Fire extinguishing bomb throwing method of unmanned aerial vehicle pod under forest fire prevention

Abstract

The invention relates to the technical field of forest fire prevention, in particular to a fire extinguishing bomb throwing method of an unmanned aerial vehicle pod under forest fire prevention. The fire extinguishing bomb throwing method of the unmanned aerial vehicle pod under forest fire prevention comprises the following steps: initializing an unmanned aerial vehicle system and setting a pod module: initializing the unmanned aerial vehicle system and starting the pod module, and setting a visible light camera, an infrared camera, an ultraviolet camera, a wind speed sensor and a wind direction sensor; and monitoring the forest area in real time: monitoring the forest area in real time by using a visible light camera, focusing on a possible fire source, and collecting video stream data. According to the invention, the accuracy and timeliness of fire source identification are improved by combining multiple monitoring means of visible light, infrared and ultraviolet cameras, meanwhile, the throwing path and the throwing angle of the fire extinguishing bomb are optimized by utilizing wind direction and flame diffusion information, the effectiveness of fire extinguishing is improved, the direct risk of field fire extinguishers is also reduced, and the fire extinguishing efficiency is improved. And the safety of firefighters is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of forest fire prevention, and in particular to a method for throwing fire extinguishing bombs by a drone pod during forest fire prevention. Background Art

[0002] Traditional forest fire prevention measures rely heavily on manual patrols and the deployment of firefighting equipment. These measures are slow to respond, susceptible to weather and geographical conditions, and often fail to control the spread of fires in a timely manner. However, the development of drone technology offers a new solution for forest fire prevention. Equipped with a variety of sensors, drones can monitor forest fires in real time and implement firefighting measures.

[0003] However, in the existing technology, although drones perform well in fire monitoring, there are still problems such as low efficiency and inaccurate throwing angles in the method of automatically throwing fire extinguishing bombs.

[0004] Therefore, there is an urgent need for a new type of drone pod fire extinguishing method to improve fire response speed and fire extinguishing efficiency and ensure the safety of forest resources. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for throwing fire extinguishing bombs by a drone pod in forest fire prevention, so as to solve the problems of low efficiency and inaccurate throwing angles in the existing method of automatically throwing fire extinguishing bombs proposed in the above background technology.

[0006] To achieve the above object, the present invention provides a method for throwing fire extinguishing bombs using a drone pod for forest fire prevention, comprising the following steps:

[0007] S1. Initialize the UAV system and pod module settings: Initialize the UAV system and start the pod module, set up the visible light camera, infrared camera, ultraviolet camera, wind speed sensor, and wind direction sensor;

[0008] S2. Real-time monitoring of forest areas: Use visible light cameras to monitor forest areas in real time, focus on possible fire sources, and collect video stream data;

[0009] S3. Detecting abnormal temperature areas: Using an infrared camera to detect abnormal temperature areas, determine possible flame locations, and record the flame coordinate information;

[0010] S4. Confirm the nature and location of the fire source: Use a UV camera to perform spectral analysis to further confirm the nature and location of the fire source;

[0011] S5. Obtaining wind speed and direction: Using wind speed sensors and wind direction sensors to obtain wind speed and direction, and combining them with flame coordinates to determine the flame spread direction, and determine the optimal throwing path and fire bomb throwing point;

[0012] S6. Launch fire extinguishing bombs: Control the drone body and launch fire extinguishing bombs through the pod module to ensure that the fire extinguishing bombs hit the fire source;

[0013] S7. Confirm the fire extinguishing effect and subsequent monitoring: After the fire extinguishing bomb is thrown, continue to use visible light cameras, infrared cameras, and ultraviolet cameras to monitor, confirm the fire extinguishing effect, and adjust the position of the drone for subsequent fire extinguishing operations.

[0014] As a further improvement of this technical solution, the specific steps for initializing the drone system and pod module settings in step S1 are as follows:

[0015] S11, System Startup: Turn on the main power of the drone, start the drone operating program, and perform a self-test to ensure that all systems are working properly and that the GPS module positioning is normal;

[0016] S12, start the pod module: start the control module of the pod system, initialize the visible light camera, infrared camera, ultraviolet camera, wind speed sensor and wind direction sensor;

[0017] S13, setting camera parameters: setting relevant parameters of the visible light camera, infrared camera, and ultraviolet camera;

[0018] S14. Sensor calibration: Perform zero point calibration on the wind speed sensor and wind direction sensor.

[0019] As a further improvement of this technical solution, the specific operation method for setting the camera parameters in step S13 is: adjusting the exposure time and resolution of the visible light camera, setting the temperature detection range of the infrared camera, and adjusting the sensitivity and interception wavelength range of the ultraviolet camera.

[0020] As a further improvement of this technical solution, the specific operation steps of real-time monitoring of the forest area in step S2 are as follows:

[0021] S21, visible light data acquisition: Start the visible light camera to collect real-time video, set it to loop mode to save image data, and transmit the collected data to the pod module for image analysis;

[0022] S22. Fire source identification process: Apply image processing algorithms to automatically identify possible fire sources from the video stream, set thresholds, and filter out areas with abnormal brightness or color to mark suspicious fire sources.

[0023] As a further improvement of the present technical solution, the specific operation steps for detecting the temperature abnormality area in step S3 are as follows:

[0024] S31, infrared camera activation: start the infrared camera to obtain the temperature data of the area in real time and compare it with the normal ambient temperature;

[0025] S32, abnormality detection processing: using the temperature threshold to analyze and judge the acquired thermal imaging data, marking the area where the temperature exceeds the standard, recording the coordinate values ​​of the abnormal temperature area, and forming a data list.

[0026] As a further improvement of this technical solution, the specific steps for confirming the nature and location of the fire source in step S4 are as follows:

[0027] S41, UV camera activation: start the UV camera to obtain spectral information of the corresponding area;

[0028] S42. Spectral analysis: Analyze ultraviolet spectrum data to determine the nature of the fire source based on different wavelength and intensity characteristics;

[0029] S43. Combined with data integration: Compare the identified fire source properties with the information detected by the visible light camera and infrared camera to further confirm the actual coordinates and properties of the fire source.

[0030] As a further improvement of the present technical solution, the nature of the fire source in step S42 includes organic matter and inorganic matter.

[0031] As a further improvement of this technical solution, the specific steps for obtaining wind speed and wind direction in step S5 are as follows:

[0032] S51, wind speed and wind direction collection: start the wind speed sensor and wind direction sensor to continuously collect environmental data;

[0033] S52. Direction Analysis: Calculate the flame coordinates using wind speed and direction data to determine the direction of flame spread. Combined with the flame coordinates and wind direction, a flame spread model is established to predict the fire development trend.

[0034] S53. Determine the throwing path: Based on the above analysis, determine the throwing path and throwing point of the fire extinguishing bomb to ensure that the fire extinguishing bomb can accurately hit the fire source area.

[0035] As a further improvement of the present technical solution, the specific operation steps for launching the fire extinguishing bomb in step S6 are as follows:

[0036] S61. Control the drone: After selecting the optimal drop point, navigate through the drone control system to confirm that the drone is at the drop position.

[0037] S62, Fire Extinguishing Bomb Preparation: Ensure that the fire extinguishing bomb is loaded correctly and the launch system is in a ready state;

[0038] S63, throwing operation: Control the throwing of the fire extinguishing bomb through the pod module, ensure that it is released at the right time and angle, and trigger the automatic throwing device.

[0039] As a further improvement of this technical solution, the specific operation steps for confirming the fire extinguishing effect and subsequent monitoring in step S7 are:

[0040] S71. Monitoring the fire extinguishing effect: After the throwing is completed, the visible light camera, infrared camera, and ultraviolet camera are immediately switched back to monitor the area and collect real-time images and thermal imaging data of the throwing location;

[0041] S72, Effect Evaluation: Analyze the temperature and brightness changes of the current flame to determine whether the fire extinguishing is successful. If the flame is not completely extinguished, adjust the drone's position and select a new fire bomb drop point.

[0042] S73. Continuous monitoring and adjustment: Continue to monitor the fire source dynamics and update the wind speed, flame position and status in real time.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. In the present invention, by combining multiple monitoring methods such as visible light, infrared and ultraviolet cameras, the accuracy of fire source identification is improved, so that the drone can quickly reach the fire source location, which is more timely than manual fire fighting. At the same time, the use of multi-sensor information fusion technology makes the fire source positioning more accurate and the throwing of fire extinguishing bombs more precise.

[0045] 2. In the present invention, by setting up a drone pod module, forest fires can be monitored in real time and fire extinguishing can be implemented, which reduces the direct risks faced by field firefighters and ensures the safety of firefighters. In addition, through continuous monitoring and real-time adjustment of the drone pod, the fire extinguishing efficiency can be improved and the spread of fire can be effectively controlled.

[0046] 3. In the present invention, by arranging a wind speed sensor and a wind direction sensor inside the UAV pod module, the collected wind direction and flame spread information is used to optimize the throwing path and throwing angle of the fire extinguishing bomb, thereby improving the effectiveness of fire extinguishing, which is beneficial to practical application and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is an overview of the steps of the fire extinguishing bomb throwing method of the drone pod of the present invention for forest fire prevention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] In a specific embodiment, Figure 1 As shown, the present invention provides a method for throwing fire extinguishing bombs using a drone pod for forest fire prevention. The specific operating steps are as follows:

[0050] Step 1: Initialize the drone system and pod module settings: Initialize the drone system and start the pod module, and set up the visible light camera, infrared camera, ultraviolet camera, wind speed sensor, and wind direction sensor.

[0051] 1. System startup.

[0052] Turn on the main power: Make sure the drone's battery is fully charged. Press the power button to turn on the drone's main power. Check the power indicator to confirm that the system has successfully started.

[0053] Start the drone program: Send a start command via the remote control or ground control station to load the drone's operating system. Generally, the operating system will automatically start the self-test process.

[0054] Self-test process: During the self-test, the following key systems are checked: battery charge, motor status, sensor (including visible light camera, infrared camera, ultraviolet camera, wind speed sensor, and wind direction sensor) working conditions, and communication module connection (such as GPS signal). Any abnormality will trigger an alarm and be displayed on the control interface.

[0055] Confirm that GPS positioning is normal: Check the status of the GPS module on the control interface to ensure that sufficient satellite signals are received.

[0056] 2. Start the pod module.

[0057] Start the pod system control module: Send instructions through the control panel or ground control system to start the control system of the pod module.

[0058] Initialize each sensor: Turn on the power supply and digital signal processing unit of the visible light camera, infrared camera, and ultraviolet camera. Also perform a self-test to ensure they are functioning properly. Turn on the wind speed sensor and wind direction sensor to ensure they are functioning properly.

[0059] Check initialization status: Check the sensor response time and sensor status to see if they are normal. Collect initial readings from each sensor for later use.

[0060] 3. Set camera parameters.

[0061] Visible light camera settings: Adjust exposure time and resolution to ensure clear images are captured.

[0062] Infrared camera settings: Set the temperature detection range (for example: -20℃ to 100℃) to ensure that high temperature areas such as flames can be identified.

[0063] UV camera settings: Adjust the sensitivity and cutoff wavelength range of the UV camera to capture specific spectral features.

[0064] 4. Sensor calibration.

[0065] Wind speed sensor calibration: Place the wind speed sensor in an environment free from airflow disturbances. Record the initial static reading to ensure it is zero for zero-point calibration. After calibration, use calibration equipment (such as a wind tunnel) to test its response at different wind speeds and record the data.

[0066] Wind direction sensor calibration: Calibrate the wind direction sensor to ensure it accurately reports the true wind direction when facing it. This can be done by rotating the sensor to the four cardinal directions (i.e., north, south, east, and west), noting the reading in each direction, and adjusting to the actual wind direction in the area.

[0067] Calibration result confirmation: After calibration is completed, the actual test data is compared with the expected value to confirm whether the calibration is successful. The calibration parameters are entered on the control panel and saved for subsequent operations.

[0068] Step 2: Real-time monitoring of forest areas: Use visible light cameras to monitor forest areas in real time, focus on possible fire sources, and collect video stream data.

[0069] 1. Visible light data collection.

[0070] Start the visible light camera: Send a command to start the visible light camera and ensure that it is initialized and in working order. Confirm that the image sensor module has received stable power and control signals.

[0071] Set loop mode: Set the visible light camera to loop recording mode in the control system. This continuously records video stream data, ensuring that no important monitoring information is missed. Define the duration of each video file (for example, generate a new file every 5 minutes) for quick retrieval later.

[0072] Saving image data: Configure the system to save video stream data to an input storage medium (such as an SD card or cloud storage). Ensure sufficient storage space and monitor storage status in real time to prevent overflow. Set up a data rotation mechanism on the system to automatically overwrite old data to ensure the real-time monitoring data.

[0073] Transmit data to the pod module: Set up a data transmission channel to transmit the collected video stream to the pod module in real time for processing.

[0074] Perform image analysis: Activate image analysis software in the pod module to process each frame in the real-time video stream to extract suspicious image data and identify characteristics.

[0075] 2. Fire source identification process.

[0076] Apply image processing algorithms: Select and implement computer vision image processing algorithms, such as a convolutional neural network (CNN)-based flame detection model. This model can identify possible fire sources in video streams. Apply edge detection algorithms (such as Canny edge detection) to enhance edge information in the image and improve flame recognition.

[0077] Set threshold: Determine the brightness and color thresholds to distinguish the flame from the background. You can set the grayscale or color threshold based on the following formula:

[0078] T = k × Mean + b

[0079] Where k is a hyperparameter, Mean is the average image brightness, and b is a constant bias. By adjusting k and b, you can flexibly set the sensitivity.

[0080] Screening out areas with abnormal brightness or color: By calculating the brightness and RGB channel values ​​(R, G, B) of each frame of the image, try to mark those areas that are out of the normal range. The brightness of the pixel can be calculated using the formula:

[0081] Brightness = 0.2126 × R + 0.7152 × G + 0.0722 × B

[0082] Morphological operations (such as dilation and erosion) are applied to further optimize the recognition results, eliminate noise and small isolated areas, and make the fire source more obvious.

[0083] Marking Suspected Fire Sources: The identified fire source area is contour detected, bounding boxes are drawn, and labels are applied to mark the suspected fire source in the video stream. This is achieved using bounding box technology. The labeling information and coordinate data are stored in the system for subsequent analysis and as input data for subsequent steps (such as confirming the nature and location of the fire source).

[0084] Record data: Record the results of image analysis (including the marked fire source location, brightness value, detection time, etc.) to the database for subsequent statistics and analysis.

[0085] Step 3: Detect abnormal temperature areas: Use infrared cameras to detect abnormal temperature areas, determine possible flame locations, and record the flame's coordinate information.

[0086] 1. The infrared camera is enabled.

[0087] Start the infrared camera: Send a command to start the infrared camera and confirm that the camera is working properly and has sufficient power and stable signal transmission. Check the thermal sensitivity of the infrared camera (usually measured in mK) to ensure that it has sufficient resolution to detect subtle temperature changes.

[0088] Real-time acquisition of temperature data for the area: Enable infrared imaging mode to acquire real-time thermal imaging data of the monitored area. The infrared camera converts the captured infrared radiation into temperature data and generates a thermal map. Using the format of thermal imaging data acquisition, such as the temperature value of each pixel, the temperature of a specific point can be calculated using the following formula:

[0089]

[0090] Where T is the temperature, K is a constant, ε is the emissivity of the object, I is the acquired infrared radiation intensity, R is the background radiation, n is the relationship parameter between temperature and intensity, and ΔT is the correction value.

[0091] Compare to normal ambient temperature: Prepare the average temperature range data of the normal environment (such as daytime temperature, forest temperature, etc.) in advance. Generally, you need to use temperature measurements of at least 20 locations to calculate an accurate average. Calculate the average of normal ambient temperature:

[0092]

[0093] Where N is the number of normal environment measurement points, T i The temperature at each measurement point.

[0094] 2. Anomaly detection and processing.

[0095] Analyze thermal imaging data using temperature thresholds: Set temperature thresholds to identify abnormal areas. The thresholds can be set based on the mean and standard deviation of normal ambient temperatures, as shown below:

[0096] T t =T avg +k×σ

[0097] Where k is the selected sensitivity level (e.g., 2) and σ is the standard deviation of the normal ambient temperature.

[0098] Data analysis and judgment: Real-time thermal imaging data is compared pixel by pixel with the set temperature threshold. At the same time, a temperature detection algorithm is programmed to automatically screen out areas with excessive temperatures.

[0099] Marking Temperature Exceedance Areas: Digitally mark areas exceeding the temperature threshold, recording the location and temperature value of each abnormal area. Use a bounding box method to display the coordinate information of the exceeded area (e.g., top left and bottom right corner coordinates). Identified abnormal areas can be highlighted or marked with a red box on the thermal image.

[0100] Record the coordinates of abnormal temperature areas: Store the coordinates (e.g., x, y coordinates) of detected temperature anomalies in a list format. This can be stored in CSV or JSON format for easy query and analysis, providing a data foundation for subsequent analysis.

[0101] Generate a data list: After completing the recording, a data list containing the following information is generated:

[0102] Coordinate values ​​(x,y);

[0103] Detected temperature value;

[0104] Detection timestamp;

[0105] Whether the abnormality criteria are met (yes / no).

[0106] Step 4: Confirm the nature and location of the fire source: Use a UV camera to perform spectral analysis to further confirm the nature and location of the fire source.

[0107] 1. The UV camera is enabled.

[0108] Start the UV camera: Send a command to start the UV camera and ensure that it is functioning properly. Check its power supply and mounting mechanism to prevent vibration. Confirm the UV camera's sensitivity. Typically, UV cameras respond to wavelengths between 100 and 400 nanometers. Ensure the sensor can effectively capture UV radiation.

[0109] Acquire spectral information for the target area: Set up a UV camera for real-time data acquisition, capturing UV spectral images of the target area. These images include information about light intensity at different wavelengths. Ensure the accuracy of the acquired spectral information by calibrating the device, using a known standard light source.

[0110] Data formatting: Convert UV spectrum data into a standard data format for subsequent analysis and processing. For example, convert the data structure of UV intensity and corresponding wavelength into a two-dimensional array to facilitate matrix calculations.

[0111] 2. Spectral analysis.

[0112] Analyze the UV spectrum data: Use spectrum analysis software to analyze the collected UV spectrum data, and extract key features through Fourier transform, wavelength filtering, etc. The spectrum intensity can be calculated using the following formula:

[0113]

[0114] Where I(λ) is the radiation intensity at the ultraviolet wavelength, E(v) is the incident light power density, and R(λ,v) is the response function.

[0115] Determining the nature of fire sources based on wavelength and intensity characteristics: Based on the UV spectral characteristics of known fire sources (such as plants, fuels, and chemicals), the intensity variations corresponding to different wavelengths (such as UV-A, UV-B, and UV-C) are analyzed to identify the nature of the fire source. Machine learning models (such as decision trees or support vector machines (SVMs)) are used to classify known sample data to determine the likely composition and nature of the fire source.

[0116] Establish classification standards: Establish classification standards for the properties of fire sources and establish a standard database including the spectral characteristics of various fire sources.

[0117] 3. Combined with data integration.

[0118] Integrate various data types: Integrate the fire source property data obtained by the UV camera with the image data obtained from the visible light camera and infrared camera to form a comprehensive data set.

[0119] Compare and confirm the actual coordinates and nature of the fire source: Use algorithms to compare the information from various cameras to confirm the true location of the fire source. For example, weighted voting analysis or distance comparison methods can be used to determine the reliability of the fire source coordinates. For example, spatial distance calculation formulas can be used to determine whether the coordinates collected by different cameras belong to the same fire source:

[0120]

[0121] If d is less than the set tolerance value, these coordinates are considered to belong to the same fire source.

[0122] Record confirmation results: Record the final results of confirming the nature and location of the fire source, including the type of fire source, corresponding coordinates and detection time, to form a final report.

[0123] Step 5. Obtain wind speed and direction: Use wind speed sensors and wind direction sensors to obtain wind speed and direction, and combine them with flame coordinates to determine the direction of flame spread, and determine the optimal throwing path and fire extinguishing bomb throwing point.

[0124] 1. Collection of wind speed and direction.

[0125] Activate the wind speed and direction sensors: Issue commands to activate wind speed sensors (such as airflow sensors) and wind direction sensors (such as wind direction servos), ensuring that the sensors are functioning properly and performing self-tests to confirm the accuracy of their readings. Depending on the sensor type, check its measurement range and resolution to ensure they are appropriate for the current environmental conditions. For example, a wind speed sensor might have a range of 0-30 m / s, while a tilt angle sensor should have an accuracy of ±2°.

[0126] Continuously collect environmental data: Start data collection and set the collection frequency, for example, record wind speed and direction data once every second to ensure data continuity and real-time. Use the following formula to calculate the vector form of wind speed and direction to ensure that the acquired data can be used for subsequent analysis:

[0127]

[0128] Among them, V x and V y Represents the components of wind speed in the x and y directions. If the wind speed is V and the wind direction angle is θ (relative to the north), then:

[0129] V x =V·cos(θ)

[0130] V y =V·sin(θ).

[0131] Data storage: The real-time collected wind speed and direction data are recorded in a data storage device in a table or time series database format for subsequent analysis.

[0132] 2. Direction analysis.

[0133] Analyze using wind speed and direction data: Based on the collected wind speed and direction data, use trigonometric functions and vector analysis to calculate the impact of wind on the direction of flame propagation, and make a judgment based on the initial coordinates of the flame.

[0134] The flame spread speed V can be affected by wind speed 火 The calculation formula is:

[0135] V 火 =V·C

[0136] Where C is the wind speed ratio of flame spread, which usually depends on the fuel type. The greater the wind speed, the faster the spread.

[0137] Determine the direction of flame spread: Through mathematical models, we can infer the flame spread in the direction of the wind and calculate the flame spread potential under the current wind speed and wind direction:

[0138] x new =x 火 +Vx ·t

[0139] y new =y 火 +V y ·t

[0140] Where t is the time interval.

[0141] Establish a flame spread model: Combine flame coordinates, wind speed, wind direction and environmental factors (such as humidity, temperature, etc.) to establish a flame spread model (such as using a meteorological model or numerical simulation) to more accurately predict the development trend of the fire and form a simulation program to simulate the flame spread. For example, a flame spread model based on the Lagrangian method can be established to calculate the coverage and arrival time of the flame under different wind speeds and directions.

[0142] 3. Determine the throwing path.

[0143] Based on the above analysis, the throwing path of the fire extinguishing bomb is determined: Based on the flame diffusion model and the predicted flame development trend, the optimal throwing path of the fire extinguishing bomb is calculated and the target area (i.e., the fire source and its surrounding area) is identified. The throwing path calculation can use an optimal path algorithm, such as Dijkstra or A* search algorithm, to minimize the time and safe distance to the fire source area:

[0144]

[0145] Among them, G i is the cost of each path segment.

[0146] Determine the throwing point: After analyzing various data, select the appropriate throwing point to ensure that the fire bomb can accurately hit the fire source area. The throwing point should take into account wind direction, flame spread speed and environmental obstacles. Calculate the target coordinates (x t ,y t ):

[0147] x t =x 火 -R.V x

[0148] y t =y 火 -R.V y

[0149] Among them, R is the safety distance adjusted according to distance and wind factors to ensure that the fire extinguishing bomb is not affected by wind when thrown.

[0150] Record throwing path and throwing point information: The determined throwing point coordinates, throwing path and related data information are fully recorded in the system to generate a detailed plan for fire extinguishing operations.

[0151] Step 6. Launch fire-extinguishing bombs: Control the drone body and launch fire-extinguishing bombs through the pod module to ensure that the fire-extinguishing bombs hit the fire source.

[0152] 1. Control the drone body.

[0153] Select the optimal drop point: Based on the wind speed and direction data obtained in the previous step, as well as the flame spread model, the optimal drop point is determined by taking into account the location of the fire source, the flame spread trend, and surrounding obstacles. The drop point should be selected based on the following principles: ensuring that the drop point can maximize coverage of the fire source while also considering the safe distance between the drone and the fire bomb.

[0154] Navigation via the drone control system: Use the drone's navigation system for flight control and enter the GPS coordinates of the optimal drop point (set as (x t ,y t The system can use the following formula to calculate the distance between the drone's current coordinates and the target drop point, ensuring that the drone can correctly plan its flight path:

[0155]

[0156] Among them, (x c ,y c ) is the current GPS coordinate of the drone.

[0157] Confirm the drone is at the drop location: During flight, monitor the drone's position data in real time to confirm that it has reached the intended drop height and location. Once the drone reaches the intended height, perform an altitude check to ensure it's at the appropriate altitude (for example, set the altitude h to 50 meters). Use feedback from sensors (such as GPS and altitude sensors) to confirm that the drone is hovering stably at the target drop point.

[0158] 2. Prepare fire extinguishing bombs.

[0159] Ensure that the fire extinguisher bombs are loaded correctly: Confirm that the type and quantity of fire extinguisher bombs meet the operational requirements and ensure that the fire extinguisher bombs (such as water bombs, chemical fire extinguishing agents, etc.) loaded in the pod are properly connected. Check the connection interfaces of the fire extinguisher bombs and electronic systems to ensure that they are not damaged, dirty, or loose.

[0160] Confirm the launch system readiness: Check the launch system of the drone to ensure that the launch mechanism (such as motors, valves, etc.) is in normal working condition. You can perform a self-check by following the steps below:

[0161] Performs internal functional self-tests to ensure that all signals, sensors, and actuators are responding properly.

[0162] Check the energy source of the transmitting system (such as batteries, transmitting capacitors, etc.) to ensure that it has sufficient power.

[0163] Set Parameters: Enter the throwing parameters, including the throwing angle, timing, and tolerance. The throwing angle is typically between 15° and 75°, depending on wind speed and flame height. Set the trigger conditions for the automatic throwing mechanism, such as reaching a set height, speed, and position.

[0164] 3. Throwing operation.

[0165] The pod module controls the release of the fire extinguisher bomb: After confirming that all preparations are complete, the drone control system issues a release command, activating the pod module to release the fire extinguisher bomb. Control software allows for precise control of the release timing and location, ensuring the pod module operates according to preset parameters.

[0166] Ensure the right timing and angle for release: Sensors monitor wind speed, direction, and flame spread in real time to determine the optimal time to release the bomb. For example, if the wind speed is high, you may need to release the bomb earlier. When releasing the bomb, ensure that the release angle meets the preset value. You can adjust the release angle in the following ways:

[0167]

[0168] Among them, h w is the wind speed height that needs to be overcome, and d is the horizontal distance between the UAV and the fire source.

[0169] Triggering the automatic release mechanism: After confirming that all conditions are met, the automatic release mechanism is triggered, and the fire bomb is released as scheduled. A delayed release mechanism can be set to ensure that the release occurs only under specific operating conditions, reducing the risk of accidental releases. Post-release feedback data is obtained, including release time, tilt angle, and explosive trajectory, to assess the accuracy and effectiveness of the release.

[0170] Record operation data: Archive all operation data of the throw, including time, throwing point, throwing angle, fire bomb type, etc., to provide support for subsequent analysis and operations.

[0171] Step 7: Confirm the fire extinguishing effect and subsequent monitoring: After the fire extinguishing bomb is thrown, continue to use visible light cameras, infrared cameras, and ultraviolet cameras to monitor, confirm the fire extinguishing effect, and adjust the position of the drone for subsequent fire extinguishing operations.

[0172] 1. Monitor the fire extinguishing effect.

[0173] Device Switching After the Drop: After confirming the successful drop of the fire bomb, immediately switch the drone's monitoring system to activate the visible light camera, infrared camera, and ultraviolet camera. During this switching process, ensure that the cameras are functioning properly and perform a self-check of the device status to confirm that they are correct. This may include selecting the appropriate camera mode on the control interface and buffering the image in real time to prevent data loss.

[0174] Area Monitoring: Visible light cameras capture real-time images of the area being thrown, observing changes in the flames and surrounding environment. Infrared cameras also monitor the heat distribution in the area, accurately determining the flame's location, temperature, and intensity. Data from infrared cameras can help locate the source of the fire.

[0175] Collect real-time images and thermal imaging data: Through image processing algorithms (such as edge detection and color segmentation), flame features are extracted from the collected images and thermal imaging data, and heat distribution maps are generated to provide an intuitive understanding of flame distribution.

[0176] 2. Effect evaluation.

[0177] Analyze changes in flame temperature and brightness: Analyze real-time monitoring data and evaluate the fire extinguishing effect by comparing changes in flame temperature, brightness, and visible light intensity before and after the throw. The average temperature can be calculated using data analysis tools (such as Python's NumPy):

[0178]

[0179] Where N is the number of monitoring points, T i is the temperature corresponding to each monitoring point.

[0180] Determine whether fire extinguishing is successful: Set fire extinguishing judgment criteria. If the average temperature of the flame drops below a certain safety threshold, such as: If the fire is not completely extinguished, a judgment will be made based on the monitoring data to determine whether further action is needed.

[0181] Adjust the drone's position and select a new drop point: If the fire is still burning, reselect a new drop point based on the latest position and spread of the fire. Calculate the radius R of the current fire's impact on the surrounding environment. 火 . And make plans based on this:

[0182] D new =R 火 +D safe

[0183] Among them, D safe It is the safe distance maintained by the drone.

[0184] 3. Continuous monitoring and adjustment.

[0185] Continue to monitor the fire source: After confirming the effectiveness of the fire extinguishing and possibly adjusting the release point, continue to monitor the dynamic changes of the fire source using infrared and visible light cameras. Regularly collect image and temperature data for dynamic monitoring. Set a monitoring frequency, such as every 5 seconds, to ensure timely detection of changes in the fire source.

[0186] Real-time updates of wind speed, flame location, and status: Regularly use wind speed and direction sensors to re-measure current weather conditions. Record data from each system update. Compare previous flame locations with actual measurements. If flames are spreading in a specific direction, update the fire source dynamic model.

[0187] Data Feedback and Decision Support: Real-time data collected is compared with the effectiveness of previous fire bomb deployments. By analyzing the different data values ​​in the fire extinguishing effect, subsequent monitoring and fire extinguishing recommendations are made to provide decision support for the next firefighting operation. Monitoring reports are generated, integrating all data, to provide the team with clear feedback on changes in the fire source and whether further action is needed to extinguish the fire.

[0188] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. The method for throwing fire extinguishing bombs by drone pod in forest fire prevention is characterized in that: The following steps are involved: S1. Initialize the UAV system and pod module settings: Initialize the UAV system and start the pod module, set up the visible light camera, infrared camera, ultraviolet camera, wind speed sensor, and wind direction sensor; S2. Real-time monitoring of forest areas: Use visible light cameras to monitor forest areas in real time, focus on possible fire sources, and collect video stream data; S3. Detecting abnormal temperature areas: Using an infrared camera to detect abnormal temperature areas, determine possible flame locations, and record the flame coordinate information; S4. Confirm the nature and location of the fire source: Use a UV camera to perform spectral analysis to further confirm the nature and location of the fire source; S5. Obtaining wind speed and direction: Using wind speed sensors and wind direction sensors to obtain wind speed and direction, and combining them with flame coordinates to determine the flame spread direction, and determine the optimal throwing path and fire bomb throwing point; S6. Launch fire extinguishing bombs: Control the drone body and launch fire extinguishing bombs through the pod module to ensure that the fire extinguishing bombs hit the fire source; S7. Confirm the fire extinguishing effect and subsequent monitoring: After the fire extinguishing bomb is thrown, continue to use visible light cameras, infrared cameras, and ultraviolet cameras to monitor, confirm the fire extinguishing effect, and adjust the position of the drone for subsequent fire extinguishing operations.

2. The method for throwing fire extinguishing bombs by the drone pod in forest fire prevention according to claim 1 is characterized in that: The specific steps for initializing the drone system and pod module settings in step S1 are: S11, System Startup: Turn on the main power of the drone, start the drone operating program, and perform a self-test to ensure that all systems are working properly and that the GPS module positioning is normal; S12, start the pod module: start the control module of the pod system, initialize the visible light camera, infrared camera, ultraviolet camera, wind speed sensor and wind direction sensor; S13, setting camera parameters: setting relevant parameters of the visible light camera, infrared camera, and ultraviolet camera; S14. Sensor calibration: Perform zero point calibration on the wind speed sensor and wind direction sensor.

3. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 2 is characterized in that: The specific operation method for setting the camera parameters in step S13 is: adjusting the exposure time and resolution of the visible light camera, setting the temperature detection range of the infrared camera, and adjusting the sensitivity and interception wavelength range of the ultraviolet camera.

4. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 1 is characterized in that: The specific operation steps of real-time monitoring of the forest area in step S2 are: S21, visible light data acquisition: Start the visible light camera to collect real-time video, set it to loop mode to save image data, and transmit the collected data to the pod module for image analysis; S22. Fire source identification process: Apply image processing algorithms to automatically identify possible fire sources from the video stream, set thresholds, and filter out areas with abnormal brightness or color to mark suspicious fire sources.

5. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 1 is characterized in that: The specific operation steps for detecting the abnormal temperature area in step S3 are: S31, infrared camera activation: start the infrared camera to obtain the temperature data of the area in real time and compare it with the normal ambient temperature; S32, abnormality detection processing: using the temperature threshold to analyze and judge the acquired thermal imaging data, marking the area where the temperature exceeds the standard, recording the coordinate values ​​of the abnormal temperature area, and forming a data list.

6. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 1 is characterized in that: The specific steps for confirming the nature and location of the fire source in step S4 are: S41, UV camera activation: start the UV camera to obtain spectral information of the corresponding area; S42. Spectral analysis: Analyze ultraviolet spectrum data to determine the nature of the fire source based on different wavelength and intensity characteristics; S43. Combined with data integration: Compare the identified fire source properties with the information detected by the visible light camera and infrared camera to further confirm the actual coordinates and properties of the fire source.

7. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 6 is characterized in that: The properties of the fire source in step S42 include organic matter and inorganic matter.

8. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 1 is characterized in that: The specific steps for obtaining wind speed and wind direction in step S5 are: S51, wind speed and wind direction collection: start the wind speed sensor and wind direction sensor to continuously collect environmental data; S52. Direction Analysis: Calculate the flame coordinates using wind speed and direction data to determine the direction of flame spread. Combined with the flame coordinates and wind direction, a flame spread model is established to predict the fire development trend. S53. Determine the throwing path: Based on the above analysis, determine the throwing path and throwing point of the fire extinguishing bomb to ensure that the fire extinguishing bomb can accurately hit the fire source area.

9. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 1, characterized in that: The specific operation steps of launching the fire extinguishing bomb in step S6 are: S61. Control the drone: After selecting the optimal drop point, navigate through the drone control system to confirm that the drone is at the drop position. S62, Fire Extinguishing Bomb Preparation: Ensure that the fire extinguishing bomb is loaded correctly and the launch system is in a ready state; S63, throwing operation: Control the throwing of the fire extinguishing bomb through the pod module, ensure that it is released at the right time and angle, and trigger the automatic throwing device.

10. The method for throwing fire extinguishing bombs by using a drone pod for forest fire prevention according to claim 1, characterized in that: The specific steps for confirming the fire extinguishing effect and subsequent monitoring in step S7 are: S71. Monitoring the fire extinguishing effect: After the throwing is completed, the visible light camera, infrared camera, and ultraviolet camera are immediately switched back to monitor the area and collect real-time images and thermal imaging data of the throwing location; S72, Effect Evaluation: Analyze the temperature and brightness changes of the current flame to determine whether the fire extinguishing is successful. If the flame is not completely extinguished, adjust the drone's position and select a new fire bomb drop point. S73. Continuous monitoring and adjustment: Continue to monitor the fire source dynamics and update the wind speed, flame position and status in real time.

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