig.11 A schematic diagram of determining a firefighting operation blind area and an unobstructed firefighting operation area in a method for cooperative firefighting between a drone and an unmanned fireboat provided in an embodiment of the present application;

[0040] Fig.12 A schematic diagram of determining a circular target area in a method for cooperative firefighting between a drone and an unmanned fireboat provided in an embodiment of the present application;

[0041] Fig.13 A schematic diagram of an optimal fire extinguishing point determined in a method for cooperative fire extinguishing by a drone and an unmanned fireboat provided in an embodiment of the present application;

[0042] Fig.14 A schematic diagram of the structure of a drone and unmanned fireboat cooperative fire extinguishing device provided in an embodiment of the present application;

[0043] Fig.15 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0045] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0046] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0047] In addition, the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0049] Figure 1 A flowchart of a method for cooperative firefighting of a drone and an unmanned fireboat provided in an embodiment of the present application; Figure 1 As shown, the method includes:

[0050] Step 110: The UAV obtains the location information of the fire object through the AIS system in the data acquisition module.

[0051] Among them, drones and unmanned fireboats are carried on the fire mother ship.

[0052] The object on fire may be the burning ship in the above-mentioned background technology, and of course may be other objects on fire, including those on land and at sea, which are not limited here.

[0053] The AIS system (Automatic Identification System) is an automatic tracking system that exchanges electronic data with ships, AIS shore stations, satellites and other equipment to perform traffic control (VTS) identification and positioning. The AIS system can display the unique identification code, name, location, heading and speed of the data collection object.

[0054] The location information in this step can be represented by longitude and latitude.

[0055] Step 120: The firefighting mother ship sends a movement instruction to the control module of the UAV through the communication module according to the location information.

[0056] In actual operation, communication modules can be set on both the fire mother ship and the drone for communication; for example: synchronization of position information and transmission of commands between the fire mother ship and the drone.

[0057] Step 130: The control module controls the drone to fly to the fire location corresponding to the fire object, collects the thermal infrared image of the fire object through the infrared thermal imager in the data acquisition module, and determines the fire point according to the thermal infrared image.

[0058] Among them, infrared thermal imagers are mainly used in research and development or industrial inspection and equipment maintenance, and are also widely used in fire prevention, night vision and security. In other words, infrared thermal imagers convert invisible infrared energy emitted by objects into visible thermal images. Different colors on the thermal image represent different temperatures of the object being measured. Therefore, in actual operation, this step can directly determine the highest temperature point based on the color in the thermal infrared image, and then determine the highest temperature point as the above-mentioned ignition point.

[0059] Step 140: determine the fire fighting area according to the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and determine the best fire extinguishing point in the fire fighting area.

[0060] In order to balance fire extinguishing efficiency and safety, this step finds the best fire extinguishing point by identifying the fire point, determining the distribution of the superstructure of the fire object, and calculating the surrounding wind field information of the fire object.

[0061] The wind field information of the fire point can be determined by the wind direction, wind speed and other information of the wind measuring point; here, the wind measuring point can be determined based on the equipment safety and the minimum safe operating distance, so that the measured wind direction, wind speed and other wind field information is more accurate while protecting the equipment.

[0062] Superstructures of different structures will affect the direction of fire spread, wind speed and other wind field information. Therefore, this step takes into account the distribution of superstructures of the fire object to make the final determination of the best fire extinguishing point more accurate.

[0063] Step 150: The firefighting mother ship releases the unmanned fireboat and controls the unmanned fireboat to move to the best fire extinguishing point to perform firefighting operations at the fire location.

[0064] In actual operation, the unmanned fireboat can be equipped with a fire water cannon, which is used for remote firefighting. Furthermore, the fire mother ship can remotely control the unmanned fireboat to carry out firefighting operations.

[0065] The embodiment of the present application provides a cooperative firefighting of a drone and an unmanned fireboat. First, the drone obtains the location information of the object on fire through the AIS system in the data acquisition module; the drone and the unmanned fireboat are carried on the fire mother ship; secondly, the fire mother ship sends a movement instruction to the control module of the drone through the communication module according to the location information; thirdly, the control module controls the drone to fly to the fire position corresponding to the object on fire, collects the thermal infrared image of the object on fire through the infrared thermal imager in the data acquisition module, and determines the fire point according to the thermal infrared image; then, according to the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, the fire operation area is determined, and the best fire extinguishing point is determined within the fire operation area; finally, the fire mother ship releases the unmanned fireboat and controls the unmanned fireboat to move to the best fire extinguishing point to carry out firefighting operations on the fire position. In this way, based on the fire-fighting mother ship equipped with unmanned aerial vehicles and unmanned fireboats, a data acquisition module, a data analysis module, a control module, and a communication module are set on the unmanned aerial vehicle, and a communication module is set on the fire-fighting mother ship. By identifying the fire point, determining the superstructure distribution of the fire object, and calculating the surrounding wind field information of the fire object, not only can the best fire-fighting point that takes into account both fire-fighting efficiency and safety be found, but also the unmanned fireboat can be remotely controlled by the fire-fighting mother ship to perform firefighting operations according to the best fire-fighting point after determining the best fire-fighting point, thereby improving the efficiency of fire-fighting operations; in addition, the best fire-fighting point is determined by identifying the fire point, determining the superstructure distribution of the fire object, calculating the surrounding wind field information of the fire object, determining the upwind area and the unobstructed fire-fighting operation area, and then determining the fire-fighting operation area based on the upwind area and the unobstructed fire-fighting operation area, and then determining it within the fire-fighting operation area. The entire calculation process is completed by the data analysis module of the unmanned aerial vehicle, and the required data is collected by the data acquisition module of the unmanned aerial vehicle, thereby improving the calculation efficiency and the accuracy of the calculation results.

[0066] The following is a continued explanation of the process of determining the firefighting operation area based on the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and determining the best fire extinguishing point within the firefighting operation area in combination with examples in the above embodiment. Figure 2A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 2 As shown, the above step 140 may include the following steps 210 to 230:

[0067] Step 210: The wind field calculation module in the data analysis module determines the wind measurement point according to the fire point, and determines the upwind area according to the wind speed and wind direction of the wind measurement point.

[0068] Among them, the wind measurement point can be determined based on equipment safety and the minimum safe operating distance, so that the measured wind direction, wind speed and other wind field information is more accurate while protecting the equipment.

[0069] If an unmanned fireboat operates in the downwind area where a fire is spreading, it is very likely that the fire will spread to the unmanned fireboat. Therefore, in actual operation, it is necessary to determine the upwind area based on the wind field information at the wind measuring point to ensure the safety of the unmanned fireboat's firefighting operations.

[0070] Specifically, Figure 3 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 3 As shown, the above step 210 may include the following steps 310 to 340:

[0071] Step 310: Determine the height from the fire point to the maximum temperature that the UAV and its mounted equipment can withstand through the UWB positioning system in the data acquisition module.

[0072] Among them, the positioning base station deployed on the UWB platform of the UWB positioning system deploys the UWB positioning system at the location where it needs to be installed by transmitting wireless signals. At the same time, combined with the working environment conditions supported by the positioning base station (such as temperature, humidity, light, etc.) and the positioning algorithm, it can realize real-time positioning of the managed objects in different geographical environments. The UWB positioning system is customized according to different application scenarios and can be adapted to different occasions: for example, accurate management of vehicles in airports or ports; accurate management of goods in logistics warehousing and e-commerce fields to improve work efficiency.

[0073] In actual operation, the data acquisition module may include a temperature sensor, which is used to monitor the temperature around the drone to prevent the drone and its mounted equipment from being damaged due to excessively high temperatures around the fire object.

[0074] Furthermore, when the UAV moves to the position of the highest temperature that the UAV and its mounted equipment can withstand, the distance between the position and the fire point can be obtained through the UWB positioning system, that is, the height of the highest temperature that the UAV and its mounted equipment can withstand from the fire point can be obtained.

[0075] Step 320: The wind field calculation module determines the horizontal movement trajectory according to the ignition point, height, and preset radius, and sets the wind measurement point on the horizontal movement trajectory.

[0076] The preset radius may be determined based on experience or by referring to relevant information, such as 30m, 40m, and is not limited here.

[0077] In actual operation, this step can be achieved through the following process: first, at the above height, with the ignition point as the origin and the preset radius as the radius, a circle is drawn on the horizontal plane to obtain the above horizontal movement trajectory; secondly, on the horizontal movement trajectory, a wind measurement point is set at a certain interval, for example: a wind measurement point A is set every 22.5° i (x,y).

[0078] Step 330: Measure the wind speed and direction of each wind measuring point through the ultrasonic anemometer in the data acquisition module, and determine the wind vector based on the wind speed and wind direction.

[0079] Among them, the ultrasonic anemometer, also known as the ultrasonic anemometer and wind vane, is a wind speed and direction measuring instrument developed based on the ultrasonic principle. It uses the transmitted sound wave pulses to measure the time or frequency (Doppler transform) difference at the receiving end to calculate the wind speed and wind direction. The sensor can measure the instantaneous values ​​of wind speed and wind direction at the same time.

[0080] In actual operation, this step can be achieved through the following process: First, the fire mother ship sends a movement command to the control module of the drone through the communication module, so that the drone moves cyclically on the above-mentioned horizontal movement trajectory, and stays at each wind measuring point for a preset time in turn, and measures the wind speed v at each wind measuring point through an ultrasonic anemometer. i With wind direction θ i ; Secondly, according to the wind speed v at each wind measuring point i With wind direction θ i Determine the wind vector at each wind measuring point

[0081] Step 340: Determine the upwind area according to the wind vector.

[0082] When an unmanned fireboat operates in the downwind area, it is easy for the fire to spread to the unmanned fireboat. Therefore, it is necessary to determine the upwind area based on the wind field information of the wind measurement point to ensure the safety of the unmanned fireboat's firefighting operations. Figure 4 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 4 As shown, the above step 340 may include the following steps 410 to 430:

[0083] Step 410: Superimpose the wind vectors of each wind measuring point with the ignition point as the origin to obtain a sum vector.

[0084] Among them, Fig.10 As shown in the figure, this step can be done by calculating the wind vector at each wind measuring point. Taking the ignition point O as the origin, vector superposition is performed to obtain the sum vector

[0085] Step 420: Taking the sum vector as the starting edge, rotate 90° clockwise and counterclockwise respectively, and determine the obtained area as the downwind area.

[0086] Among them, Fig.10 As shown, this step is done by summing the vectors As the starting edge, in the horizontal plane formed by the horizontal moving trajectory, rotate 90° clockwise and 90° counterclockwise to obtain the above-mentioned downwind area S2.

[0087] Step 430: determine the area other than the downwind area in the horizontal plane formed by the horizontal movement trajectory as the upwind area.

[0088] Among them, Fig.10 As shown, the area outside the downwind area S2 in the horizontal plane formed by the horizontal movement trajectory is the above-mentioned upwind area S1.

[0089] Step 220: Determine the unobstructed firefighting operation area based on the building distribution plan of the fire point and the superstructure of the fire object.

[0090] The distribution plan of the superstructure of the fire object can be determined by the superstructure image collected by the image recognition module in the data collection module.

[0091] The blind spot for firefighting operations generally refers to the area blocked by superstructures, and other areas are generally unobstructed firefighting operation areas.

[0092] This step considers the building distribution plan of the superstructure of the fire object because the superstructures of the fire object with different structures will affect the direction of fire spread, wind speed and other wind field information. Therefore, the distribution of the superstructures of the fire object is taken into consideration, and the optimal fire extinguishing point is finally determined to be more accurate.

[0093] Specifically, Figure 5 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 5 As shown, the above step 220 may include the following steps 510 to 530:

[0094] Step 510: The image of the superstructure of the object on fire is collected by the image recognition module in the data collection module.

[0095] In actual operation, when the drone is flying on a horizontal moving trajectory, the image recognition module can be activated to capture images of the superstructure of the fire object.

[0096] Step 520: Perform contour recognition on the superstructure image using an edge detection algorithm to obtain a building distribution plan of the superstructure.

[0097] Among them, edge detection algorithm is an important technology in image processing, which is used to identify the boundaries of objects in images. Edge detection algorithms can be divided into two categories: search-based and zero-crossing-based. The search-based method first calculates the edge strength, usually using the first-order derivative (such as gradient modulus), and then uses the direction of the gradient to find the maximum value of the local gradient modulus. The zero-crossing-based method locates the edge by finding the zero-crossing point of the second-order derivative. Edge detection algorithms include: Roberts operator, Sobel operator, Prewitt operator, Canny operator, Marr-Hildreth operator, etc. This step can use any of the above edge detection algorithms, which is not limited here.

[0098] Step 530: The optimal fire extinguishing point calculation module determines the unobstructed fire fighting operation area according to the fire point and the building outline in the building distribution plan.

[0099] Among them, this step is mainly to determine the shielded area based on the fire point and the building outline of the superstructure, and then determine the unshielded area; the shielded area can be understood as a blind spot for firefighting operations, and the unshielded area is the above-mentioned unshielded firefighting operation area.

[0100] Specifically, Figure 6 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 6 As shown, the above step 530 may include the following steps 610 and 620:

[0101] Step 610: Determine two rays according to the fire point and the building outline of the superstructure, and determine the area enclosed by the two rays and the curves corresponding to the angle between the two rays in the horizontal moving trajectory as the fire fighting operation blind area.

[0102] Among them, Fig.11 As shown, two rays are determined by the fire point O and the building outline (maximum outline points on the left and right sides), and the area enclosed by the two rays and the horizontal moving trajectory is determined as the fire fighting operation blind area S3.

[0103] Step 620: Determine the area in the horizontal plane formed by the horizontal movement trajectory except the firefighting operation blind area as the unobstructed firefighting operation area.

[0104] Among them, Fig.11As shown, the area in the horizontal plane formed by the horizontal movement trajectory except the firefighting operation blind area S3 is determined as the above-mentioned unobstructed firefighting operation area S4.

[0105] Step 230, the optimal fire extinguishing point calculation module in the data analysis module determines the fire fighting operation area according to the upwind area and the unobstructed fire fighting operation area, and determines the optimal fire fighting point in the fire fighting operation area.

[0106] Among them, the fire fighting operation area can be determined according to the intersection of the upwind area and the unobstructed fire fighting operation area according to the best fire fighting point calculation module, and then the best fire fighting point can be determined in the fire fighting operation area.

[0107] Specifically, Figure 7 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 7 As shown, the above step 230 may include the following steps 710 to 730:

[0108] Step 710: Determine the annular target area according to the fire point, the minimum safe distance and the maximum operating distance of the unmanned fireboat operation.

[0109] Among them, the minimum safe distance is the minimum distance at which an unmanned fireboat can carry out firefighting operations while ensuring its own safety.

[0110] The maximum operating distance is the maximum distance at which an unmanned fireboat can carry out firefighting operations under the premise that it can provide firefighting functions normally.

[0111] Specifically, Figure 8 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Figure 8 As shown, the above step 710 may include the following steps 810 to 830:

[0112] Step 810: determine a first area with the fire point as the center and the minimum safe distance for the unmanned fireboat to operate as the radius.

[0113] Among them, Fig.12 As shown, in this step, a circle can be drawn on the horizontal plane with the fire point O as the center and the minimum safe distance r1 for the operation of the unmanned fireboat as the radius to obtain the above-mentioned first area.

[0114] Step 820: determine a second area with the fire point as the center and the maximum operating distance of the unmanned fireboat as the radius.

[0115] Among them, Fig.12 As shown, in this step, a circle can be drawn on the horizontal plane with the fire point O as the center and the maximum operating distance r2 of the unmanned fireboat as the radius to obtain the above-mentioned second area.

[0116] Step 830: determine the intersection of the first area and the second area to obtain an annular target area.

[0117] Among them, Fig.12 As shown, the intersection of the first area and the second area is determined to obtain the above-mentioned annular target area S5:

[0118] S5={x∈R 2 :||xO||≥r1}∩{x∈R 2 :||xO||≤r2} (1)

[0119] Wherein, R is the radius of the annular target area S5.

[0120] Step 720: determine the intersection of the upwind area, the unobstructed firefighting operation area and the annular target area to obtain the firefighting operation area.

[0121] Among them, this step is to calculate the intersection of the upwind area, the unobstructed fire operation area and the annular target area to obtain the fire operation area S:

[0122] S=S1∩S4∩S5(2)

[0123] Step 730: Determine the best fire extinguishing point in the fire fighting operation area.

[0124] In this step, a preset method may be used to determine the best fire extinguishing point in the fire fighting operation area. Specifically, Fig. 9 A schematic diagram of the process of cooperative firefighting between a drone and an unmanned fireboat provided in the embodiment of the present application. Fig. 9 As shown, the above step 730 may include the following steps 910 and 920:

[0125] Step 910: Determine the axis according to the fire point and the current wind direction.

[0126] Among them, the point and direction can determine a straight line. In this step, the above-mentioned axis can be determined according to the fire point and the current wind direction.

[0127] Step 920: determine the point in the fire fighting area that is closest to the axis as the best fire extinguishing point.

[0128] Among them, Fig.13 As shown, the best fire extinguishing point P opt The following formula (3) must be satisfied:

[0129] P opt =argmin P∈S d(P,L)(3)

[0130] Among them, d(P,L) is the best fire extinguishing point P opt Distance to the axis.

[0131] The embodiment of the present application provides a method for cooperative firefighting of drones and unmanned fireboats. First, the wind field calculation module in the data analysis module determines the wind measurement point according to the fire point, and determines the upwind area according to the wind speed and wind direction of the wind measurement point; secondly, the unobstructed firefighting operation area is determined according to the building distribution plan of the fire point and the superstructure of the fire object; finally, the best fire extinguishing point calculation module in the data analysis module determines the firefighting operation area according to the upwind area and the unobstructed firefighting operation area, and determines the best fire extinguishing point in the firefighting operation area. In this way, the surrounding wind field information of the fire object is determined by measuring the wind direction and wind speed of the wind measurement point, and combined with the building distribution of the superstructure of the fire object, the best fire extinguishing point that takes into account both fire extinguishing efficiency and safety can be determined.

[0132] After introducing the cooperative fire extinguishing method of the drone and the unmanned fireboat according to the exemplary embodiment of the present disclosure, next, refer to Fig.14 A drone and unmanned fireboat cooperative fire extinguishing device 1400 according to an exemplary embodiment of the present disclosure is described.

[0133] refer to Fig.14 The unmanned aerial vehicle and unmanned fireboat cooperative fire extinguishing device 1400 includes: an acquisition module 1410, which is configured so that the unmanned aerial vehicle obtains the location information of the fire object through the AIS system in the data acquisition module; the unmanned aerial vehicle and the unmanned fireboat are carried on the fire mother ship; the instruction transmission module 1420, which is configured so that the fire mother ship sends the movement instruction to the control module of the unmanned aerial vehicle through the communication module according to the location information; the first processing module 1430, which is configured so that the control module controls the unmanned aerial vehicle to fly to the fire position corresponding to the fire object, collects the thermal infrared image of the fire object through the infrared thermal imager in the data acquisition module, and determines the fire point according to the thermal infrared image; the second processing module 1440, which is configured so that the data analysis module of the unmanned aerial vehicle determines the fire operation area according to the fire point, the surrounding wind field information of the fire object, and the building distribution plan of the superstructure of the fire object, and determines the best fire extinguishing point in the fire operation area; the execution module 1450, which is configured so that the fire mother ship releases the unmanned fireboat and controls the unmanned fireboat to move to the best fire extinguishing point to perform fire fighting operations on the fire position.

[0134] In one embodiment, the second processing module 1440 is configured as follows: the wind field calculation module in the data analysis module determines the wind measurement point based on the fire point, and determines the upwind area based on the wind speed and wind direction at the wind measurement point; determines the unobstructed firefighting operation area based on the building distribution plan of the fire point and the superstructure of the fire object; the best fire extinguishing point calculation module in the data analysis module determines the firefighting operation area based on the upwind area and the unobstructed firefighting operation area, and determines the best fire extinguishing point within the firefighting operation area.

[0135] In one embodiment, the second processing module 1440 is configured as follows: determining the height from the fire point at which the UWB positioning system in the data acquisition module can withstand the highest temperature that the UAV and its mounted equipment can withstand; the wind field calculation module determines the horizontal movement trajectory according to the fire point, height, and preset radius, and sets wind measurement points on the horizontal movement trajectory; the ultrasonic anemometer and wind direction meter in the data acquisition module measures the wind speed and direction of each wind measurement point, and determines the wind vector according to the wind speed and wind direction; and determines the upwind area according to the wind vector.

[0136] In one embodiment, the second processing module 1440 is configured to: determine the upwind area based on the wind vector, including: vector superposition of the wind vectors of each wind measuring point with the ignition point as the origin to obtain a sum vector; rotating 90° clockwise and counterclockwise with the sum vector as the starting edge, and determining the obtained area as the downwind area; and determining the area other than the downwind area in the horizontal plane formed by the horizontal movement trajectory as the upwind area.

[0137] In one embodiment, the second processing module 1440 is configured as follows: collecting the image of the superstructure of the fire object through the image recognition module in the data acquisition module; performing contour recognition on the superstructure image through the edge detection algorithm to obtain the building distribution plan of the superstructure; and the best fire extinguishing point calculation module determines the unobstructed firefighting operation area according to the fire point and the building contour in the building distribution plan.

[0138] In one embodiment, the second processing module 1440 is configured to: determine two rays based on the fire point and the building outline of the superstructure, and determine the area enclosed by the two rays and the curves corresponding to the angle between the two rays in the horizontal moving trajectory as the firefighting operation blind area; determine the area other than the firefighting operation blind area in the horizontal plane formed by the horizontal moving trajectory as the unobstructed firefighting operation area.

[0139] In one embodiment, the second processing module 1440 is configured to: determine the annular target area based on the fire point, the minimum safety distance and the maximum operating distance of the unmanned fireboat operation; determine the intersection of the upwind area, the unobstructed fire operation area and the annular target area to obtain the fire operation area; determine the best fire extinguishing point in the fire operation area.

[0140] In one embodiment, the second processing module 1440 is configured to: determine the first area with the fire point as the center and the minimum safe distance of the unmanned fireboat as the radius; determine the second area with the fire point as the center and the maximum operating distance of the unmanned fireboat as the radius; determine the intersection of the first area and the second area to obtain a circular target area.

[0141] In one embodiment, the second processing module 1440 is configured to: determine the axis according to the fire point and the current wind direction; and determine the point in the fire fighting operation area that is closest to the axis as the best fire extinguishing point.

[0142] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0143] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASICs), or one or more microprocessors, or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0144] Fig.15 A schematic diagram of a computer device provided in an embodiment of the present application. The device can be integrated into a terminal device or a chip of a terminal device. The terminal can be a computing device with data processing capabilities.

[0145] The device includes: a processor 1501 , a storage medium 1502 and a bus 1503 .

[0146] The storage medium 1502 stores program instructions executable by the processor 1501. When the computer device 1500 is running, the processor 1501 communicates with the storage medium 1502 via the bus 1503. The processor 1501 executes the program instructions to perform the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0147] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, comprising a program, which is used to execute the above method embodiment when executed by a processor.

[0148] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0149] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0151] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0152] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for cooperative firefighting using a drone and an unmanned fireboat, characterized in that: include: The drone obtains the location information of the fire object through the AIS system in the data acquisition module; the drone and the unmanned fireboat are carried on the fire mother ship; The fire-fighting mother ship sends a movement instruction to the control module of the drone through the communication module according to the location information; The control module controls the drone to fly to the fire location corresponding to the fire object, collects a thermal infrared image of the fire object through the infrared thermal imager in the data acquisition module, and determines the fire point according to the thermal infrared image; The data analysis module of the drone determines the fire fighting area according to the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and determines the best fire extinguishing point in the fire fighting area; The fire mother ship releases the unmanned fire boat and controls the unmanned fire boat to move to the optimal fire extinguishing point to perform fire fighting operations on the fire location.

2. The method according to claim 1, characterized in that The method of determining a fire fighting area according to the fire point, the surrounding wind field information of the object on fire, and the building distribution plan of the superstructure of the object on fire, and determining the best fire extinguishing point in the fire fighting area includes: The wind field calculation module in the data analysis module determines the wind measurement point according to the ignition point, and determines the upwind area according to the wind speed and wind direction of the wind measurement point; Determine an unobstructed firefighting operation area based on the fire point and the building distribution plan of the superstructure of the fire object; The optimal fire extinguishing point calculation module in the data analysis module determines the fire fighting operation area according to the upwind area and the unobstructed fire fighting operation area, and determines the optimal fire extinguishing point in the fire fighting operation area.

3. The method according to claim 2, characterized in that Determining a wind measuring point according to the ignition point, and determining an upwind area according to the wind speed and wind direction of the wind measuring point, comprises: Determine the height from the fire point to the maximum temperature that the UAV and its mounted equipment can withstand by the UWB positioning system in the data acquisition module; The wind field calculation module determines a horizontal moving trajectory according to the ignition point, the height, and a preset radius, and sets a wind measuring point on the horizontal moving trajectory; The wind speed and direction of each wind measuring point are measured by an ultrasonic anemometer in a data acquisition module, and a wind vector is determined according to the wind speed and the wind direction; The upwind area is determined according to the wind vector.

4. The method according to claim 3, characterized in that The determining the upwind area according to the wind vector comprises: Perform vector superposition of the wind vectors of each wind measuring point with the ignition point as the origin to obtain a sum vector; Taking the sum vector as the starting edge, rotate 90° clockwise and counterclockwise respectively, and determine the obtained area as the downwind area; An area other than the downwind area in a horizontal plane formed by the horizontal movement trajectory is determined as the upwind area.

5. The method according to claim 2, characterized in that: The method of determining the unobstructed fire fighting operation area according to the building distribution plan of the fire point and the superstructure of the fire object includes: The image of the superstructure of the object on fire is collected by the image recognition module in the data collection module; Performing contour recognition on the superstructure image by using an edge detection algorithm to obtain a building distribution plan of the superstructure; The optimal fire extinguishing point calculation module determines the unobstructed fire fighting operation area according to the fire point and the building outline in the building distribution plan.

6. The method according to claim 5, characterized in that The step of determining the unobstructed firefighting operation area according to the fire point and the building outline in the building distribution plan includes: Determine two rays according to the fire point and the building outline of the superstructure, and determine the area enclosed by the two rays and the curves corresponding to the angle between the two rays in the horizontal moving trajectory as a firefighting operation blind area; The area in the horizontal plane formed by the horizontal movement trajectory except the firefighting operation blind area is determined as the unobstructed firefighting operation area.

7. The method according to claim 2, characterized in that The step of determining the firefighting operation area according to the upwind area and the unobstructed firefighting operation area, and determining the optimal fire extinguishing point within the firefighting operation area, comprises: Determine a circular target area according to the fire point, the minimum safe distance and the maximum operating distance of the unmanned fire boat; Determine the intersection of the upwind area, the unobstructed firefighting operation area and the annular target area to obtain the firefighting operation area; The optimal fire extinguishing point is determined in the fire fighting operation area.

8. The method according to claim 7, characterized in that The determining of the annular target area according to the fire point, the minimum safe distance and the maximum operating distance of the unmanned fire boat comprises: Determine a first area with the fire point as the center and the minimum safe distance for the unmanned fire boat to operate as the radius; Determine a second area with the fire point as the center and the maximum operating distance of the unmanned fire boat as the radius; An intersection of the first area and the second area is determined to obtain the annular target area.

9. The method according to claim 7, characterized in that: Determining the optimal fire extinguishing point in the fire fighting operation area includes: Determine the axis according to the fire point and the current wind direction; The point in the fire fighting operation area closest to the axis is determined as the optimal fire extinguishing point.

10. A drone and unmanned fireboat cooperative fire extinguishing device, characterized in that: include: The acquisition module is configured so that the drone acquires the location information of the fire object through the AIS system in the data acquisition module; the drone and the unmanned fireboat are carried on the fire mother ship; The command transmission module is configured so that the fire mother ship sends a movement command to the control module of the drone through the communication module according to the position information; The first processing module is configured to control the control module to control the UAV to fly to the fire position corresponding to the fire object, collect the thermal infrared image of the fire object through the infrared thermal imager in the data acquisition module, and determine the fire point according to the thermal infrared image; The second processing module is configured as a data analysis module of the drone, determines a fire fighting operation area according to the fire point, the surrounding wind field information of the fire object, and the building distribution plan of the superstructure of the fire object, and determines the best fire extinguishing point in the fire fighting operation area; The execution module is configured to release the unmanned fireboat from the fire mother ship and control the unmanned fireboat to move to the optimal fire extinguishing point to perform firefighting operations on the fire location.

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