A vision-recognition-based unmanned aerial vehicle (UAV) automatic forest fire extinguishing bomb delivery system

Abstract

This invention relates to the field of drone firefighting technology and discloses a visual recognition-based automatic drone forest fire extinguishing bomb delivery system, comprising: multiple drones, each equipped with multiple sensing devices, a fire extinguishing bomb mounting device, and an external mounting slot; the multiple drones include a mother drone, backup drones, and slave drones; the mother drone's core compartment houses a mother drone control chip; the multiple sensing devices include thermal imaging sensors, cameras, and satellite positioning sensors for real-time acquisition of fire data; the fire extinguishing bomb mounting device is used to mount and deliver fire extinguishing bombs; the external mounting slot is used to load spare batteries or fire extinguishing materials; the mother drone control chip generates fire information and formulates a first fire extinguishing plan based on thermal imaging information, image information, and positioning information, and generates a first fire extinguishing result; if the fire is not extinguished, a second fire extinguishing plan is generated, and the slave drones are dispatched to perform fire extinguishing operations. This achieves intelligent collaborative firefighting by a drone swarm.

Description

Technical Field

[0001] This invention relates to the field of drone firefighting technology, specifically to a visual recognition-based drone forest fire extinguishing bomb automatic delivery system. Background Technology

[0002] Forest fires are disasters caused by the burning of combustibles, typically occurring in densely vegetated areas such as forests and grasslands. Forest firefighting primarily relies on ground fire brigades, helicopters, or fixed-wing aircraft to drop fire extinguishing munitions. However, traditional methods suffer from limited firefighting coverage, slow response times, and low delivery accuracy. In recent years, the development of drone technology has provided new solutions for forest firefighting. By carrying fire extinguishing munitions and sensing equipment, drones enable remote fire monitoring and precise delivery, improving firefighting efficiency and safety.

[0003] Existing forest fire fighting methods, especially those using drones, often suffer from the following technical problems:

[0004] First, existing drone-based firefighting methods typically rely solely on pre-set fire extinguishing munitions for deployment, failing to dynamically adjust firefighting strategies based on changes in the fire situation. This limits the effectiveness of firefighting efforts, especially in complex and unpredictable fire conditions where it's difficult to find the optimal firefighting solution. Furthermore, the limited endurance of existing drones makes it difficult to support continuous operations at long-distance fire sites, reducing the efficiency of firefighting operations. This is particularly problematic in large-scale fires or situations requiring prolonged operations, where maintaining consistent firefighting results is challenging.

[0005] Second, existing unmanned aerial vehicle (UAV) forest fire fighting systems often struggle to switch command in a timely manner when the main unit malfunctions, which can lead to a risk of command interruption in the UAV swarm during emergencies, affecting the continuity and coordination of fire fighting operations and reducing overall fire fighting efficiency.

[0006] Third, existing unmanned aerial vehicle (UAV) forest fire fighting systems typically rely on direct communication between the host unit and the control terminal for data synchronization during long-distance or complex terrain firefighting operations. However, in the variable environment of a fire scene, the communication distance between the host unit and the control terminal may exceed a preset distance threshold, leading to communication interruptions or delays, which in turn affect the execution and scheduling of firefighting operations. Summary of the Invention

[0007] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0008] This invention proposes a visual recognition-based unmanned aerial vehicle (UAV) forest fire extinguishing bomb automatic delivery system to solve one or more of the technical problems mentioned in the background section above.

[0009] This invention provides a vision-recognition-based automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs, comprising:

[0010] Multiple drones, each of which has a corresponding drone number and fire extinguishing ammunition information table, and is equipped with multiple sensing devices, fire extinguishing ammunition mounting devices and external mounting slots; the multiple drones include a mother drone, at least one backup drone and at least one daughter drone; the external mounting slots, fire extinguishing ammunition mounting devices and multiple sensing devices are fixedly connected to the drones;

[0011] Multiple sensing devices include thermal imaging sensors, cameras, and satellite positioning sensors;

[0012] The fire extinguishing bomb mounting device is used to mount and deploy fire extinguishing bombs.

[0013] External mounting slots have corresponding loading types; external mounting slots are used to load spare batteries or fire extinguishing materials.

[0014] The mothership control chip installed in the core compartment of the mothership is used to generate fire information and a first fire extinguishing plan based on the thermal imaging information corresponding to the thermal imaging sensor, the image information corresponding to the camera, and the positioning information corresponding to the satellite positioning sensor, and execute the first fire extinguishing plan; generate a first fire extinguishing result through multiple sensing devices; if the first fire extinguishing result indicates that the fire has not been extinguished, a second fire extinguishing plan is generated based on the fire information, the loading type, and the UAV number.

[0015] Optionally, the backup drone can be either a first backup drone or a second backup drone. The external mounting slot includes a first external mounting slot and a second external mounting slot, and the loading type is one of the following: a first loading type, a second loading type, or a third loading type. The external mounting slot is also equipped with an ejection device. If both the first and second external mounting slots are equipped with backup batteries, the corresponding drone is identified as the first backup drone. If both the first and second external mounting slots are equipped with backup fire extinguishing materials, the corresponding drone is identified as the slave drone. If both the first and second external mounting slots are equipped with backup batteries or backup fire extinguishing materials, the corresponding drone is identified as the second backup drone.

[0016] Optionally, the fire information includes the drone's ID, real-time coordinates, combustion status, and combustion type. The first firefighting plan is determined through the following steps:

[0017] Based on thermal imaging information, areas of temperature anomalies are identified. From these areas, the region with the highest temperature is selected as the deployment zone. The real-time coordinates of the UAV are determined based on its location information. The vegetation type is determined based on the UAV's real-time coordinates and a pre-defined regional vegetation information table. The combustion type and combustible material type are determined based on the vegetation type and image information. The ammunition number is determined based on the combustion type, combustible material type, and an extinguishing ammunition information table. A first firefighting plan is generated based on the ammunition number and the deployment zone.

[0018] The initial fire extinguishing result is determined through the following steps:

[0019] The system acquires first thermal imaging information through multiple sensing devices and determines whether the highest temperature in the abnormal temperature area within the first thermal imaging information is less than a preset safe temperature threshold. If not, the first fire extinguishing result is determined as not extinguished. If so, the system acquires first image information and second image information according to a preset image acquisition interval. The system determines the first smoke ratio based on the first image information and the second smoke ratio based on the second image information. The system determines the smoke change ratio based on the first and second smoke ratios. If the smoke change ratio is greater than a preset smoke change ratio threshold, the first fire extinguishing result is determined as extinguished.

[0020] Optionally, the second firefighting plan includes one of the following: a drone support plan, a ground firefighting equipment support plan, or a coordinated support plan; the second firefighting plan is determined through the following steps:

[0021] The system acquires second thermal imaging information and third image information through multiple sensing devices; based on the second thermal imaging information and third image information, it determines the fire status; if the fire status is small, it generates a drone support plan; if the fire status is large, it obtains the distance between the drone's real-time coordinates and the forest boundary based on the drone's real-time coordinates, thus obtaining the forest boundary distance; it compares the forest boundary distance with a boundary distance threshold to obtain a distance comparison result; if the distance comparison result indicates that the distance is relatively close, it generates a ground firefighting equipment support plan; if the distance comparison result indicates that the distance is relatively far, it generates a collaborative support plan.

[0022] Optionally, the control chip is deployed with multiple strategies, including at least one of the following: body monitoring strategy, inspection strategy, fire extinguishing bomb deployment strategy, and submachine scheduling strategy;

[0023] The aircraft monitoring strategy is as follows: During the operation of the UAV, the aircraft is monitored according to a preset monitoring frequency, including: power information, sensor operation information, slot information and fire extinguishing bomb information, and written into the aircraft information table; if the real-time power information is less than or equal to the selected power threshold, it is determined that the power is too low.

[0024] The inspection strategy is as follows: conduct inspections according to the preset inspection plan. If no abnormalities are found, return to base after the inspection is completed.

[0025] The fire extinguishing grenade deployment strategy is as follows: Based on the type of combustion and the type of burning material, determine the order of fire extinguishing grenade deployment from the fire extinguishing ammunition information table, and release the fire extinguishing grenade through the fire extinguishing grenade mounting device; determine whether the external mounting slot carries fire extinguishing material matching the fire situation information, and if so, release the fire extinguishing material through the ejection device.

[0026] The strategy for evaluating the deployment results is as follows: multiple evaluation results are generated based on multiple sensors and a preset evaluation frequency; multiple indicator trend charts are generated based on the multiple evaluation results; if any indicator trend chart in the multiple indicator trend charts indicates an increase in the indicator, the deployment result is determined to be "not eradicated".

[0027] The sub-drone scheduling strategy is as follows: if the deployment result indicates that the fire has not been extinguished, obtain the real-time coordinates of the drone, and match at least one drone number from the preset drone fire extinguishing configuration table according to the fire type and the type of burning material; generate sub-drone scheduling information based on at least one drone number and the real-time coordinates of the drone.

[0028] Optionally, the multiple strategies deployed in the control chips of the master machine, the first backup machine, and the second backup machine also include a master machine election strategy;

[0029] The host machine election strategy includes an active election strategy and a passive election strategy; the host machine control chip activates the active election strategy, while the control chips of the first and second backup machines activate the passive election strategy.

[0030] The active election process involves: obtaining the aircraft information table and acquiring aircraft monitoring information; if any abnormality is found in the aircraft monitoring information, an active election is triggered, and the drone number corresponding to the target candidate aircraft is determined from the candidate aircraft information table; the candidate aircraft information table is determined through the following steps:

[0031] Obtain the drone number, battery information, mission status, and location information corresponding to the first and second candidate drones to generate a candidate drone information table; synchronize the candidate drone information table to the candidate drones at a preset synchronization frequency;

[0032] Passive election is as follows: If any candidate machine fails to receive a response signal from the master machine after the response time threshold, the number of remaining candidate machines that have not received a response signal from the master machine is counted. If the number is greater than or equal to the non-response threshold, the candidate machine information table is used to determine whether it is qualified to be the master machine. If so, it is automatically elected as the target candidate machine and broadcasts the result.

[0033] Optionally, the visual recognition-based unmanned aerial vehicle (UAV) forest fire extinguishing bomb automatic delivery system of the present invention further includes:

[0034] The control terminal is used to receive and process feedback information from multiple drones and send call information to ground firefighting equipment.

[0035] Optionally, the visual recognition-based unmanned aerial vehicle (UAV) forest fire extinguishing bomb automatic delivery system of the present invention further includes:

[0036] Ground-based fire suppression equipment is used to receive dispatch information from the control terminal in order to carry out fire suppression support operations.

[0037] Optionally, several strategies also include a return-to-home strategy; the logic of the return-to-home strategy varies depending on the type of drone.

[0038] For the submachine gun, extract the fire extinguishing material consumption information from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or that the remaining fire extinguishing materials do not match the fire extinguishing operation, then return to the preset return point.

[0039] For the first backup aircraft, fire extinguishing material consumption information is extracted from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or the remaining fire extinguishing materials do not match the fire extinguishing operation, the real-time power of the first backup aircraft is obtained. If the real-time power of the first backup aircraft is greater than the first backup power threshold, the first actual return distance is obtained. If the first actual return distance is greater than the first return distance threshold, and the real-time power of the mother aircraft is greater than the continuous inspection power threshold, the aircraft returns to the preset return point.

[0040] For the second backup aircraft, fire extinguishing material consumption information is extracted from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or the remaining fire extinguishing materials do not match the fire extinguishing operation, the real-time power of the second backup aircraft is obtained. If the real-time power of the second backup aircraft is greater than the second backup power threshold, the second actual return distance is obtained. If the second actual return distance is less than the second return distance threshold, and the real-time power of the mother aircraft is greater than the continuous inspection power threshold, the aircraft returns to the preset return point.

[0041] For the mother drone, obtain the real-time coordinates of the mother drone and determine the minimum return-to-home battery level based on the preset return-to-home point; determine the return-to-home battery threshold based on the minimum return-to-home battery level and the floating battery level; compare the return-to-home battery threshold with the election battery threshold, and if the return-to-home battery threshold is greater than the election battery threshold, then update the election battery threshold to the return-to-home battery threshold.

[0042] Optionally, the floating charge is determined by the following steps:

[0043] Obtain the temporary return point between the preset return point and the work area, and generate a temporary return point information table; obtain the real-time coordinates of the mother drone, and filter the temporary return point closest to the real-time coordinates of the mother drone from the temporary return point information table, and determine it as the actual return point; obtain the power consumption between the real-time coordinates of the mother drone and the actual return point, and determine it as the first floating power consumption.

[0044] Obtain the real-time coordinates of the target candidate drones, and determine the second floating power based on the real-time coordinates of the host drones;

[0045] A floating charge is generated based on the first floating charge and the second floating charge.

[0046] The present invention has the following beneficial effects:

[0047] 1. Improved the intelligence and execution efficiency of drone-based forest firefighting operations. Specifically, the mother drone, combined with multiple sensors, perceives the fire situation in real time and dynamically adjusts the firefighting plan, enhancing strategic adaptability compared to fixed ammunition delivery methods; external mounting slots can carry spare batteries or fire extinguishing materials, extending flight time and enhancing long-distance operation capabilities; the mother drone, daughter drones, and backup drones work together to accurately deliver fire extinguishing bombs, improving firefighting efficiency and stability. Through these optimizations, the drone firefighting system becomes more efficient and flexible, reducing reliance on human labor and enhancing autonomous decision-making capabilities.

[0048] 2. Improved command stability and operational continuity of the drone firefighting system. Specifically, both the main drone and backup drones are equipped with a main drone election strategy. In the event of a main drone failure, a new command drone can be quickly determined through an active or passive election mechanism, avoiding command interruption. The drone monitoring strategy can monitor the drone status in real time and trigger elections in advance, reducing the impact of sudden failures. The backup drone information table is updated synchronously to ensure accurate and efficient election decisions. Through these optimizations, the drone swarm can maintain coordinated operations even in emergency situations, improving firefighting efficiency and stability.

[0049] 3. Improved data synchronization stability of the UAV firefighting system in complex terrain and long-distance operating environments. Specifically, the main unit prioritizes a direct synchronization strategy for data interaction with the control terminal; when the communication distance exceeds a threshold or no response is received, a relay synchronization strategy is automatically triggered, selecting a suitable slave unit as a relay node to forward synchronization data level by level, ensuring uninterrupted communication. This improves the communication reliability of the UAV swarm in complex environments, ensuring the smooth execution and precise scheduling of firefighting operations. Attached Figure Description

[0050] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0051] Figure 1 This is an exemplary system structure diagram of the visual recognition-based unmanned aerial vehicle forest fire extinguishing bomb automatic delivery system of the present invention;

[0052] Figure 2 This is a 3D view of the drone in the visual recognition-based drone forest fire extinguishing bomb automatic delivery system of the present invention;

[0053] Figure 3 This is a right view of the drone in the visual recognition-based drone forest fire extinguishing bomb automatic delivery system of the present invention;

[0054] Figure 4 This is the front view of the drone in the visual recognition-based drone forest fire extinguishing bomb automatic delivery system of the present invention;

[0055] Figure 5 This is a top view of the drone in the visual recognition-based drone forest fire extinguishing bomb automatic delivery system of the present invention.

[0056] Figure 6 This is a bottom view of the drone in the visual recognition-based drone forest fire extinguishing bomb automatic delivery system of the present invention. Detailed Implementation

[0057] The invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0058] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0059] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0060] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0061] The names of messages or information exchanged between the various devices of this invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0062] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0063] like Figure 1 The diagram shown is an exemplary system structure diagram of the visual recognition-based drone forest fire extinguishing bomb automatic delivery system of the present invention, which specifically includes the following modules:

[0064] Multiple drones 101, each drone in the multiple drones 101 has a corresponding drone number and fire extinguishing ammunition information table, and is equipped with multiple sensing devices, fire extinguishing ammunition mounting devices and external mounting slots; the multiple drones include a mother drone, at least one backup drone and at least one daughter drone; the external mounting slots, fire extinguishing ammunition mounting devices and multiple sensing devices are fixedly connected to the drones.

[0065] In some embodiments, each of the multiple drones 101 has a unique drone number for identification and management. Furthermore, each drone stores a corresponding fire extinguishing ammunition information table, which records the type of fire extinguishing ammunition currently carried by the drone and its corresponding fire extinguishing ammunition number, enabling appropriate deployment for different fire situations during firefighting operations.

[0066] In addition, such as Figure 2 As shown, each drone is equipped with multiple sensing devices, a fire extinguishing bomb mounting device 204, and an external mounting slot 202. The sensing devices include a thermal imaging sensor 206, a camera 209, and a satellite positioning sensor 207. The thermal imaging sensor 206 is used to collect real-time fire scene temperature data, the camera 209 is used to collect real-time fire scene image data, and the satellite positioning sensor 207 is used to obtain the drone's real-time location information. The fire extinguishing bomb mounting device 204 is used to carry and deploy fire extinguishing bombs 208 for precise fire extinguishing operations. The external mounting slot 202 can be loaded with spare batteries or fire extinguishing materials according to mission requirements, giving the drone greater operational flexibility and endurance during missions.

[0067] In the composition of the drone swarm, multiple drones can be divided into a mother drone, backup drones, or drones. The mother drone is responsible for overall control, including collecting fire information, formulating firefighting strategies, and scheduling and managing the drones. Backup drones are used to take over command tasks in case of mother drone failure or loss of contact, ensuring the system has autonomous recovery capabilities. Drones perform specific firefighting operations and receive scheduling instructions from the mother drone or backup drones. The mother drone and backup drones can also extinguish fires using fire extinguishing bombs 208 mounted on the fire extinguishing bomb mounting device 204. The external mounting slots 202, fire extinguishing bomb mounting devices 204, and multiple sensing devices of the drones are all fixedly connected to the drone body to ensure stable operation of the equipment during flight and to meet the execution requirements of firefighting operations.

[0068] Multiple sensing devices include a thermal imaging sensor 206, a camera 209, and a satellite positioning sensor 207.

[0069] In some embodiments, such as Figure 3 As shown, the multiple sensing devices include a thermal imaging sensor 206, a camera 209, and a satellite positioning sensor 207. The thermal imaging sensor 206 is used to collect real-time fire scene temperature data, the camera 209 is used to collect real-time fire scene image data, and the satellite positioning sensor 207 is used to acquire real-time drone location information. The drone location information includes the drone's real-time coordinates.

[0070] In practice, the thermal imaging sensor 206 can be a Lepton 3.5, the camera 209 can be an IMX477, and the satellite positioning sensor 207 can be a ZED-F9P.

[0071] Among them, the Lepton 3.5 is a miniature thermal imaging module primarily used to capture and measure temperature changes in objects or environments. The IMX477 is a high-resolution imaging sensor primarily used to capture high-quality still and moving images. The ZED-F9P is a high-precision satellite positioning system primarily used to obtain accurate location information.

[0072] The external mounting slot 202 has a corresponding loading type, and the external mounting slot 202 is used to load spare batteries or fire extinguishing materials.

[0073] In some embodiments, such as Figure 4 As shown, the external mounting slot 202 is a modular payload device installed on a drone. Its contents can be flexibly adjusted according to mission requirements. For example, it can carry spare batteries or spare fire extinguishing materials to enhance the drone's endurance or fire extinguishing capabilities.

[0074] Specifically, such as Figure 5As shown, the external mounting slot 202 has different loading modes, allowing for the selection of suitable supplies, such as spare batteries or spare fire extinguishing materials, according to the needs of the mission, to ensure the drone has optimal operational capabilities in different fire environments. When the drone performs long-duration or long-distance firefighting operations, endurance becomes a critical factor. The external mounting slot 202 can be used to carry spare batteries, providing additional power to extend the drone's operating time and ensure the continuity of firefighting operations. Figure 6 As shown, in complex fire situations, relying solely on fire extinguishing bombs 208 may not be sufficient to meet firefighting needs. External mounting slots 202 can be used to load different types of spare fire extinguishing materials, improving firefighting effectiveness. The modular load device refers to a flexible design that can be disassembled, replaced, and configured according to mission requirements.

[0075] The mothership control chip 205, located in the core compartment 201 of the mothership, is used to generate fire information and a first fire extinguishing plan based on the thermal imaging information corresponding to the thermal imaging sensor 206, the image information corresponding to the camera 209, and the positioning information corresponding to the satellite positioning sensor 207, and to execute the first fire extinguishing plan; it generates a first fire extinguishing result through multiple sensing devices; if the first fire extinguishing result indicates that the fire has not been extinguished, it generates a second fire extinguishing plan based on the fire information, the loading type, and the UAV number.

[0076] In some embodiments, a mothership control chip 205 is integrated into the core compartment 201 of the mothership. The mothership control chip 205 is responsible for receiving and processing data from multiple sensing devices and formulating fire suppression plans. Specifically, the mothership control chip 205 acquires corresponding positioning information through a satellite positioning sensor 207, corresponding thermal imaging information through a thermal imaging sensor 206, and corresponding image information through a camera 209. Then, based on the thermal imaging information, positioning information, and image information, it generates fire information and a first fire suppression plan. After the mothership executes the first fire suppression plan, it again collects corresponding data through the thermal imaging sensor 206 and the camera 209 to analyze and generate a first fire suppression result. Next, the first fire suppression result is judged. If the first fire suppression result indicates that the fire is not extinguished, a second fire suppression plan is generated based on the fire information after executing the first fire suppression plan, the loading type of the external mounting slot 202 corresponding to the UAV, and the UAV number.

[0077] These embodiments enhance the intelligence and execution efficiency of drone-based forest firefighting operations. Specifically, the mother drone, combined with multiple sensors, perceives the fire situation in real time and dynamically adjusts the firefighting plan, improving strategic adaptability compared to fixed ammunition delivery methods; external mounting slots can carry spare batteries or fire extinguishing materials, extending flight time and enhancing long-distance operation capabilities; the mother drone, daughter drones, and backup drones work together to accurately deliver fire extinguishing bombs, improving firefighting efficiency and stability. Through these optimizations, the drone firefighting system becomes more efficient and flexible, reducing reliance on human labor and enhancing autonomous decision-making capabilities.

[0078] In some embodiments, to further address the second technical problem described in the background section, namely, "existing unmanned aerial vehicle (UAV) forest fire fighting systems often struggle to promptly switch command when the main unit malfunctions, leading to a risk of command interruption in the UAV swarm during emergencies, affecting the continuity and coordination of firefighting operations, and reducing overall firefighting efficiency," in some embodiments of the present invention, the backup aircraft is either a first backup aircraft or a second backup aircraft, and the external mounting slot includes a first external mounting slot and a second external mounting slot, with the loading type being one of the following: a first loading type or a second loading type. Alternatively, a third loading type; the external mounting slot is also equipped with an ejection device; if the first external mounting slot is loaded with a spare battery and the second external mounting slot is loaded with a spare battery, then the corresponding drone is identified as the first alternative drone; if the first external mounting slot is loaded with spare fire extinguishing materials and the second external mounting slot is loaded with spare fire extinguishing materials, then the corresponding drone is identified as the slave drone; if the first external mounting slot is loaded with a spare battery and the second external mounting slot is loaded with spare fire extinguishing materials, or if the first external mounting slot is loaded with spare fire extinguishing materials and the second external mounting slot is loaded with a spare battery, then the corresponding drone is identified as the second alternative drone.

[0079] In some embodiments, the alternative device is a first alternative device or a second alternative device. The external mounting slot 202 includes a first external mounting slot and a second external mounting slot. The loading type is a first loading type, a second loading type, or a third loading type. If the external mounting slot 202 is loaded with spare fire extinguishing material, an ejection device is provided inside the external mounting slot 202 to provide thrust and release the spare fire extinguishing material when the outer casing of the external mounting slot 202 is opened. Specifically, the first loading type involves both the first and second external mounting slots being loaded with spare batteries; the second loading type involves both the first and second external mounting slots being loaded with spare fire extinguishing material; and the third loading type involves the first external mounting slot being loaded with a spare battery and the second external mounting slot being loaded with spare fire extinguishing material, or the first external mounting slot being loaded with spare fire extinguishing material and the second external mounting slot being loaded with a spare battery.

[0080] Specifically, if both the first and second external mounting slots of the drone are equipped with spare batteries, the corresponding drone is designated as the first backup drone. If both the first and second external mounting slots of the drone are equipped with spare fire extinguishing materials, the corresponding drone is designated as the slave drone. If the first external mounting slot of the drone is equipped with a spare battery and the second external mounting slot is equipped with spare fire extinguishing materials, or vice versa, the corresponding drone is designated as the second backup drone. The external mounting slot equipped with spare fire extinguishing materials is also additionally equipped with an ejection device to provide thrust to assist in releasing the spare fire extinguishing materials.

[0081] The fire information includes the drone's number, real-time coordinates, burning status, and burning type. The first firefighting plan is determined through the following steps:

[0082] Based on thermal imaging information, areas of temperature anomalies are identified. From these areas, the region with the highest temperature is selected as the deployment zone. The real-time coordinates of the UAV are determined based on its location information. The vegetation type is determined based on the UAV's real-time coordinates and a pre-defined regional vegetation information table. The combustion type and combustible material type are determined based on the vegetation type and image information. The ammunition number is determined based on the combustion type, combustible material type, and an extinguishing ammunition information table. A first firefighting plan is generated based on the ammunition number and the deployment zone.

[0083] The initial fire extinguishing result is determined through the following steps:

[0084] The system acquires first thermal imaging information through multiple sensing devices and determines whether the highest temperature in the abnormal temperature area within the first thermal imaging information is less than a preset safe temperature threshold. If not, the first fire extinguishing result is determined as not extinguished. If so, the system acquires first image information and second image information according to a preset image acquisition interval. The system determines the first smoke ratio based on the first image information and the second smoke ratio based on the second image information. The system determines the smoke change ratio based on the first and second smoke ratios. If the smoke change ratio is greater than a preset smoke change ratio threshold, the first fire extinguishing result is determined as extinguished.

[0085] In some embodiments, fire information comprises the drone number, drone real-time coordinates, combustion status, and combustion type. The combustion status can be combustion, and the combustion type can be crown fire or surface fire. The first firefighting plan is determined through the following steps:

[0086] The motherboard control chip 205 can filter out areas of abnormal temperature from the thermal imaging information corresponding to the thermal imaging sensor 206, and select the area with the highest temperature as the deployment area. Subsequently, it obtains the corresponding real-time coordinates of the UAV through the satellite positioning sensor 207, and filters the vegetation type of the current area based on the UAV's real-time coordinates and a preset area vegetation information table. Next, it determines the type of combustible material and the type of combustion through the image information corresponding to the camera 209 and the vegetation type. Then, it matches the appropriate deployment ammunition number for the current combustion type and the type of combustion in the fire extinguishing ammunition information table, and generates a first fire extinguishing plan based on the deployment area.

[0087] Crown fire refers to fire spreading to the tree crown or top, primarily occurring in the upper layers of trees. Surface fire refers to fire occurring on the ground or in the lower vegetation layer; it typically spreads more slowly and affects a smaller area. Temperature anomalies refer to temperatures in a region significantly higher than the standard temperature of the surrounding environment. In practice, if the normal daytime temperature range for a forest area is 25°C to 30°C, then the standard temperature can be set at 29°C, and an abnormal temperature could be 40°C. The type of combustible material can be evergreen forest, deciduous forest, shrubland, or grassland.

[0088] The initial fire extinguishing result is determined through the following steps:

[0089] The main control chip 205 can filter out areas of abnormal temperature from the thermal imaging information corresponding to the thermal imaging sensor 206, and select the highest temperature to determine if it is lower than a preset safe temperature threshold. If not, the first fire extinguishing result is determined as not extinguished. If so, the corresponding first and second image information is acquired through the camera 209 according to the preset image acquisition interval. Then, the first smoke ratio and the second smoke ratio corresponding to the first and second image information are determined respectively. Next, the difference between the first and second smoke ratios is calculated to obtain the smoke change ratio, and it is determined whether the smoke change ratio is greater than the preset smoke change ratio threshold. If so, the first fire extinguishing result is determined as extinguished. In practice, the preset safe temperature threshold can be 60℃. The preset image acquisition interval can be 20s, and the preset smoke change ratio threshold can be 30%. For example, if the first smoke ratio is 50% and the second smoke ratio is 30%, it can be determined that the fire has been extinguished.

[0090] In practice, the motherboard control chip 205 can convert thermal imaging information into a two-dimensional temperature matrix and perform image binarization processing on the two-dimensional temperature matrix according to a preset temperature threshold to extract temperature anomaly areas. Subsequently, the coordinates corresponding to the highest temperature value in the temperature anomaly areas are obtained to determine the area corresponding to the coordinates as the target projection area. The preset temperature threshold can be 60℃. The two-dimensional temperature matrix can be obtained by temperature mapping of the grayscale values ​​of each pixel in the thermal imaging information. A two-dimensional temperature matrix refers to dividing the thermal imaging information collected by the thermal imaging sensor into a two-dimensional array, where each element corresponds to the temperature value of an image pixel, used to construct the temperature distribution of the target area in spatial dimension. Image binarization refers to comparing each pixel value in the image with the preset temperature threshold and converting the pixel value into one of two discrete values ​​(e.g., 0 or 1) to distinguish between high-temperature and non-high-temperature areas. Grayscale value refers to the brightness value corresponding to a single pixel in the thermal imaging image. A higher grayscale value indicates a greater radiation intensity in the pixel area, corresponding to a higher temperature value. Grayscale value is the basic unit for numerical processing of thermal imaging images. Temperature mapping refers to the process of converting the grayscale value of each pixel in a thermal imaging image into its corresponding actual temperature value according to the sensor's temperature response characteristics. The sensor's temperature response characteristics refer to how the thermal imaging sensor reacts to different temperature values ​​and its accuracy.

[0091] Furthermore, the motherboard control chip 205 can perform preprocessing operations on image information to enhance the recognizability of smoke areas. Specifically, firstly, the image is converted from the RGB color space to the HSV color space to highlight the low saturation and low brightness characteristics of the smoke area. Then, median filtering is used to denoise the image while preserving the smoke characteristics. Next, texture feature analysis methods, such as local binary mode, are used to analyze the image and extract the smoke area. Finally, the proportion of the smoke area is calculated for subsequent analysis and decision-making. The RGB color space is a color model based on three primary colors: red, green, and blue. The HSV color space is a model that represents color as hue, saturation, and brightness. Median filtering is a commonly used image denoising method that replaces the current pixel's value with the median value of its neighboring pixels. Texture feature analysis methods are techniques for analyzing and classifying images by extracting texture information. Local binary mode is a texture descriptor that generates a binary number representing the local texture of a pixel by comparing the grayscale values ​​of each pixel with those of its neighboring pixels.

[0092] The second firefighting plan includes one of the following: drone support, ground firefighting equipment support, or coordinated support; the second firefighting plan is determined through the following steps:

[0093] The system acquires second thermal imaging information and third image information through multiple sensing devices; based on the second thermal imaging information and third image information, it determines the fire status; if the fire status is small, it generates a drone support plan; if the fire status is large, it obtains the distance between the drone's real-time coordinates and the forest boundary based on the drone's real-time coordinates, thus obtaining the forest boundary distance; it compares the forest boundary distance with a boundary distance threshold to obtain a distance comparison result; if the distance comparison result indicates that the distance is relatively close, it generates a ground firefighting equipment support plan; if the distance comparison result indicates that the distance is relatively far, it generates a collaborative support plan.

[0094] In some embodiments, the second firefighting plan is a drone support plan, a ground firefighting equipment support plan, or a collaborative support plan. The second firefighting plan is determined through the following steps:

[0095] The master control chip 205 first acquires corresponding second thermal imaging information and third image information through the thermal imaging sensor 206 and camera 209. Then, based on the temperature anomaly area in the second thermal imaging information and the smoke ratio in the third image information, it determines the fire status. Specifically, if the temperature anomaly area accounts for more than 60%, or the smoke ratio accounts for more than 40%, the fire status is determined to be large. If the temperature anomaly area accounts for less than or equal to 60%, or the smoke ratio accounts for less than or equal to 40%, the fire status is determined to be small. When the fire status is small, a drone support plan is generated through the slave scheduling strategy. When the fire status is large, the corresponding real-time coordinates of the drone are acquired through the satellite positioning sensor 207, and the distance to the forest boundary is obtained through the drone's real-time coordinates and the built-in preset map information. Then, the forest boundary distance is compared with a boundary distance threshold. If the comparison result indicates a closer proximity, the master control chip 205 sends feedback information to the control terminal 102, so that the control terminal 102 sends a call information to the ground fire extinguishing equipment 103. If the comparison results indicate a significant distance, a drone support plan is first generated through the sub-machine scheduling strategy, and then the ground fire extinguishing equipment 103 is invoked through the control terminal 102.

[0096] The map information is used to represent the geospatial structure of the corresponding area, including vector boundary line data or rasterized layer information of the forest boundary. In practice, the map information can be pre-generated by the geographic information system and stored in the host machine as an electronic map for subsequent distance calculation and positioning analysis. The boundary distance threshold is used to determine the relative positional relationship between the UAV and the forest boundary; in practice, it can be 100m.

[0097] The second firefighting plan is generated based on real-time data from multiple sensing devices, including second thermal imaging information and third image information. The system first analyzes this information to determine the fire's condition. If the analysis indicates the fire is small, the system generates a drone support plan to allow drones to further extinguish the fire. If the fire is large, the system calculates the distance between the drone and the forest boundary based on the drone's real-time coordinates and compares this distance to a preset boundary distance threshold. If the drone is close to the forest boundary, the system generates a ground-based firefighting equipment support plan to call upon ground-based firefighting equipment for effective support; if the distance is far, the system generates a collaborative support plan to coordinate drones with other support forces for joint firefighting.

[0098] The control chip is equipped with multiple strategies, including at least one of the following: body monitoring strategy, inspection strategy, fire extinguishing bomb deployment strategy, and submachine scheduling strategy.

[0099] The aircraft monitoring strategy is as follows: During the operation of the UAV, the aircraft is monitored according to a preset monitoring frequency, including: power information, sensor operation information, slot information and fire extinguishing bomb information, and written into the aircraft information table; if the real-time power information is less than or equal to the selected power threshold, it is determined that the power is too low.

[0100] The inspection strategy is as follows: conduct inspections according to the preset inspection plan. If no abnormalities are found, return to base after the inspection is completed.

[0101] The fire extinguishing grenade deployment strategy is as follows: Based on the type of combustion and the type of burning material, determine the order of fire extinguishing grenade deployment from the fire extinguishing ammunition information table, and release the fire extinguishing grenade through the fire extinguishing grenade mounting device; determine whether the external mounting slot carries fire extinguishing material matching the fire situation information, and if so, release the fire extinguishing material through the ejection device.

[0102] The strategy for evaluating the deployment results is as follows: multiple evaluation results are generated based on multiple sensors and a preset evaluation frequency; multiple indicator trend charts are generated based on the multiple evaluation results; if any indicator trend chart in the multiple indicator trend charts indicates an increase in the indicator, the deployment result is determined to be "not eradicated".

[0103] The sub-drone scheduling strategy is as follows: if the deployment result indicates that the fire has not been extinguished, obtain the real-time coordinates of the drone, and match at least one drone number from the preset drone fire extinguishing configuration table according to the fire type and the type of burning material; generate sub-drone scheduling information based on at least one drone number and the real-time coordinates of the drone.

[0104] In some embodiments, the control chip deploys multiple strategies, including at least one of the following: a body monitoring strategy, an inspection strategy, a fire extinguishing bomb deployment strategy, and a submachine scheduling strategy.

[0105] The aircraft monitoring strategy is as follows: During the operation of the UAV, multiple information of the aircraft will be monitored according to the preset monitoring frequency, including power information, sensor operation information, mounting slot information and fire extinguishing bomb information, and the monitoring results will be written into the aircraft information table.

[0106] For example, if the real-time battery level in the battery information is less than or equal to the election battery threshold, and if so, the low battery level is written into the machine information table. In practice, the election battery threshold can be 60%, and the preset monitoring frequency can be once every 5 minutes.

[0107] The inspection strategy is as follows: the drone will conduct inspections in the target area according to a preset inspection plan. If no abnormalities are found, it will return to base normally. The preset inspection plan can be to inspect the target area for 40 minutes.

[0108] The fire extinguishing grenade deployment strategy is as follows: the drone can determine the deployment order of fire extinguishing grenades 208 from the fire extinguishing ammunition information table based on the combustion type and the type of burning material. Specifically, when the combustion type is crown fire, water-based fire extinguishing grenades 208 can be deployed; when the burning material is evergreen forest, dry powder fire extinguishing grenades 208 can be deployed. In practice, after determining the deployment order of the fire extinguishing grenades 208, the drone's corresponding control chip sends a release command to the release controller 203 fixedly installed on the fire extinguishing grenades mounting device 204. The release controller 203 then releases the corresponding fire extinguishing grenade 208. The fire extinguishing grenades mounting device 204 can be equipped with a first release controller and a second release controller, which are redundant to prevent failure to release the fire extinguishing grenades 208 due to controller malfunction. Simultaneously, the drone's corresponding control chip also checks whether the external mounting slot 202 carries fire extinguishing material suitable for the current fire situation. If so, a release command is sent to the external mounting slot 202. Upon receiving a release command, the external mounting slot 202 will first open its top cover, and then release the spare fire extinguishing material through the ejection device installed on its inner side. For example, if the external mounting slot 202 carries spare fire extinguishing material made of dry powder, it will be released to assist in fire extinguishing when the burning material is evergreen forest.

[0109] Water-based extinguishing agents are a common type of fire extinguishing material, primarily based on water, capable of rapidly absorbing heat from the fire source and reducing its intensity. Dry powder extinguishing agents are another commonly used fire extinguishing material, employing dry, powdered extinguishing chemicals that extinguish the fire by covering it, thus isolating oxygen and absorbing heat. The top cover refers to the component on the external mounting slot 202 used to cover and seal the extinguishing material inside. The release controller is a key component installed on the fire extinguishing grenade mounting device 204, responsible for receiving release commands from the UAV control chip and executing corresponding actions. The release controller controls the release process of the fire extinguishing grenade 208, ensuring it is released at the correct time and location. To improve reliability, two redundant release controllers are typically installed to prevent release failure due to a single controller malfunction.

[0110] The deployment result evaluation strategy is as follows: The main unit control chip 205 evaluates multiple thermal imaging information corresponding to the thermal imaging sensor 206 and multiple image information corresponding to the camera 209 according to a preset evaluation frequency, and generates multiple evaluation results. Each evaluation result includes multiple evaluation indicators, such as temperature and smoke concentration ratio. Then, multiple indicator change trend graphs are generated, and it is determined whether any indicator shows an increasing trend. If so, the deployment result is determined to be unextinguished. The preset evaluation frequency can be once per minute.

[0111] The slave drone scheduling strategy is as follows: If the deployment result assessment strategy indicates that the fire has not been extinguished, the real-time coordinates of the corresponding drone are first obtained through the satellite positioning sensor 207. Based on the combustion type and the type of burning material, a suitable drone number is matched from the preset drone fire extinguishing configuration table, and the real-time coordinates of the drones corresponding to these drone numbers are sent to schedule the slave drones for fire extinguishing operations. The preset drone fire extinguishing configuration table includes the drone number and the corresponding fire extinguishing ammunition information. For example, the fire extinguishing ammunition information corresponding to drone number TX-001 could be m-1-a, m-2-a, m-3-b, m-4-b, s-1-a, and s-2-a. Here, m-3-b can be a water-based fire extinguishing bomb 208 with serial number 3, and s-1-a can be a spare fire extinguishing material with serial number 1 and a dry powder material.

[0112] In practice, the mother aircraft can activate the aircraft monitoring strategy, inspection strategy, fire extinguishing grenade delivery strategy, delivery result evaluation strategy, and slave aircraft scheduling strategy. Slave aircraft can activate the aircraft monitoring strategy and fire extinguishing grenade delivery strategy. Backup aircraft can activate the aircraft monitoring strategy, inspection strategy, and fire extinguishing grenade delivery strategy. When a backup aircraft becomes the target backup aircraft through mother aircraft election, it can also activate the delivery result evaluation strategy and slave aircraft scheduling strategy.

[0113] Among them, the multiple strategies deployed in the control chips of the mother machine, the first backup machine, and the second backup machine also include the mother machine election strategy;

[0114] The host machine election strategy includes an active election strategy and a passive election strategy; the host machine control chip activates the active election strategy, while the control chips of the first and second backup machines activate the passive election strategy.

[0115] The active election process involves: obtaining the aircraft information table and acquiring aircraft monitoring information; if any abnormality is found in the aircraft monitoring information, an active election is triggered, and the drone number corresponding to the target candidate aircraft is determined from the candidate aircraft information table; the candidate aircraft information table is determined through the following steps:

[0116] Obtain the drone number, battery information, mission status, and location information corresponding to the first and second candidate drones to generate a candidate drone information table; synchronize the candidate drone information table to the candidate drones at a preset synchronization frequency;

[0117] Passive election is as follows: If any candidate machine fails to receive a response signal from the master machine after the response time threshold, the number of remaining candidate machines that have not received a response signal from the master machine is counted. If the number is greater than or equal to the non-response threshold, the candidate machine information table is used to determine whether it is qualified to be the master machine. If so, it is automatically elected as the target candidate machine and broadcasts the result.

[0118] In some embodiments, the multiple strategies deployed in the control chips corresponding to the master machine, the first backup machine, and the second backup machine also include a master machine election strategy. The master machine election strategy includes an active election strategy and a passive election strategy.

[0119] The master control chip 205 can activate an active election strategy. Specifically, the master control chip 205 will traverse the machine information table according to a preset machine monitoring frequency and determine if there are any anomalies. If any anomaly is found, an active election will be conducted, and the corresponding UAV numbers of the candidate machines that meet the conditions will be selected from the candidate machine information table. The candidate machine information table can be determined through the following steps:

[0120] Each time the master control chip 205 communicates with the first or second backup drone, it stores the corresponding drone number, battery level, mission status, and location information, and generates a backup drone information table. Simultaneously, the backup drone information table is synchronized to the backup drones according to a preset synchronization frequency.

[0121] During the active election process, the host drone will filter from the candidate drone information table. First, the candidate drone information table is sorted in descending order based on the real-time battery level in the battery information, resulting in a descending order table. Then, candidate drones with an idle task status are selected from the descending order table, resulting in a descending order idle table. Finally, the candidate drone closest to the host drone that meets the preset task conditions is selected from the descending order idle table as the target candidate drone, and the drone number corresponding to the target candidate drone is broadcast to the drone swarm. In practice, the preset task conditions can be either endurance priority or firefighting priority. For example, if the preset task condition is endurance priority, the target candidate drone will be selected from the first candidate drone, while if the preset task condition is firefighting priority, the target candidate drone will be selected from the second candidate drone. The preset aircraft monitoring frequency can be once per minute, and the preset synchronization frequency can be once every 5 minutes.

[0122] The control chips corresponding to the first and second backup drones can activate a passive election strategy. Specifically, if any backup drone fails to receive a response signal from the host drone during a mission, it is identified as a failed backup drone. The system then checks if the non-response time with the host drone is greater than or equal to a response time threshold. If so, the failed backup drone communicates with the backup drones in the backup drone information table to count the number of backup drones that failed to receive a response signal from the host drone, thus obtaining the number of non-response backup drones. The system then checks if the number of non-response backup drones is greater than or equal to a non-response threshold. If so, the failed backup drone communicates with the backup drones in the backup drone information table to enable them to bootstrap based on the table. In practice, the backup drone with the highest real-time battery level, an idle mission status, and closest proximity to the host drone will successfully bootstrap, and the successfully bootstrap target drone will broadcast its corresponding drone number to the drone swarm. The response time threshold can be 30 seconds, and the non-response threshold can be 3 drones.

[0123] The present invention includes, among other things, a visual recognition-based unmanned aerial vehicle (UAV) forest fire extinguishing bomb automatic delivery system, which further comprises:

[0124] The control terminal 102 is used to receive and process feedback information from multiple drones 101 and send call information to the ground fire extinguishing equipment 103.

[0125] In some embodiments, the control terminal 102 may be a fixed terminal located at a control station or a portable terminal carried by staff. The fixed terminal may be a desktop computer, and the portable terminal may be a tablet computer. In practice, the control terminal 102 receives and processes feedback information from multiple drones 101. Specifically, when multiple drones 101 are within communication range of the control terminal 102, the control terminal 102 can obtain fire information through the feedback information, intervene in firefighting operations, and send call information to ground firefighting equipment 103 for firefighting support operations. When multiple drones 101 are outside the communication range of the control terminal 102, the corresponding mother drone can also autonomously control the swarm to carry out firefighting operations. The feedback information may be fire information or synchronization data.

[0126] The present invention includes, among other things, a visual recognition-based unmanned aerial vehicle (UAV) forest fire extinguishing bomb automatic delivery system, which further comprises:

[0127] Ground fire extinguishing equipment 103 is used to receive call information from control terminal 102 in order to carry out fire extinguishing support operations.

[0128] In some embodiments, the ground fire extinguishing equipment 103 can perform fire extinguishing support operations after receiving a call information from the control terminal 102. In practice, the ground fire extinguishing equipment 103 can be a fire truck.

[0129] Among these strategies are return-to-home strategies; the logic of return-to-home strategies varies depending on the type of drone.

[0130] For the submachine gun, extract the fire extinguishing material consumption information from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or that the remaining fire extinguishing materials do not match the fire extinguishing operation, then return to the preset return point.

[0131] For the first backup aircraft, fire extinguishing material consumption information is extracted from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or the remaining fire extinguishing materials do not match the fire extinguishing operation, the real-time power of the first backup aircraft is obtained. If the real-time power of the first backup aircraft is greater than the first backup power threshold, the first actual return distance is obtained. If the first actual return distance is greater than the first return distance threshold, and the real-time power of the mother aircraft is greater than the continuous inspection power threshold, the aircraft returns to the preset return point.

[0132] For the second backup aircraft, fire extinguishing material consumption information is extracted from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or the remaining fire extinguishing materials do not match the fire extinguishing operation, the real-time power of the second backup aircraft is obtained. If the real-time power of the second backup aircraft is greater than the second backup power threshold, the second actual return distance is obtained. If the second actual return distance is less than the second return distance threshold, and the real-time power of the mother aircraft is greater than the continuous inspection power threshold, the aircraft returns to the preset return point.

[0133] For the mother drone, obtain the real-time coordinates of the mother drone and determine the minimum return-to-home battery level based on the preset return-to-home point; determine the return-to-home battery threshold based on the minimum return-to-home battery level and the floating battery level; compare the return-to-home battery threshold with the election battery threshold, and if the return-to-home battery threshold is greater than the election battery threshold, then update the election battery threshold to the return-to-home battery threshold.

[0134] In some embodiments, the multiple strategies also include a return-to-home strategy, and the return-to-home strategy has different logic in the slave unit, the first backup unit, the second backup unit, and the master unit.

[0135] For the sub-unit, its control chip retrieves fire extinguishing material consumption information from the fire extinguishing ammunition information table. When all fire extinguishing materials are consumed, or the remaining materials do not match the current fire extinguishing operation, it directly returns to the preset return point. The preset return point can be a safe landing area set at the control station or a safe landing area set at the forest boundary.

[0136] For the first backup drone, its control chip extracts fire extinguishing material consumption information from the fire extinguishing ammunition information table. When all fire extinguishing materials are consumed, or the remaining fire extinguishing materials do not match the current fire extinguishing operation, the real-time battery level of the first backup drone is obtained and compared with a first backup battery level threshold. If the real-time battery level of the first backup drone is greater than the first backup battery level threshold, the corresponding real-time coordinates of the drone are obtained through the satellite positioning sensor 207. Subsequently, based on the real-time coordinates of the drone and the coordinates of the preset return point, the first actual return distance is calculated based on Euclidean distance, and it is determined whether the first actual return distance is greater than the first return distance threshold. If so, it further communicates with the host drone to obtain the host drone's real-time battery level and determines whether the host drone's real-time battery level is greater than the continuous inspection battery level threshold. If so, it can return to the preset return point. The first backup battery level threshold can be 50%, the first return distance threshold can be 10km, and the continuous inspection battery level threshold can be 70%.

[0137] For the second backup drone, its control chip extracts fire extinguishing material consumption information from the fire extinguishing ammunition information table. When all fire extinguishing materials are consumed, or the remaining fire extinguishing materials do not match the current fire extinguishing operation, the real-time battery level of the second backup drone is obtained and compared with a second backup battery level threshold. If the real-time battery level of the second backup drone is greater than the second backup battery level threshold, the corresponding real-time coordinates of the drone are obtained through the satellite positioning sensor 207. Subsequently, based on the drone's real-time coordinates and the coordinates of the preset return point, the second actual return distance is calculated using Euclidean distance, and it is determined whether the second actual return distance is less than the second return distance threshold. If so, it further communicates with the host drone to obtain its real-time battery level and determines whether the host drone's real-time battery level is greater than the continuous inspection battery level threshold. If so, it can return to the preset return point. The second backup battery level threshold can be 65%, the second return distance threshold can be 10km, and the continuous inspection battery level threshold can be 70%.

[0138] For the mother drone, the mother drone control chip 205 first obtains the real-time coordinates of the corresponding UAV through the satellite positioning sensor 207. Then, based on the Euclidean distance and the coordinates of the return point corresponding to the preset return point, it calculates the actual return distance and determines the minimum return battery level based on the actual return distance and the UAV's preset speed. Next, it sums the minimum return battery level and the floating battery level to obtain the return battery threshold. The return battery threshold is then compared with the elected battery threshold. When the return battery threshold is greater than the elected battery threshold, the elected battery threshold is updated to the return battery threshold, thereby preventing the mother drone from failing to return due to insufficient battery power.

[0139] The drone's preset speed can be 20m / s. The election battery threshold can be 60%. The minimum return battery level can be 60%, and the floating battery level can be 3%, so the return battery threshold can be 63%. Therefore, when the mother drone's battery level drops to 63%, the mother drone election strategy will be triggered in advance to return to home.

[0140] The floating power is determined through the following steps:

[0141] Obtain the temporary return point between the preset return point and the work area, and generate a temporary return point information table; obtain the real-time coordinates of the mother drone, and filter the temporary return point closest to the real-time coordinates of the mother drone from the temporary return point information table, and determine it as the actual return point; obtain the power consumption between the real-time coordinates of the mother drone and the actual return point, and determine it as the first floating power consumption.

[0142] Obtain the real-time coordinates of the target candidate drones, and determine the second floating power based on the real-time coordinates of the host drones;

[0143] A floating charge is generated based on the first floating charge and the second floating charge.

[0144] In some embodiments, the floating charge can be determined by the following steps:

[0145] During the mothership's inspection, the mothership control chip 205 broadcasts signals at a preset frequency and generates a temporary return-to-home (RTW) information table containing the coordinates of temporary RWT points. Simultaneously, it communicates with the control terminal 102, summarizing received RWT information in the table. Then, the corresponding UAV's real-time coordinates are obtained via satellite positioning sensor 207, and the closest temporary RWT point to the mothership is selected from the table and designated as the actual RWT point. Next, based on the UAV's real-time coordinates and the corresponding temporary RWT coordinates, the actual RWT distance is calculated using Euclidean distance. Finally, the power consumption between the mothership and the actual RWT point is calculated using the UAV's preset speed and determined as the first floating power consumption.

[0146] Then, the mother machine selects the real-time coordinates of the drones corresponding to the candidate drones from the candidate drone information table that meet the conditions, and calculates the actual distance of the candidate drones by Euclidean distance based on the drone coordinates of both the mother machine and the candidate drones. Then, it calculates the second floating power by combining the actual distance of the candidate drones and the preset speed of the drones.

[0147] Finally, the first floating charge and the second floating charge are summed to obtain the floating charge.

[0148] The preset broadcast frequency can be once every 10 minutes. Signal broadcasting refers to the drone sending signals to devices within a specific range at a predetermined frequency so that the devices can receive relevant information or respond to the signal. A temporary return point is a return target point temporarily set by the drone based on mission requirements or changes in the environment.

[0149] These embodiments enhance the command stability and operational continuity of the unmanned aerial vehicle (UAV) firefighting system. Specifically, both the main UAV and backup UAVs employ a main UAV election strategy. In the event of a main UAV failure, a new command UAV can be quickly determined through an active or passive election mechanism, preventing command interruption. An aircraft monitoring strategy monitors the UAV status in real time, triggering elections in advance to reduce the impact of sudden failures. The backup UAV information table is updated synchronously to ensure accurate and efficient election decisions. These optimizations enable the UAV swarm to maintain coordinated operations even in emergency situations, improving firefighting efficiency and stability.

[0150] In some embodiments, to further address the third technical problem described in the background section, namely, "existing UAV forest fire fighting systems typically rely on direct communication between the host aircraft and the control terminal for data synchronization during long-distance or complex terrain fire fighting operations. However, in the variable environment of a fire scene, the communication distance between the host aircraft and the control terminal may exceed a preset distance threshold, leading to communication interruption or delay, which in turn affects the execution and scheduling of fire fighting operations," some embodiments of the present invention further include an information synchronization strategy for the host aircraft.

[0151] Information synchronization strategies include direct synchronization strategy and relay synchronization strategy; the direct synchronization strategy is: the host machine communicates synchronously with the control terminal according to the preset synchronization frequency;

[0152] The system obtains the real-time coordinates of the drone on the host machine and the real-time coordinates of the control terminal. Based on these coordinates, it determines the real-time distance. It then checks whether the real-time distance is less than a preset communication distance threshold. If not, the host machine sends a second relay slave machine call message to the control terminal and obtains the drone number of the second relay slave machine.

[0153] If the host machine does not receive a call response signal from the control terminal within the call response time threshold, a relay synchronization strategy is triggered. The relay synchronization strategy is as follows: obtain the real-time coordinates of the control terminal; select the slave machine that is farthest from the host machine and closest to the control terminal from the slave machine information table and determine it as the first relay slave machine; the host machine transmits the synchronization data to the first relay slave machine so that the first relay slave machine can broadcast it and determine whether it can receive the synchronization success signal returned by the control terminal through the first relay slave machine; if not, transmit the UAV number of the second relay slave machine to the first relay slave machine and synchronize information with the control terminal through the second relay slave machine.

[0154] In some embodiments, the multiple strategies of the host machine also include an information synchronization strategy, which includes a direct synchronization strategy and a relay synchronization strategy. The direct synchronization strategy involves the host machine communicating synchronously with the control terminal 102 via a preset synchronization frequency to transmit fire information to the control terminal 102. Specifically, when no fire occurs, the preset synchronization frequency can be once every five minutes; when a fire occurs, the preset synchronization frequency can be once per minute.

[0155] In practice, the mother machine can obtain the real-time coordinates of the control terminal 102 from the historical communication records between the mother machine and the control terminal 102. It will also obtain the real-time coordinates of the UAV from the satellite positioning sensor 207 according to a preset ranging frequency. The real-time coordinates of the UAV and the terminal will be subtracted, and the real-time distance between them will be calculated using Euclidean distance based on the difference. Then, it will determine whether the real-time distance is less than a preset communication distance threshold. If the real-time distance is greater than or equal to the preset communication distance threshold, a second relay slave machine call message will be sent to the control terminal 102. The UAV number corresponding to the called second relay slave machine will be obtained from the control terminal 102 and identified as the second relay slave machine number. The maximum communication distance of the UAV can be 20km, and the preset communication distance threshold can be 16km. Euclidean distance refers to the straight-line distance between two points in space, and it is calculated as the square root of the sum of the squares of the differences in the coordinates of the two points.

[0156] In practice, if the host machine fails to receive a call response signal from the control terminal 102 within the specified call response time threshold, a relay synchronization strategy is triggered. Specifically, the host machine can obtain the real-time coordinates of the control terminal 102 from the historical communication records between the host machine and the control terminal 102, and select the slave machine that is furthest from the host machine and closest to the control terminal 102 from a pre-built slave machine information table, designating it as the first relay slave machine. Subsequently, the host machine transmits synchronization data to the first relay slave machine so that the first relay slave machine can broadcast the signal. Next, the host machine determines whether it can receive a synchronization success signal returned by the control terminal 102 from the first relay slave machine. If not, it further transmits the second relay slave machine number to the first relay slave machine, establishing a communication connection between the first and second relay slave machines. The first relay slave machine transmits synchronization data to the second relay slave machine, and finally, the second relay slave machine synchronizes information with the control terminal 102. When the master drone establishes a communication connection with the backup drones and slave drones, it records the corresponding drone number and real-time coordinates to generate a slave drone information table. During subsequent communications, the master drone updates the real-time coordinates of the backup drones or slave drones. The response time threshold can be 60 seconds. Synchronized data can be the drone information table.

[0157] These embodiments improve the data synchronization stability of the UAV firefighting system in complex terrain and long-distance operating environments. Specifically, the master unit prioritizes a direct synchronization strategy for data interaction with the control terminal; when the communication distance exceeds a threshold or no response is received, a relay synchronization strategy is automatically triggered, selecting a suitable slave unit as a relay node to forward synchronization data level by level, ensuring uninterrupted communication. This improves the communication reliability of the UAV swarm in complex environments, ensuring the smooth execution and precise scheduling of firefighting operations.

[0158] The above description is merely a selection of preferred embodiments of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to specific combinations of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A visual recognition-based unmanned aerial vehicle (UAV) automatic delivery system for forest fire extinguishing bombs, characterized in that, include: Multiple drones, each of which has a corresponding drone number and fire extinguishing ammunition information table, and is equipped with multiple sensing devices, fire extinguishing ammunition mounting devices and external mounting slots; the multiple drones include a mother drone, at least one backup drone and at least one daughter drone; the external mounting slots, the fire extinguishing ammunition mounting devices and the multiple sensing devices are fixedly connected to the drones; The plurality of sensing devices include thermal imaging sensors, cameras, and satellite positioning sensors; The fire extinguishing bomb mounting device is used to mount and deploy fire extinguishing bombs; The external mounting slot has a corresponding loading type, and the external mounting slot is used to load spare batteries or fire extinguishing materials; The mother machine control chip installed in the core compartment of the mother machine is used to generate fire information and a first fire extinguishing plan based on the thermal imaging information corresponding to the thermal imaging sensor, the image information corresponding to the camera, and the positioning information corresponding to the satellite positioning sensor, and to execute the first fire extinguishing plan. A first fire extinguishing result is generated through the aforementioned multiple sensing devices; If the first fire extinguishing result indicates that the fire has not been extinguished, a second fire extinguishing plan is generated based on the fire information, the loading type, and the drone number. The fire information includes the drone number, drone real-time coordinates, combustion status, and combustion type. The first fire extinguishing plan is determined through the following steps: Based on the thermal imaging information, temperature anomaly areas are identified, and the area with the highest temperature is selected from these areas and designated as the deployment area. The real-time coordinates of the UAV are determined based on the positioning information; the vegetation type is determined based on the real-time coordinates of the UAV and a preset regional vegetation information table; the combustion type and combustible material type are determined based on the vegetation type and the image information; the ammunition number is determined based on the combustion type, the combustible material type, and the fire extinguishing ammunition information table; a first fire extinguishing plan is generated using the ammunition number and the deployment area; and The first fire extinguishing result is determined through the following steps: The system acquires first thermal imaging information through the multiple sensing devices and determines whether the highest temperature in the abnormal temperature area of ​​the first thermal imaging information is less than a preset safe temperature threshold; if not, the first fire extinguishing result is determined to be unextinguished. If so, then according to the preset image acquisition interval, the first image information and the second image information are acquired respectively; and the first smoke ratio is determined according to the first image information. Based on the second image information, determine the second smoke ratio; The smoke change ratio is determined based on the first smoke ratio and the second smoke ratio; If the smoke change ratio is greater than the preset smoke change ratio threshold, then the first fire extinguishing result is determined as extinguished; The second firefighting plan includes one of the following: a drone support plan, a ground firefighting equipment support plan, or a coordinated support plan; the second firefighting plan is determined through the following steps: The system acquires second thermal imaging information and third image information using the multiple sensing devices; it determines the fire status based on the second thermal imaging information and the third image information; if the fire status is small, it generates a drone support plan; if the fire status is large, it obtains the distance between the drone's real-time coordinates and the forest boundary based on the drone's real-time coordinates, thus obtaining the forest boundary distance; it compares the forest boundary distance with a boundary distance threshold to obtain a distance comparison result. If the distance comparison result indicates that the distance is relatively close, a ground fire extinguishing equipment support plan is generated; if the distance comparison result indicates that the distance is relatively far, a collaborative support plan is generated.

2. The automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs based on visual recognition according to claim 1, characterized in that, The alternative drone is either a first alternative drone or a second alternative drone. The external mounting slot includes a first external mounting slot and a second external mounting slot. The loading type is one of the following: a first loading type, a second loading type, or a third loading type. The external mounting slot is also equipped with an ejection device. If both the first and second external mounting slots are equipped with spare batteries, the corresponding drone is identified as the first alternative drone. If both the first and second external mounting slots are equipped with spare fire extinguishing materials, the corresponding drone is identified as a slave drone. If either the first or second external mounting slot is equipped with a spare battery or spare fire extinguishing materials, or vice versa, the corresponding drone is identified as the second alternative drone.

3. The automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs based on visual recognition according to claim 2, characterized in that, The control chip is equipped with multiple strategies, including at least one of the following: body monitoring strategy, inspection strategy, fire extinguishing bomb deployment strategy, and sub-machine scheduling strategy. The aircraft monitoring strategy is as follows: during the operation of the UAV, the aircraft is monitored according to a preset monitoring frequency, including: power information, sensor operation information, slot information and fire extinguishing bomb information, and written into the aircraft information table; if the real-time power information is less than or equal to the selected power threshold, it is determined that the power is too low. The inspection strategy is as follows: conduct inspections according to the preset inspection plan. If no abnormalities are found, return to base after the inspection is completed. The fire extinguishing grenade deployment strategy is as follows: based on the combustion type and the type of burning material, the order of fire extinguishing grenade deployment is determined from the fire extinguishing ammunition information table, and the fire extinguishing grenade is released through the fire extinguishing grenade mounting device; it is determined whether the external mounting slot carries fire extinguishing material matching the fire situation information, and if so, the fire extinguishing material is released through the ejection device. The strategy for evaluating the deployment results is as follows: multiple evaluation results are generated based on the multiple sensors and the preset evaluation frequency; multiple indicator change trend charts are generated based on the multiple evaluation results; if any indicator change trend chart in the multiple indicator change trend charts indicates an increase in the indicator, the deployment result is determined to be "not extinguished". The sub-drone scheduling strategy is as follows: if the deployment result indicates that the fire has not been extinguished, obtain the real-time coordinates of the drone, and match at least one drone number from the preset drone fire extinguishing configuration table according to the combustion type and the type of burning material; generate sub-drone scheduling information according to the at least one drone number and the real-time coordinates of the drone.

4. The automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs based on visual recognition according to claim 3, characterized in that, The multiple strategies deployed in the control chips of the mother machine, the first alternative machine, and the second alternative machine also include a mother machine election strategy; The host machine election strategy includes an active election strategy and a passive election strategy; The host machine control chip activates the active election strategy, and the control chips of the first and second backup machines activate the passive election strategy. The active election process involves: obtaining an aircraft information table to acquire aircraft monitoring information; if any item in the aircraft monitoring information is abnormal, an active election is triggered, and the UAV number corresponding to the target candidate aircraft is determined from the candidate aircraft information table; the candidate aircraft information table is determined through the following steps: The drone number, battery information, mission status, and location information corresponding to the first and second candidate drones are obtained to generate a candidate drone information table; the candidate drone information table is synchronized to the candidate drones at a preset synchronization frequency. The passive election is as follows: if any candidate machine fails to receive a response signal from the master machine after a response time threshold, the number of candidate machines that have not received a response signal from the master machine is counted. If the number is greater than or equal to the non-response threshold, the candidate machine information table is used to determine whether it is qualified to be the master machine. If so, it is automatically elected as the target candidate machine and broadcast.

5. The automatic delivery system for forest fire extinguishing bombs based on visual recognition according to claim 2, characterized in that, Also includes: The control terminal is used to receive and process feedback information from the multiple drones and send call information to the ground fire extinguishing equipment.

6. The automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs based on visual recognition according to claim 5, characterized in that, Also includes: Ground fire extinguishing equipment, which is used to receive the call information issued by the control terminal to carry out fire extinguishing support operations.

7. The automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs based on visual recognition according to claim 4, characterized in that, The multiple strategies also include a return-to-home strategy; the return-to-home strategy has different logic for different types of drones. For the sub-machine, extract the fire extinguishing material consumption information from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or that the remaining fire extinguishing materials do not match the fire extinguishing operation, then return to the preset return point. For the first backup aircraft, fire extinguishing material consumption information is extracted from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or that the remaining fire extinguishing materials do not match the fire extinguishing operation, the real-time battery level of the first backup aircraft is obtained. If the real-time battery level of the first backup aircraft is greater than the first backup battery level threshold, the first actual return distance is obtained. If the first actual return distance is greater than the first return distance threshold, and the real-time battery level of the mother aircraft is greater than the continuous inspection battery level threshold, the aircraft returns to the preset return point. For the second backup aircraft, fire extinguishing material consumption information is extracted from the fire extinguishing ammunition information table. If the fire extinguishing material consumption information indicates that all fire extinguishing materials have been consumed or the remaining fire extinguishing materials do not match the fire extinguishing operation, the real-time power of the second backup aircraft is obtained. If the real-time power of the second backup aircraft is greater than the second backup power threshold, the second actual return distance is obtained. If the second actual return distance is less than the second return distance threshold, and the real-time power of the mother aircraft is greater than the continuous inspection power threshold, the aircraft returns to the preset return point. For the mother drone, obtain the real-time coordinates of the mother drone and determine the minimum return-to-home battery level based on the preset return-to-home point; determine the return-to-home battery level threshold based on the minimum return-to-home battery level and the floating battery level. The return-to-home power threshold is compared with the election power threshold. If the return-to-home power threshold is greater than the election power threshold, the election power threshold is updated to the return-to-home power threshold.

8. The automatic delivery system for unmanned aerial vehicle (UAV) forest fire extinguishing bombs based on visual recognition according to claim 7, characterized in that, The floating charge is determined through the following steps: Obtain the temporary return point between the preset return point and the work area, and generate a temporary return point information table; obtain the real-time coordinates of the UAV of the mother machine, and filter the temporary return point closest to the real-time coordinates of the UAV of the mother machine from the temporary return point information table, and determine it as the actual return point; obtain the power consumption between the real-time coordinates of the UAV of the mother machine and the actual return point, and determine it as the first floating power; Obtain the real-time coordinates of the target candidate drone, and determine the second floating power based on the real-time coordinates of the mother drone; A floating charge is generated based on the first floating charge and the second floating charge.

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