Unmanned aerial vehicle scheduling method and system for close-range real-time monitoring of fire scene

Abstract

The invention discloses an unmanned aerial vehicle scheduling method and system for close-range real-time monitoring of a fire scene, and relates to the technical field of fire monitoring. According to the technical key points of the invention, a plurality of unmanned aerial vehicles parked in a plurality of unmanned aerial vehicle fields in a monitoring area are used for real-time monitoring of a fire scene, and the method comprises the following steps: determining a motion track monitored by the unmanned aerial vehicles based on the central position of a fire area; the method comprises the following steps: aiming at utilizing the maximum cruising ability of an unmanned aerial vehicle and continuously monitoring a fire scene in space and time in real time, planning the motion trails and motion time of a plurality of unmanned aerial vehicles in real time, so that the plurality of unmanned aerial vehicles continuously move on the monitored motion trails, and collecting and transmitting back a fire scene video. According to the invention, the defects in the prior art in the aspects of intelligence, reliability, real-time monitoring duration, system flexibility and interactivity, monitoring efficiency, coverage and the like of multi-machine collaborative operation are effectively overcome, and the information acquisition efficiency and emergency response capability of fire suppression command work are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire monitoring, and particularly to a method and system for dispatching unmanned aerial vehicles (UAVs) for real-time monitoring in the vicinity of a fire site. Background Art

[0002] When a forest fire occurs, the real-time, flexible, continuous, and stable acquisition of the monitoring images in the vicinity of the fire site is of great significance for the efficiency, accuracy, and safety of fire fighting command work. The real-time monitoring of the fire situation and fire intensity in traditional forest fires mainly relies on means such as satellite remote sensing, ground video monitoring, fire lookout towers, manual monitoring by forest rangers, and UAV monitoring.

[0003] Although satellite remote sensing has a comprehensive monitoring range, it usually depends on the fixed satellite transit cycle, the monitoring data update speed is slow, it is difficult to achieve real-time monitoring and rapid response to the fire situation and fire intensity, and due to the limited resolution of satellite images, it can generally only monitor the fire situation and fire intensity of large-scale fire sites, it is difficult to capture the fire situation and fire intensity at the initial stage of the fire, and the use cost of real-time satellite monitoring is very high, making it difficult to be widely promoted and applied on a large scale; ground video monitoring is mainly based on video captured by camera devices fixedly installed on high towers, and the monitoring range, flexibility of monitoring perspective, and detail level of obtaining fire information of the fire site are greatly limited; the manual lookout of the fire ignition situation and fire intensity from a fire lookout tower, in addition to relying on manual labor, has application limitations similar to the above-mentioned ground video monitoring; the manual monitoring by forest rangers needs to approach the fire site for monitoring, which is not only inefficient and highly dangerous, but also has extremely limited vision and it is difficult to obtain the overall information of the fire situation and fire intensity of the fire site.

[0004] With the innovation and popularization of UAV technology, UAVs have been widely used in the work of real-time monitoring of the fire situation and fire intensity in forest fires due to their advantages such as rapid response, high mobility, wide coverage, high real-time performance, safety and reliability, and controllable cost. UAVs can carry a variety of sensing devices, such as high-definition cameras, infrared thermal imagers, multi-spectral and hyperspectral sensors, which can not only support all-weather monitoring, but also perform tasks in complex terrains and extreme environments. In addition, UAVs can accurately locate, dynamically track, and intelligently analyze the fire situation through autonomous flight planning and artificial intelligence recognition technology, greatly improving the flexibility and timeliness of fire detection and fire situation and fire intensity monitoring, and have gradually become an important part of the forest fire monitoring and prevention system.

[0005] However, existing real-time monitoring methods for forest fires using drones still remain at the stage of using a single drone or multiple drones without automatic integration and scheduling control to monitor the fire situation and intensity, in order to support fire fighting command work. During the process of using drones to achieve real-time monitoring of the fire situation and intensity of forest fires, it is greatly restricted by factors such as the limited flight endurance of a single drone flight, the large dynamic variation of the available endurance time, and the difficulty in accurately predicting the longest flight path in advance. Especially during long-distance and long-time monitoring, a single drone often has difficulty completing the entire monitoring process. When using multiple drones to cooperate to complete real-time monitoring of the fire situation and intensity of a fire, there are problems such as variable takeoff positions, cumbersome manual operations, low flexibility and reliability, and it is difficult to achieve effective cooperation among multiple drones to jointly complete tasks such as close-range monitoring of the fire scene with seamless connection of multiple drones, as well as orderly and efficient round trips between the fire scene and the charging and battery replacement starting points. Summary of the Invention

[0006] In view of the above problems, the present invention proposes a drone scheduling method and system for close-range real-time monitoring of a fire scene, in an attempt to solve or alleviate one or more of the above problems.

[0007] According to one aspect of the present invention, a drone scheduling method for close-range real-time monitoring of a fire scene is proposed. Multiple drones parked at multiple drone airports within a monitoring area are used to conduct real-time monitoring of the fire scene, and a camera component is mounted on the drones; the method includes:

[0008] Obtain the central position of the fire area; with the central position of the fire area as the center and a preset length as the radius, determine the circular movement trajectory for drone monitoring; aiming at using the maximum endurance of the drones and achieving real-time and uninterrupted monitoring of the fire scene in space and time, conduct real-time planning of the movement trajectories and movement times of multiple drones, so that multiple drones continuously move on the circular movement trajectory for monitoring, and collect and transmit back the video of the fire scene.

[0009] Among them, the movement trajectory planning of multiple drones is as follows:

[0010] The initial monitoring drone is the drone closest to the central position of the fire area and having the maximum remaining endurance time. Its movement trajectory includes: a straight trajectory from the drone airport where the drone belongs to the initial monitoring starting point on the circular movement trajectory, an arc trajectory from the initial monitoring starting point to the initial monitoring end point on the circular movement trajectory, and a straight trajectory from the initial monitoring end point to the drone airport where the drone belongs on the circular movement trajectory.

[0011] The subsequent drones for continuous monitoring are the drones that are closest to the monitoring end point of the previous monitoring drone's movement and have the maximum remaining flight time; the movement trajectories of the subsequent drones for continuous monitoring all include: a straight-line trajectory from the unmanned airport to which the drone belongs to the monitoring end point of the previous monitoring drone's movement on the circular movement trajectory, an arc trajectory from the monitoring end point of the previous monitoring drone's movement to the monitoring end point of the current continuous monitoring drone's movement, and a straight-line trajectory from the monitoring end point of the current continuous monitoring drone's movement to the unmanned airport to which the drone belongs.

[0012] The movement time of each drone is planned as: the remaining flight time is greater than or equal to the flight time for performing this monitoring task; the movement times of multiple drones satisfy the following relational expression:

[0013] T n-1 1 + T n-1 2 ≥ T n 1

[0014] In the formula, T n-1 1 represents the flight time of the (n - 1)-th drone from the unmanned airport to which it belongs to the monitoring end point of the (n - 2)-th monitoring drone's movement on the circular movement trajectory; T n-1 2 represents the flight time of the (n - 1)-th drone on the circular movement trajectory from the monitoring end point of the (n - 2)-th monitoring drone's movement to the monitoring end point of the (n - 1)-th drone's movement; T n 1 represents the flight time of the n-th drone from the unmanned airport to which it belongs to the monitoring end point of the (n - 1)-th drone's movement on the circular movement trajectory.

[0015] Furthermore, the initial monitoring start point of the initial monitoring drone on the circular movement trajectory is determined as follows: determine the intersection point of the perpendicular bisector of the line connecting the unmanned airport to which the initial monitoring drone belongs and the center position of the fire area and the circular movement trajectory; determine the flight direction of the initial monitoring drone, and the flight direction includes clockwise and counterclockwise; select the starting point of the vector that is the same as the flight direction of the initial monitoring drone among the two vectors formed by the two intersection points as the initial monitoring start point.

[0016] Furthermore, the initial monitoring end point of the initial monitoring drone on the circular movement trajectory is determined as follows:

[0017] Let the remaining flight time of the initial monitoring UAV be T1, the safe flight time be T1', the length of the straight-line trajectory from the UAV airport to the initial monitoring starting point on the circular motion trajectory be S11, the average flight speed be V11, the flight time be T11, the length of the arc trajectory from the initial monitoring starting point to the initial monitoring end point on the circular motion trajectory be H11, the average flight speed be V12, the flight time be T12, and the length of the straight-line trajectory from the initial monitoring end point on the circular motion trajectory to the UAV airport be S12, the average flight speed be V13, the flight time be T13; where T1, T1', S11, V11, V12, V13 are known quantities; then the determination of the initial monitoring end point needs to satisfy the following relational expressions:

[0018] T1 = T11 + T12 + T13;

[0019] H11 = V12 × T12;

[0020] S12 = V13 × T13;

[0021] Or

[0022] T1' = T11 + T12 + T13;

[0023] H11 = V12 × T12;

[0024] S12 = V13 × T13.

[0025] Furthermore, the determination of the monitoring end point of the subsequent consecutive monitoring UAV on the circular motion trajectory is as follows:

[0026] Let the remaining flight time of the nth consecutive monitoring UAV be T n , the safe flight time be T n ', the length of the straight-line trajectory from the UAV airport to the monitoring end point of the (n - 1)th monitoring UAV moving on the circular motion trajectory be S n 1, the average flight speed be V n 1, the flight time be T n 1, the length of the arc trajectory from the monitoring end point of the (n - 1)th monitoring UAV moving to the monitoring end point of the nth monitoring UAV moving be H n 1, the average flight speed be V n 2, the flight time be T n 2, the length of the straight-line trajectory from the monitoring end point of the nth monitoring UAV moving to the UAV airport be S n 2, the average flight speed be V n 3, the flight time be T n 3; then the determination of the monitoring end point of the nth monitoring UAV moving needs to satisfy the following relational expressions:

[0027] T n = Tn 1 + T n 2 + T n 3;

[0028] H n 1 = V n 2 × T n 2;

[0029] S n 2 = V n 3 × T n 3;

[0030] Or

[0031] T n ’ = T n 1 + T n 2 + T n 3;

[0032] H n 1 = V n 2 × T n 2;

[0033] S n 2 = V n 3 × T n 3.

[0034] Furthermore, the remaining endurance time T of each monitoring UAV during a single monitoring mission n is variable, and the factors affecting the change of the remaining endurance time include: flight environment, flight mode, and human intervention mode. The flight environment includes wind speed and temperature, the flight mode includes uniform flight and variable-speed flight, and the human intervention mode is to perform hovering shooting after obtaining a motion stop instruction;

[0035] If the remaining endurance time T n changes during a single monitoring mission, the monitoring end point of each monitoring UAV on the circular motion trajectory is modified in real time according to the remaining endurance time T n and the monitoring start point of each monitoring UAV on the circular motion trajectory is modified in real time based on the monitoring end point of the previous monitoring UAV's motion.

[0036] Furthermore, the UAV airport has charging, network communication functions, and a UAV signal terminal, and the UAV airport is deployed on a platform with a geographical height advantage; among them, multiple UAVs performing monitoring tasks belong to the same UAV airport or different UAV airports.

[0037] Furthermore, a pan-tilt is installed on the UAV, and the camera assembly is mounted on the pan-tilt to adjust the shooting angle using the pan-tilt.

[0038] Further, the circular movement trajectory monitored by the drone is at a certain height based on the terrain, and its top view is a circular trajectory centered on the fire site center.

[0039] Further, the movement trajectory monitored by the drone is a custom curve around the center position of the fire area.

[0040] According to another aspect of the present invention, a drone scheduling system for real-time monitoring of a fire site at close range is proposed. Multiple drones parked at multiple drone airports in the monitoring area are used to conduct real-time monitoring of the fire site, and a camera component is carried on the drone; the system includes:

[0041] A monitoring movement trajectory determination module configured to obtain the center position of the fire area; and determine a circular movement trajectory for drone monitoring with the center position of the fire area as the center and a preset length as the radius.

[0042] A scheduling module configured to, with the goal of utilizing the maximum endurance of the drones and achieving real-time and uninterrupted monitoring of the fire site in space and time, perform real-time planning on the movement trajectories and movement times of multiple drones, so that the multiple drones move continuously on the circular movement trajectory for monitoring, collect and transmit back videos of the fire site; including a trajectory planning sub-module and a time planning sub-module; wherein,

[0043] The trajectory planning sub-module is configured to: the initial monitoring drone is the drone closest to the center position of the fire area and having the maximum remaining endurance time, and its movement trajectory includes: a straight-line trajectory from the drone airport where the drone belongs to the initial monitoring starting point on the circular movement trajectory, an arc trajectory from the initial monitoring starting point to the initial monitoring end point on the circular movement trajectory, and a straight-line trajectory from the initial monitoring end point to the drone airport where the drone belongs on the circular movement trajectory; the subsequent drones for continuous monitoring are the drones closest to the monitoring end point of the previous monitoring drone's movement and having the maximum remaining endurance time; the movement trajectories of the subsequent drones for continuous monitoring all include: a straight-line trajectory from the drone airport where the drone belongs to the monitoring end point of the previous monitoring drone's movement on the circular movement trajectory, an arc trajectory from the monitoring end point of the previous monitoring drone's movement to the monitoring end point of the current continuous monitoring drone's movement, and a straight-line trajectory from the monitoring end point of the current continuous monitoring drone's movement to the drone airport where the drone belongs.

[0044] The time planning sub-module is configured to: the remaining endurance time of each drone is greater than or equal to the flight time for performing this monitoring task; the movement times of multiple drones satisfy the following relational expression:

[0045] T n-1 1+T n-1 2≥T n 1

[0046] In the formula, Tn-1 1 represents the flight time of the (n - 1)-th unmanned aerial vehicle (UAV) from its corresponding UAV airport to the monitoring end point of the (n - 2)-th monitoring UAV moving on the circular motion trajectory; T n-1 2 represents the flight time of the (n - 1)-th UAV on the circular motion trajectory from the monitoring end point of the (n - 2)-th monitoring UAV moving to the monitoring end point of the (n - 1)-th UAV moving; T n 1 represents the flight time of the n-th UAV from its corresponding UAV airport to the monitoring end point of the (n - 1)-th UAV moving on the circular motion trajectory.

[0047] The beneficial technical effects of the present invention are as follows:

[0048] Based on the existing real-time monitoring method of UAVs for forest fires, it is extremely difficult to achieve long-term and uninterrupted close-range fire situation and fire intensity monitoring for forest fire sites. The present invention proposes a multi-UAV scheduling method and system that can intelligently plan the flight path according to the fire monitoring position and the remaining endurance of the UAV, and realize the coordinated linkage of multiple UAVs to form an automated seamless connection for close-range real-time fire monitoring.

[0049] The present invention can quickly locate the fire area after receiving the fire alarm through the full coverage capability of the distributed drone airport and the rapid response characteristics of the drone airport, and give priority to calling the drone with the closest distance and longer endurance to achieve rapid response of fire monitoring. Compared with the traditional manual scheduling or single-machine operation mode, the system greatly shortens the monitoring deployment time in the early stage of the fire by intelligently planning the departure sequence, flight path and task relay, greatly improves the monitoring efficiency, and effectively reduces the risk of fire spread. In view of the limitations of the drone's cruising range, the monitoring range of each drone is accurately defined, and the flight path and take-off time of the drone are dynamically planned during the task execution to ensure that the subsequent drones can seamlessly connect at the end point of the previous drone mission. This not only eliminates the blind spots or delays in the monitoring process, but also enables the drones to form a continuously covered fire monitoring network to achieve all-weather, continuous and high-quality monitoring. This relay-type collaborative operation mode significantly enhances the overall working ability of the drone group and is suitable for large-scale and long-term fire monitoring tasks. By combining the geographical advantages of the distributed drone airport and the all-weather standby characteristics of the drone airport, the drone resources are intelligently matched to avoid repeated flights or resource waste caused by improper scheduling of multiple drones. While ensuring monitoring efficiency, it minimizes unnecessary flights and power consumption, extends equipment life, and reduces operating and maintenance costs. In addition, by accurately planning task allocation and paths, data redundancy and processing pressure are reduced, and the data management efficiency and overall economy of monitoring tasks are improved. Dynamic planning algorithms are used to quickly respond to fire alarms, and flight paths and monitoring strategies are adjusted in real time to adapt to changes in the fire. At the same time, combined with human-computer interaction, operators are allowed to intervene in special situations. Operators can modify the drone trajectory and adjust the camera shooting angle in real time through the central control room to ensure multi-angle and all-round coverage of the fire, which significantly improves the efficiency, flexibility and reliability of the system.

[0050] The present invention effectively makes up for the shortcomings of UAV's close-range real-time monitoring of forest fires in terms of the intelligence of multi-machine collaborative operations, reliability and duration of real-time monitoring, system flexibility and interactivity, monitoring efficiency and coverage, and significantly improves the efficiency of fire scene information acquisition and emergency response capabilities in forest fire fighting and command work. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention can be better understood by referring to the description given below in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification, and are used to further illustrate the preferred embodiments of the present invention and explain the principles and advantages of the present invention.

[0052] Figure 1 A schematic diagram of an unmanned monitoring area combined with a distributed drone airport provided by an embodiment of the present invention;

[0053] Figure 2 This is the flowchart of real-time fire monitoring using the UAV scheduling method provided by the embodiments of the present invention;

[0054] Figure 3 This is the flowchart of the system's human-computer interaction for the master control of the UAV monitoring trajectory adjustment provided by the embodiments of the present invention;

[0055] Figure 4 This is the schematic plan view of the relationship of the UAV action paths provided by the embodiments of the present invention;

[0056] Figure 5 This is the three-dimensional schematic view of the central control room operator modifying the UAV monitoring trajectory provided by the embodiments of the present invention;

[0057] Figure 6 This is another schematic plan view of the relationship of the UAV action paths provided by the embodiments of the present invention.

[0058] Figure 7 This is the schematic structural view of a UAV scheduling system for close-range real-time monitoring of a fire scene provided by the present invention. Detailed implementation manners

[0059] In order to enable those skilled in the art to better understand the solution of the present invention, the exemplary embodiments or examples of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments or examples are only a part of the embodiments or examples of the present invention, rather than all of them. All other embodiments or examples obtained by those of ordinary skill in the art based on the embodiments or examples of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] The present invention proposes a UAV scheduling method for close-range real-time monitoring of a fire scene, which uses multiple UAVs parked at multiple UAV airports in the monitoring area to conduct real-time monitoring of the fire scene, and a camera component is carried on the UAV; the scheduling method includes:

[0061] Obtain the central position of the fire area; with the central position of the fire area as the center and a preset length as the radius, determine the circular movement trajectory of the UAV monitoring; aiming at using the maximum endurance of the UAV and achieving real-time and non-stop monitoring of the fire scene in space and time, conduct real-time planning of the movement trajectories and movement times of multiple UAVs, so that multiple UAVs move continuously on the circular movement trajectory of the monitoring, collect and transmit back the fire scene video;

[0062] Among them, the movement trajectory planning of multiple UAVs is:

[0063] The initial monitoring drone is the drone that is closest to the center position of the fire area and has the maximum remaining flight time. Its movement trajectory includes: a straight-line trajectory from the drone airport where the drone belongs to the initial monitoring starting point on the circular movement trajectory, an arc trajectory from the initial monitoring starting point to the initial monitoring ending point on the circular movement trajectory, and a straight-line trajectory from the initial monitoring ending point on the circular movement trajectory to the drone airport where the drone belongs.

[0064] The subsequent drones for continuous monitoring are the drones that are closest to the monitoring ending point of the previous monitoring drone's movement and have the maximum remaining flight time; the movement trajectories of the subsequent drones for continuous monitoring all include: a straight-line trajectory from the drone airport where the drone belongs to the monitoring ending point of the previous monitoring drone's movement on the circular movement trajectory, an arc trajectory from the monitoring ending point of the previous monitoring drone's movement to the monitoring ending point of the current continuous monitoring drone's movement, and a straight-line trajectory from the monitoring ending point of the current continuous monitoring drone's movement to the drone airport where the drone belongs.

[0065] The movement time of each drone is planned as: the remaining flight time is greater than or equal to the flight time for performing this monitoring task; the movement times of multiple drones satisfy the following relationship:

[0066] T n-1 1 + T n-1 2 ≥ T n 1

[0067] In the formula, T n-1 1 represents the flight time of the (n - 1)-th drone from its corresponding drone airport to the monitoring ending point of the (n - 2)-th monitoring drone's movement on the circular movement trajectory; T n-1 2 represents the flight time of the (n - 1)-th drone on the circular movement trajectory from the monitoring ending point of the (n - 2)-th monitoring drone's movement to the monitoring ending point of the (n - 1)-th drone's movement; T n 1 represents the flight time of the n-th drone from its corresponding drone airport to the monitoring ending point of the (n - 1)-th drone's movement on the circular movement trajectory.

[0068] In the present invention, preferably, the initial monitoring starting point of the initial monitoring drone on the circular movement trajectory is determined as follows: determine the intersection point of the perpendicular bisector of the line connecting the drone airport where the initial monitoring drone belongs and the center position of the fire area and the circular movement trajectory; determine the flight direction of the initial monitoring drone, and the flight direction includes clockwise and counterclockwise; select the starting point of the vector that is the same as the flight direction of the initial monitoring drone among the two vectors formed by the two intersection points as the initial monitoring starting point.

[0069] Other methods can also be used to determine the initial monitoring starting point. For example, the intersection point of the line connecting the unmanned airport to which the initial monitoring UAV belongs and the center position of the fire area and the circular motion trajectory is the initial monitoring starting point; or, determine the line connecting the unmanned airport to which the initial monitoring UAV belongs and the center position of the fire area, and the intersection point of the ray with an angle of several degrees to this line and the circular motion trajectory is the initial monitoring starting point.

[0070] In the present invention, preferably, the initial monitoring end point of the initial monitoring UAV on the circular motion trajectory is determined as follows:

[0071] Let the remaining endurance time of the initial monitoring UAV be T1, the safe endurance time be T1', the length of the straight-line trajectory from the unmanned airport to the initial monitoring starting point on the circular motion trajectory be S11, the average flight speed be V11, the flight time be T11, the length of the arc trajectory from the initial monitoring starting point to the initial monitoring end point on the circular motion trajectory be H11, the average flight speed be V12, the flight time be T12, and the length of the straight-line trajectory from the initial monitoring end point to the unmanned airport on the circular motion trajectory be S12, the average flight speed be V13, the flight time be T13; among them, T1, T1', S11, V11, V12, V13 are known quantities; then the determination of the initial monitoring end point needs to satisfy the following relational expressions:

[0072] T1 = T11 + T12 + T13;

[0073] H11 = V12 × T12;

[0074] S12 = V13 × T13;

[0075] Or

[0076] T1' = T11 + T12 + T13;

[0077] H11 = V12 × T12;

[0078] S12 = V13 × T13.

[0079] In the above relational expressions, since T1, T1', S11, V11, V12, V13 are known quantities, the unknown quantities H11, S12, T12, T13 can be determined by the above relational expressions, and then the position of the monitoring end point can be determined; the safe endurance time T1' ≤ the remaining endurance time T1.

[0080] In the present invention, preferably, the monitoring end point of the subsequent continuous monitoring UAV on the circular motion trajectory is determined as follows:

[0081] Let the remaining endurance time of the nth continuous monitoring UAV be T n , and the safe endurance time be T nThe length of the straight-line trajectory from the unmanned airport to the monitoring end point of the (n - 1)-th monitoring unmanned aircraft moving on the circular motion trajectory is S n 1. The average flight speed is V n 1. The flight time is T n 1. The length of the arc trajectory from the monitoring end point of the (n - 1)-th monitoring unmanned aircraft's movement to the monitoring end point of the n-th monitoring unmanned aircraft's movement is H n 1. The average flight speed is V n 2. The flight time is T n 2. The length of the straight-line trajectory from the monitoring end point of the n-th monitoring unmanned aircraft's movement to the unmanned airport is S n 2. The average flight speed is V n 3. The flight time is T n 3. Then, the determination of the monitoring end point of the n-th monitoring unmanned aircraft's movement needs to satisfy the following relational expressions:

[0082] T n = T n 1 + T n 2 + T n 3;

[0083] H n 1 = V n 2×T n 2;

[0084] S n 2 = V n 3×T n 3;

[0085] Or

[0086] T n ’ = T n 1 + T n 2 + T n 3;

[0087] H n 1 = V n 2×T n 2;

[0088] S n 2 = V n 3×T n 3.

[0089] In the above relational expressions, since T n 1, T n ’, S n 1, V n 1, V n 2, V n 3 are known quantities, the unknown quantities H n 1, S n 2, Tn 2. T n 3 can be determined by the above relationship, and then the position of the monitoring end point can be determined; the safe endurance time T n ’ ≤ remaining endurance time T n .

[0090] In the present invention, preferably, the remaining endurance time T of each monitoring unmanned aerial vehicle during a single monitoring mission n is variable, and the factors affecting the change of the remaining endurance time include: flight environment, flight mode, and human intervention mode. The flight environment includes wind speed and temperature. The flight mode includes uniform flight and variable-speed flight. The human intervention mode is to perform hovering shooting after obtaining a motion stop command, and here it also includes the operator actively remotely operating the unmanned aerial vehicle;

[0091] If the remaining endurance time T n changes during a single monitoring mission, then the monitoring end point of each monitoring unmanned aerial vehicle on the circular motion trajectory is modified in real time according to the remaining endurance time T n The monitoring start point of each monitoring unmanned aerial vehicle on the circular motion trajectory is modified in real time based on the monitoring end point of the previous monitoring unmanned aerial vehicle's motion.

[0092] In the present invention, preferably, the unmanned aerial vehicle airport has charging, network communication functions and an unmanned aerial vehicle signal terminal, and the unmanned aerial vehicle airport is deployed on a platform with a geographical height advantage; among them, multiple unmanned aerial vehicles performing monitoring tasks belong to the same unmanned aerial vehicle airport or different unmanned aerial vehicle airports, that is: one unmanned aerial vehicle airport only parks and charges one unmanned aerial vehicle, or one unmanned aerial vehicle airport parks and charges multiple unmanned aerial vehicles.

[0093] In the present invention, preferably, a pan-tilt is installed on the unmanned aerial vehicle, and the imaging component is carried on the pan-tilt to adjust the shooting angle by using the pan-tilt. Here, it can be automatic adjustment or manual adjustment.

[0094] In the present invention, preferably, the circular motion trajectory monitored by the unmanned aerial vehicle is at a certain height based on the terrain, and the top view is a circular trajectory with the fire center as the center. Here, it means that: from the top view angle, the motion trajectory is a circle, but this circle is not necessarily parallel to the horizontal ground.

[0095] In the present invention, preferably, the motion trajectory monitored by the unmanned aerial vehicle is a custom curve around the central position of the fire area, such as a polygon or an ellipse.

[0096] The method of the present invention will be described in detail below.

[0097] First, as Figure 1As shown in the figure, multiple drone airports with drones are arranged on a platform with geographical height advantages. Alternatively, the drone airport can also be placed on the ground, and the ground end of the drone signal of the drone airport can be placed on a platform with geographical height advantages. By combining the analysis of the distance between the fire monitoring point and the drone airport, the drone endurance time, and the changes in the fire situation, the system intelligently plans the departure order, time, and flight path of the drones, enabling seamless connection of the monitoring paths of multiple drones in the front and rear flights for close-range fire monitoring near the fire scene (hereinafter referred to as the "monitoring path"), and achieving seamless connection of the monitoring images real-time transmitted by the drones in the front and rear flights at the central control room end. At the same time, the staff in the central control room do not need to manually manage the round-trip replacement of multiple drones. They only need to view the fire images real-time transmitted by the current master drone that is automatically performing the monitoring task on the monitoring path, and can choose to actively remotely control the current master drone to achieve flexible changes in the monitoring viewpoints and perspectives when necessary, or can also choose to actively edit the monitoring path until the fire fighting work is completed. That is, through the dynamic intelligent planning and scheduling control of the drone flight tasks and flight paths, the position where the previous drone leaves the monitoring path and starts to return and the position where the next drone enters the monitoring path and starts to monitor are basically close in space, and the camera viewpoints of the drones are basically the same. In terms of time, the time when the previous drone leaves the monitoring path and starts to return and the time when the next drone enters the monitoring path and starts to monitor are basically the same, and it supports the dynamic editing of the monitoring path and the dynamic active control of the position and attitude of the current master drone, thereby realizing the intelligent seamless replacement of the current master drone performing the close-range fire monitoring task on the monitoring path, the seamless connection of the drone images transmitted back to the central control room end, and the flexible intervention of the manual dynamic control in the central control room, achieving a long-time, high-efficiency, user-friendly, reliable, and flexible close-range monitoring application effect on the fire situation at the fire scene.

[0098] When a fire breaks out, the system first searches for all drones covering the location where the fire occurs, selects the drone to perform the task based on the principle of sufficient battery life and the shortest distance priority, and makes real-time planning for the departure order, take-off time and flight path of the drones based on the current monitoring path to ensure that multiple drones cooperate to complete the close-range monitoring task of the fire scene. The flight path of the drone can be divided into a round-trip trajectory and a monitoring trajectory. The round-trip trajectory can be further divided into an outbound trajectory and a return trajectory. The monitoring trajectory is the trajectory for the drone to perform the monitoring task on the monitoring path, and it is the trajectory that the drone needs to experience after entering the monitoring path and before leaving the monitoring path. Specifically, after receiving the fire alarm, the system first searches for the drone airport closest to the fire point, calls the drone belonging to it, and determines whether there are drones with sufficient battery life at this airport; if not, it searches for the second-closest airport until the first drone to perform the task is determined. After determining the first drone, the system plans the outbound trajectory of this drone flying towards the monitoring path and controls the drone to reach the starting point of the monitoring trajectory. After the drone reaches the starting point of the monitoring trajectory, the system sets this drone as the main control drone. The current main control drone continuously transmits the real-time fire scene images captured by the camera carried by this drone to the central control system, and the operator can observe the real-time video of the fire scene on the display screen in the central control room. The current main control drone needs to fly around the fire occurrence area, and the operator in the central control room can adjust the camera pan-tilt to change the picture pitch angle to monitor the fire situation and fire intensity at the fire scene from multiple angles and in all directions. The system will make real-time planning for the monitoring trajectory of the current main control drone according to its battery life and display the planned monitoring trajectory on the display screen in the central control room in real time. To cope with special situations, during the monitoring process, the operator in the central control room can actively modify the monitoring path of the drone at any time, achieve flexible control of the monitoring path through interactive operations with the system, and the system synchronously calculates the monitoring trajectory of the main control drone dynamically according to the change of the monitoring path and the battery life of the current main control drone; in another special situation, during the monitoring process, the operator in the central control room can actively remotely control the drone at any time, flexibly change the position of the drone and the camera shooting angle until the manual remote operation state of the drone is cancelled, and the system controls the drone to return to the monitoring path and continue to automatically execute the monitoring task along the monitoring path according to the current position of the main control drone. During this process, the system synchronously calculates the monitoring trajectory of the current main control drone dynamically according to its battery life. While the main control drone is performing the monitoring task, the system automatically plans the take-off time and relay path of the subsequent drones according to its monitoring trajectory. When the main control drone reaches the end point of its monitoring trajectory, the next drone can accurately reach the position on the monitoring path close to the end point of the monitoring trajectory of the main control drone (the spatial distance does not exceed n meters) at the same time, and adjust the camera orientation angle to be the same as that of the previous drone to ensure seamless connection of the monitoring work.Subsequently, the previous drone returns to the airport for charging, and the next drone takes over and continues to execute the monitoring task along the monitoring path, becoming the master drone. This process loops in sequence until the fire monitoring task ends or the fire is completely extinguished. Finally, all the drones performing the task safely return to their respective airports, getting ready for the next mission.

[0099] As Figure 2 shown, it is summarized into the following process.

[0100] S1: When a fire breaks out, the system receives the fire alarm and preliminarily forms the outermost drone monitoring trajectory of the fire area based on the fire center point coordinates (O x , O y , O z ) and the fire size. The planning of the monitoring trajectory includes but is not limited to: a circular trajectory with a definable radius centered on the fire site, a circular trajectory with a certain height based on the terrain and a top view centered on the fire site, and a custom curve around the fire site, etc.;

[0101] S2: Search for the drone m that is closest to the fire center point within the monitoring range and has sufficient remaining flight endurance;

[0102] S3: The system plans the outbound trajectory of the drone m flying towards the monitoring path and controls the drone to reach the starting point of the monitoring trajectory; including:

[0103] S3.1: Determine whether there is already a drone dispatched to perform the monitoring task. If so, proceed to step S3.4; otherwise, execute S3.2;

[0104] S3.2: The system plans the outbound trajectory of the drone m flying towards the monitoring path based on the airport location of the drone m, the preliminarily planned monitoring trajectory, and the flight endurance of the drone m, and preliminarily determines the starting point P m (x m , y m , z m ) and the end point P′ m (x′ m , y′ m , z′ m ) of the monitoring trajectory of the drone m;

[0105] S3.3: The drone m takes off and flies towards the starting point P m (x m , y m , z m ) of the monitoring trajectory and updates and adjusts P m (x m , y m , z m ) in real time, and then execute S4;

[0106] S3.4: Based on the real-time monitoring trajectory of the previous drone (m - 1) and the airport position of drone m, preliminarily plan the take-off time of drone m and the outbound trajectory towards the monitoring path, and preliminarily determine the starting point P of the monitoring trajectory of drone m m (x m ,y m ,z m ) and the end point P' m (x' m ,y' m ,z' m );

[0107] S3.5: Drone m takes off and flies towards the starting point P of the monitoring trajectory m (x m ,y m ,z m ) and adjusts the starting point position P in real time according to the monitoring trajectory of drone m - 1 m (x m ,y m ,z m );

[0108] S3.6: Drone m - 1 completes the monitoring task, the system automatically plans the return flight trajectory of drone m - 1, drone m - 1 returns to the airport, and drone m reaches the starting point P of the monitoring trajectory m (x m ,y m ,z m );

[0109] Specifically, the starting point P of the monitoring trajectory of drone m m (x m ,y m ,z m ) is close to the end point P' of the monitoring trajectory of drone m - 1 m-1 (x' m-1 ,y' m-1 ,z' m-1 ) to ensure that the spatial straight-line distance does not exceed n meters and adjust the camera orientation angle to be the same as that of drone m - 1 to ensure seamless connection of the monitoring work;

[0110] S4: When drone m reaches the starting point of the monitoring trajectory, the system determines drone m as the master drone, and the master drone is controlled by the system or jointly with the operator;

[0111] S5: The master drone flies around the fire area and transmits the real-time fire image captured by the camera carried by the drone to the central control system in real time. The operator can observe the real-time video of the fire scene on the display screen in the central control room and change the pitch angle of the picture by adjusting the camera pan-tilt head to monitor the fire situation and fire trend at the fire site from multiple angles and in all directions;

[0112] S6: The system will perform real-time planning on the monitoring trajectory of the current master UAV according to its remaining flight range, and display the planned monitoring trajectory in real time on the display screen in the central control room. Meanwhile, it will plan the take-off time and relay path of the next UAV (m+1) according to the real-time monitoring trajectory of the master UAV, including:

[0113] S6.1: The master UAV flies along the initial monitoring trajectory C;

[0114] S6.2: The camera takes videos of the changes in the size of the fire situation, and the system adjusts the monitoring trajectory C according to the changes in the size of the fire situation;

[0115] S6.3: The planned monitoring trajectory C is displayed in real time on the display screen in the central control room;

[0116] S6.4: Manual review. If manual adjustment of the monitoring trajectory is required, go to S6.5; otherwise, go to S6.7;

[0117] S6.5: The operator in the central control room actively modifies the monitoring path of the UAV;

[0118] S6.6: The system synchronously and dynamically calculates the monitoring trajectory C of the master UAV according to the change in the monitoring path and the remaining flight range of the current master UAV;

[0119] S6.7: The current monitoring trajectory C is updated and displayed on the display screen in the central control room;

[0120] S6.8: Manual review. If the operator needs to actively remotely operate the UAV, go to S6.9; otherwise, go to S6.12;

[0121] S6.9: Enter the remote operation mode, and the operator flexibly changes the position of the UAV and the shooting angle of the camera;

[0122] S6.10: Manual review. If it is necessary to cancel the remote operation mode, go to S6.11; otherwise, go to S6.9;

[0123] S6.11: Cancel the remote operation, and the system controls the UAV to return to the monitoring path according to the current position of the master UAV and continue to automatically execute the monitoring task along the monitoring path;

[0124] S6.12: The system dynamically calculates the monitoring trajectory C of the current master UAV according to its remaining flight range;

[0125] S7: Update the UAV serial number m = m + 1. If the fire is completely extinguished, go to step S6; if not, go to step S2;

[0126] S8: The current task ends, and there is no need to continue assigning drones for monitoring. All dispatched drones return to their respective drone airports for charging and wait for the next task.

[0127] The following are specific embodiments.

[0128] Embodiment 1

[0129] As Figures 3 - 4 shown, the specific steps are as follows:

[0130] S1: Install 1 set of drone airports with drones on each fire lookout tower in the entire forest and grassland fire monitoring area. It can be considered that the positions of all drone airports are basically coincident with the positions of the fire lookout towers;

[0131] S2: When a fire occurs, the system forms the outermost monitoring trajectory based on the fire center point coordinates (O x ,O y ,O z ).

[0132] S3: Search for the drone with the shortest distance to the fire center point within the monitoring range and sufficient remaining battery life. Drone No. 1 is found;

[0133] S4: Drone No. 1 plans the outbound trajectory of the drone based on the airport position (T x1 ,T y1 ,T z1 ), the monitoring trajectory, and the drone's battery life, and preliminarily determines the starting point P 1 (x 1 ,y 1 ,z 1 ) and the ending point P' 1 (x' 1 ,y' 1 ,z' 1 );

[0134] S5: Drone No. 1 (T 1 ) takes off and flies towards point P 1 (x 1 ,y 1 ,z 1 );

[0135] S6: When Drone No. 1 reaches point P 1 , the system determines Drone No. 1 as the main control drone, and the main control drone is controlled by the system or jointly with the operator;

[0136] S7: The No. 1 UAV flies around the fire area and transmits the real-time fire scene images captured by the camera carried by the UAV to the central control system in real time. The operator observes the real-time video of the fire scene on the display screen in the central control room and changes the pitch angle of the picture by adjusting the camera pan-tilt head;

[0137] S8: The system plans the monitoring trajectory of the No. 1 UAV in real time according to the endurance mileage of the No. 1 UAV and displays the planned monitoring trajectory on the display screen in the central control room in real time;

[0138] S9: If the operator needs to adjust the flight trajectory after review, the operator actively modifies the monitoring path of the UAV, as Figure 5 shown;

[0139] S10: The system dynamically calculates the monitoring trajectory of the No. 1 UAV synchronously according to the change of the monitoring path and the endurance mileage of the No. 1 UAV and updates and displays the current monitoring trajectory on the display screen in the central control room;

[0140] S11: Search for the UAV with the shortest distance to the fire center point within the monitoring range and sufficient remaining endurance mileage. The No. 2 UAV is found and the No. 2 UAV is ready to take off;

[0141] S12: The No. 2 UAV plans the take-off time and the outbound trajectory according to the real-time monitoring trajectory of the No. 1 UAV, and initially determines the starting point P of the monitoring trajectory 2 (x 2 , y 2 , z 2 );

[0142] S13: The No. 2 UAV takes off and flies towards the starting point P of the monitoring trajectory 2 (x 2 , y 2 , z 2 ) and adjusts the position of P 2 (x 2 , y 2 , z 2 ) in real time according to the monitoring trajectory of the No. 1 UAV;

[0143] S14: The No. 2 UAV arrives at the end coordinate P' of the monitoring trajectory 1 (x' 1 , y' 1 , z' 1 ). The system plans the return trajectory of the No. 1 UAV to return to the UAV airport position (T x1 , T y1 , T z1 ). The flight path of the No. 1 UAV is displayed in red in the central control system. At the same time, the No. 2 UAV arrives at the starting point P of the monitoring trajectory 2 (x 2 , y2 , z 2 ), whose coordinates are basically close to P' 1 (x' 1 , y' 1 , z' 1 ). The straight-line distance in space does not exceed 5 meters, and the camera orientation angle is adjusted to be the same as that of the No. 1 drone;

[0144] S15: The No. 2 drone flies around the fire area and transmits the real-time fire situation images captured by the camera carried by the drone to the central control system in real time. The operator observes the real-time video of the fire scene on the display screen in the central control room and changes the pitch angle of the picture by adjusting the camera pan-tilt head;

[0145] S16: The system will plan the monitoring trajectory of the No. 2 drone in real time according to the endurance mileage of the No. 2 drone and display the planned monitoring trajectory on the display screen in the central control room in real time;

[0146] S17: Search for the drone with the shortest distance to the fire center point within the monitoring range and sufficient remaining endurance mileage. The No. 3 drone is found and the No. 3 drone is ready to take off;

[0147] S18: The No. 3 drone plans the take-off time and the outbound trajectory according to the real-time monitoring trajectory of the No. 2 drone, and initially determines the starting point P of the monitoring trajectory 3 (x 3 , y 3 , z 3 );

[0148] S19: The No. 3 drone takes off and flies towards the starting point P of the monitoring trajectory 3 (x 3 , y 3 , z 3 ) and adjusts the position of P 3 (x 3 , y 3 , z 3 ) in real time according to the monitoring trajectory of the No. 2 drone;

[0149] S20: The No. 2 drone arrives at the end coordinate P' of the monitoring trajectory 2 (x' 2 , y' 2 , z' 2 ). The system plans the return trajectory of the No. 2 drone and returns to the position of the drone airport (T x2 , T y2 , T z2 ). The flight path of the No. 2 drone is displayed in green in the central control system. At the same time, the No. 3 drone arrives at the starting point P of the monitoring trajectory 3 (x 3 , y 3, z 3 ), whose coordinates are basically the same as those of P' 2 (x' 2 , y' 2 , z' 2 ), with a straight-line distance in space not exceeding 5 meters, and adjust the camera orientation angle to be the same as that of the No. 2 drone;

[0150] S21: The No. 3 drone flies around the fire area and transmits the real-time fire situation images captured by the camera carried by the drone to the central control system in real time. The operator observes the real-time video of the fire scene on the display screen in the central control room and changes the pitch angle of the picture by adjusting the camera pan-tilt head;

[0151] S22: The system will plan the monitoring trajectory of the No. 3 drone in real time according to the endurance mileage of the No. 3 drone, and display the planned monitoring trajectory on the display screen in the central control room in real time;

[0152] S23: The No. 3 drone reaches the end coordinate P' 3 (x' 3 , y' 3 , z' 3 ) position, the system plans the return trajectory of the No. 3 drone and returns to the position of the drone airport (T x3 , T y3 , T z3 ). The flight path of the No. 3 drone is displayed in blue in the central control system. At the same time, since the fire has been extinguished, there is no need to assign the No. 4 drone anymore;

[0153] S24: All drones have returned to their respective drone airports and start charging, waiting for the next round of work.

[0154] Embodiment 2

[0155] As Figure 6 shown, the specific steps are as follows:

[0156] S1: Install 2 sets or more drone-equipped drone airports at the same ground installation location or on the same fire lookout tower. The drones at the same installation location are the No. 1 drone and the No. 2 drone respectively; or install the ground ends of the drone signals of all drone airports on the top of signal poles / towers at adjacent heights exceeding the surrounding obstacles. It can be considered that the positions of all drone airports are basically coincident with the positions of adjacent high towers;

[0157] S2: When a fire occurs, the system forms the outermost monitoring trajectory according to the fire center point coordinates (O x , O y , O z );

[0158] S3: Search for the drone with the shortest distance to the fire center point within the search and monitoring range and sufficient remaining flight endurance, and find the No. 1 drone;

[0159] S4: The No. 1 drone plans the outbound flight path of the drone according to the airport location (T x1 , T y1 , T z1 ), the monitoring trajectory, and the drone flight endurance, and preliminarily determine the starting point P 1 (x 1 , y 1 , z 1 ) and the end point P' 1 (x' 1 , y' 1 , z' 1 );

[0160] S5: The No. 1 drone (T 1 ) takes off and flies towards point P 1 (x 1 , y 1 , z 1 );

[0161] S6: When the No. 1 drone reaches point P 1 , the system determines that the No. 1 drone is the main control drone, and the system and the operator jointly control the main control drone.

[0162] S7: The No. 1 drone flies around the fire area and real-time transmits the real-time fire scene images captured by the camera carried by the drone to the central control system. The operator observes the real-time video of the fire scene on the display screen in the central control room and changes the pitch angle of the picture by adjusting the camera pan-tilt head;

[0163] S8: The system will real-time plan the monitoring trajectory of the No. 1 drone according to the flight endurance of the No. 1 drone and real-time display the planned monitoring trajectory on the display screen in the central control room;

[0164] S9: Search for the drone with the shortest distance to the fire center point within the search and monitoring range and sufficient remaining flight endurance, and find the No. 2 drone. The No. 2 drone is ready to take off;

[0165] S10: The No. 2 drone plans the take-off time and the outbound flight path according to the real-time monitoring trajectory of the No. 1 drone, and preliminarily determines the starting point P 2 (x 2 , y 2 , z 2 );

[0166] S11: The No. 2 drone takes off and flies towards the starting point P 2 (x 2 , y 2,z 2 ), and adjust P in real time according to the monitoring trajectory of UAV No. 1 2 (x 2 ,y 2 ,z 2 ) position;

[0167] S12: UAV No. 1 reaches the end coordinate P' of the monitoring trajectory 1 (x' 1 ,y' 1 ,z' 1 ) position, the system plans the return trajectory of UAV No. 1 and returns to the UAV airport position (T x1 ,T y1 ,T z1 ), meanwhile, UAV No. 2 reaches the starting point P of the monitoring trajectory 2 (x 2 ,y 2 ,z 2 ), and its coordinates are basically close to P' 1 (x' 1 ,y' 1 ,z' 1 ), that is, P 2 (x 2 ,y 2 ,z 2 ) = P' 1 (x' 1 ,y' 1 ,z' 1 ); The straight-line distance in space does not exceed 5 meters and the camera orientation angle is adjusted to be the same as that of UAV No. 1;

[0168] S13: UAV No. 2 flies around the fire area and transmits the real-time fire image captured by the camera carried by the UAV to the central control system in real time. The operator observes the real-time video of the fire scene on the display screen in the central control room and changes the pitch angle of the picture by adjusting the camera pan-tilt head;

[0169] S14: The system will plan the monitoring trajectory of UAV No. 2 in real time according to the endurance of UAV No. 2 and display the planned monitoring trajectory on the display screen in the central control room in real time;

[0170] S15: UAV No. 2 reaches the end coordinate P' of the monitoring trajectory 2 (x' 2 ,y' 2 ,z' 2 ) position, the system plans the return trajectory of UAV No. 2 and returns to the UAV airport position (T x1 ,T y1 ,T z1 ); Meanwhile, UAV No. 1 reaches the starting point P' of the monitoring trajectory2 (x' 2 , y' 2 , z' 2 ), and adjust the camera orientation angle to be the same as that of the No. 2 drone;

[0171] S16: The No. 1 and No. 2 drones continue to fly around the fire area and continuously transmit the real-time fire situation images captured by the cameras carried by the drones to the central control system in real time. The operator observes the real-time video of the fire scene on the display screen in the central control room and changes the pitch angle of the picture by adjusting the camera pan-tilt head;

[0172] S17: Until the fire is extinguished, all drones have returned to their respective drone airports, start charging, and wait for the next round of work.

[0173] In summary, during the entire process of monitoring the fire situation and fire intensity at close range in a forest fire scene, the present invention solves the problems that may occur in the traditional method, such as the drone monitoring being prone to interruption, the operation of drone control and scheduling being cumbersome, and the poor continuity of the monitoring image frames after the replacement between different drones, through the intelligent scheduling and control of drones. It realizes a significant optimization of the monitoring efficiency, monitoring continuity, degree of monitoring automation and intelligence, and human-machine friendliness, thereby effectively making up for the shortcomings of the close-range real-time monitoring of forest fire by drones in aspects such as the intelligence, reliability, and real-time monitoring duration of multi-aircraft cooperative operations, the flexibility and interactivity of the system, the monitoring efficiency and coverage, and significantly improving the efficiency of obtaining fire scene information and the emergency response ability in the forest fire fighting and command work.

[0174] The present invention also proposes a drone scheduling system for real-time monitoring at close range of a fire scene, which uses multiple drones parked at multiple drone airports in the monitoring area to conduct real-time monitoring of the fire scene, and a camera component is carried on the drones; as Figure 7 shown, the system includes:

[0175] A monitoring movement trajectory determination module 710, which is configured to obtain the central position of the fire area; with the central position of the fire area as the center and a preset length as the radius, determine the circular movement trajectory of the drone monitoring;

[0176] A scheduling module 720, which is configured to, with the goal of using the maximum endurance of the drones and achieving real-time and non-stop monitoring of the fire scene in space and time, conduct real-time planning of the movement trajectories and movement times of multiple drones, so that the multiple drones continue to move on the circular movement trajectory of the monitoring, collect and transmit back the fire scene video; including a trajectory planning sub-module 7210 and a time planning sub-module 7220; where,

[0177] The trajectory planning sub-module 7210 is configured to: initially monitor the drone that is the closest to the central position of the fire area and has the maximum remaining flight time. Its motion trajectory includes: a straight-line trajectory from the drone airport where the drone belongs to the initial monitoring starting point on the circular motion trajectory, an arc trajectory from the initial monitoring starting point to the initial monitoring end point on the circular motion trajectory, and a straight-line trajectory from the initial monitoring end point on the circular motion trajectory to the drone airport where the drone belongs; the subsequent drones for continuous monitoring are the drones that are the closest to the monitoring end point of the previous monitoring drone's motion and have the maximum remaining flight time; the motion trajectories of the subsequent drones for continuous monitoring all include: a straight-line trajectory from the drone airport where the drone belongs to the monitoring end point of the previous monitoring drone's motion on the circular motion trajectory, an arc trajectory from the monitoring end point of the previous monitoring drone's motion to the monitoring end point of the current continuous monitoring drone's motion, and a straight-line trajectory from the monitoring end point of the current continuous monitoring drone's motion to the drone airport where the drone belongs.

[0178] The time planning sub-module 7220 is configured to: the remaining flight time of each drone is greater than or equal to the flight time for performing this monitoring task; the motion times of multiple drones satisfy the following relational expression:

[0179] T n-1 1 + T n-1 2 ≥ T n 1

[0180] In the formula, T n-1 1 represents the flight time of the (n - 1)th drone from its corresponding drone airport to the monitoring end point of the (n - 2)th monitoring drone's motion on the circular motion trajectory; T n-1 2 represents the flight time of the (n - 1)th drone on the circular motion trajectory from the monitoring end point of the (n - 2)th monitoring drone's motion to the monitoring end point of the (n - 1)th drone's motion; T n 1 represents the flight time of the nth drone from its corresponding drone airport to the monitoring end point of the (n - 1)th drone's motion on the circular motion trajectory.

[0181] It should be noted that the functions of the drone scheduling system for close-range real-time monitoring of a fire scene described in the present invention can be illustrated by the aforementioned drone scheduling method for close-range real-time monitoring of a fire scene. For parts not detailed in the system embodiment, refer to the above method embodiment.

[0182] It should be noted that although several units, modules or sub-modules are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present invention, the features and functions of the two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0183] In addition, although the operations of the method of the present invention are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step and performed, and / or one step may be decomposed into multiple steps and performed.

[0184] Although the spirit and principles of the present invention have been described with reference to several specific embodiments, it should be understood that the present invention is not limited to the specific embodiments disclosed, and the division of each aspect does not mean that the features in these aspects cannot be combined for benefit. Such division is only for the convenience of expression. The present invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene, characterized in that: A plurality of drones parked at a plurality of drone fields in a monitoring area are used to monitor the fire scene in real time, wherein the drones are equipped with camera components; the method comprises: Obtain the center position of the fire area; determine the circular motion trajectory of the drone monitoring with the center position of the fire area as the center and the preset length as the radius; with the goal of utilizing the maximum endurance of the drone and real-time and uninterrupted monitoring of the fire scene in space and time, plan the motion trajectories and motion times of multiple drones in real time, so that multiple drones can move continuously on the monitored circular motion trajectory, collect and transmit back the fire scene video; Among them, the motion trajectory planning of multiple drones is: The initial monitoring drone is the drone that is closest to the center of the fire area and has the longest remaining flight time. Its motion trajectory includes: a straight line trajectory from the drone field to which the drone belongs to to the initial monitoring starting point on the circular motion trajectory, an arc trajectory from the initial monitoring starting point on the circular motion trajectory to the initial monitoring end point, and a straight line trajectory from the initial monitoring end point on the circular motion trajectory to the drone field to which the drone belongs; The subsequent monitored drone is the drone that is closest to the monitoring endpoint of the previous monitored drone and has the longest remaining flight time; the movement trajectory of the subsequent monitored drone includes: the straight line trajectory from the drone field to which the drone belongs to to the monitoring endpoint of the previous monitored drone on the circular motion trajectory, the arc trajectory from the monitoring endpoint of the previous monitored drone to the monitoring endpoint of the current monitored drone, and the straight line trajectory from the monitoring endpoint of the current monitored drone to the drone field to which the drone belongs; The movement time of each drone is planned as follows: the remaining endurance time is greater than or equal to the flight time for executing this monitoring task; the movement time of multiple drones satisfies the following relationship: T n-1 1+T n-1 2≥T n 1 Where, T n-1 1 represents the flight time of the n-1th UAV from its corresponding UAV field to the monitoring end point of the n-2th monitoring UAV on the circular motion trajectory; T n-1 2 represents the flight time of the n-1th UAV on the circular motion trajectory from the monitoring end point of the n-2th monitoring UAV to the monitoring end point of the n-1th UAV; T n 1 represents the flight time of the nth UAV from its corresponding UAV field to the monitoring end point of the n-1th UAV motion on the circular motion trajectory.

2. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 1, characterized in that: The initial monitoring starting point of the initial monitoring UAV on the circular motion trajectory is determined as follows: determine the intersection of the perpendicular bisector of the line connecting the UAV field to which the initial monitoring UAV belongs and the center position of the fire area and the circular motion trajectory; Determine the flight direction of the initial monitoring UAV, wherein the flight direction includes clockwise and counterclockwise; select the starting point of the vector that is the same as the flight direction of the initial monitoring UAV from the two vectors formed by the two intersection points as the initial monitoring starting point.

3. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 2, characterized in that: The initial monitoring endpoint of the initial monitoring drone on the circular motion trajectory is determined as follows: Assume that the remaining flight time of the initial monitoring UAV is T1, the safe flight time is T1', the length of the straight track from the UAV airport to the initial monitoring starting point on the circular motion trajectory is S11, the average flight speed is V11, and the flight time is T11, the length of the arc track from the initial monitoring starting point to the initial monitoring end point on the circular motion trajectory is H11, the average flight speed is V12, and the flight time is T12, the length of the straight track from the initial monitoring end point on the circular motion trajectory to the UAV airport is S12, the average flight speed is V13, and the flight time is T13; among them, T1, T1', S11, V11, V12, and V13 are known quantities; then the determination of the initial monitoring end point must satisfy the following relationship: T1=T11+T12+T13; H11=V12×T12; S12 = V13 × T13; or T1' = T11 + T12 + T13; H11=V12×T12; S12=V13×T13.

4. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 3 is characterized in that: The monitoring endpoint of the subsequent monitoring drone on the circular motion trajectory is determined as follows: Assume that the remaining flight time of the nth drone to be monitored is T n , the safe endurance time is T n ', the length of the straight line trajectory from the drone field to the monitoring end point of the n-1th monitoring drone on the circular motion trajectory is S n 1. The average flight speed is V n 1. The flight time is T n 1. The length of the arc trajectory from the monitoring end point of the n-1th monitoring drone to the monitoring end point of the nth monitoring drone is H n 1. The average flight speed is V n 2. The flight time is T n 2. The length of the straight line trajectory from the monitoring end point of the nth monitoring drone to the drone field is S n 2. The average flight speed is V n 3. The flight time is T n 3; then the determination of the monitoring endpoint of the nth monitoring drone movement must satisfy the following relationship: T n =T n 1+T n 2+T n 3; H n 1=V n 2×T n 2; S n 2=V n 3×T n 3; or T n ’=T n 1+T n 2+T n 3; H n 1=V n 2×T n 2; S n 2=V n 3×T n 3。 5. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 4, characterized in that: The remaining flight time T of each monitoring drone during a single monitoring mission n Variable. Factors that affect the remaining flight time include: flight environment, flight mode, and human intervention mode. The flight environment includes wind speed and temperature. The flight mode includes constant speed flight and variable speed flight. The human intervention mode is to perform hovering shooting after obtaining a motion stop command. If the remaining battery life is T n If there are changes during the execution of a single monitoring mission, the monitoring end point of each monitoring drone on the circular motion trajectory is determined according to the remaining flight time T n Real-time modification: the monitoring starting point of each monitoring drone on the circular motion trajectory is modified in real time based on the monitoring end point of the previous monitoring drone's movement.

6. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 1, characterized in that: The drone airport has charging, network communication functions and a drone signal terminal, and is deployed on a platform with a geographical height advantage; wherein multiple drones performing monitoring tasks belong to the same drone airport or different drone airports.

7. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 1, characterized in that: The drone is equipped with a gimbal, and the camera assembly is mounted on the gimbal to adjust the shooting angle using the gimbal.

8. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 1, characterized in that: The circular motion trajectory monitored by the drone is a circular trajectory at a certain height based on the terrain, and the top view is a circular trajectory with the center of the fire scene as the center.

9. The method for dispatching unmanned aerial vehicles for real-time close-range monitoring of a fire scene according to claim 1, characterized in that: The motion trajectory of the drone monitoring is a custom curve around the center of the fire area.

10. A drone dispatching system for real-time close-range monitoring of a fire scene, characterized in that: The fire scene is monitored in real time using multiple drones parked at multiple drone fields in the monitoring area, wherein the drones are equipped with camera components; the system includes: A monitoring motion trajectory determination module is configured to obtain the center position of the fire area; determine the circular motion trajectory of the drone monitoring with the center position of the fire area as the center and a preset length as the radius; The scheduling module is configured to utilize the maximum endurance of the drone and monitor the fire scene in space and time in real time and without interruption, and to plan the movement trajectories and movement times of multiple drones in real time, so that multiple drones can move continuously on the monitored circular movement trajectory, collect and transmit back the fire scene video; it includes a trajectory planning submodule and a time planning submodule; wherein, The trajectory planning submodule is configured as follows: the initial monitoring drone is the drone that is closest to the center of the fire area and has the longest remaining flight time, and its motion trajectory includes: a straight line trajectory from the drone field to which the drone belongs to to the initial monitoring starting point on the circular motion trajectory, an arc trajectory from the initial monitoring starting point on the circular motion trajectory to the initial monitoring end point, and a straight line trajectory from the initial monitoring end point on the circular motion trajectory to the drone field to which the drone belongs; the drone to be subsequently monitored is the drone that is closest to the monitoring end point of the movement of the last monitoring drone and has the longest remaining flight time; the motion trajectories of the drones to be subsequently monitored all include: a straight line trajectory from the drone field to which the drone belongs to to the monitoring end point of the movement of the last monitoring drone on the circular motion trajectory, an arc trajectory from the monitoring end point of the movement of the last monitoring drone to the monitoring end point of the movement of the current subsequent monitoring drone, and a straight line trajectory from the monitoring end point of the movement of the current subsequent monitoring drone to the drone field to which the drone belongs; The time planning submodule is configured such that the remaining endurance time of each drone is greater than or equal to the flight time for executing the current monitoring task; the movement time of multiple drones satisfies the following relationship: T n-1 1+T n-1 2≥T n 1 Where, T n-1 1 represents the flight time of the n-1th UAV from its corresponding UAV field to the monitoring end point of the n-2th monitoring UAV on the circular motion trajectory; T n-1 2 represents the flight time of the n-1th UAV on the circular motion trajectory from the monitoring end point of the n-2th monitoring UAV to the monitoring end point of the n-1th UAV; T n 1 represents the flight time of the nth UAV from its corresponding UAV field to the monitoring end point of the n-1th UAV motion on the circular motion trajectory.

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