Unmanned aerial vehicle cooperative fire emergency linkage method

Abstract

The invention provides an unmanned aerial vehicle cooperative fire emergency linkage method. According to the method, the unmanned aerial vehicle carries high-definition camera shooting for fire target identification, and transmits the fire position to the ground station cloud platform to dispatch the fire extinguishing unmanned aerial vehicle for fixed-point fire extinguishing, so that the problems of low efficiency and difficulty in comprehensive coverage of a traditional inspection mode are solved; and the problem that a single unmanned aerial vehicle is insufficient in capability when coping with complex scenes such as power plant fire disasters is solved. And the linkage of a plurality of unmanned aerial vehicles can greatly improve the fire prevention and control and fighting efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle inspection and linkage fire extinguishing, in particular to a fire emergency linkage method with unmanned aerial vehicle cooperation. BACKGROUND

[0002] There are many complex fire risk factors in power plants, which makes the fire hazard high and poses a serious threat to the safe operation. The traditional fire emergency means has obvious limitations in the complex and dangerous environment of power plants. The area of power plant is large, and the terrain around some areas such as coal storage yard and cooling tower is complex. Artificial inspection is not only inefficient, but also difficult to cover comprehensively, which is easy to cause dead angle of inspection and lead to the difficulty in discovering fire hazards in time. When fire unfortunately occurs, the conventional fire extinguishing equipment is difficult to quickly and accurately reach the fire point.

[0003] However, the unmanned aerial vehicle technology has obvious advantages such as flexible maneuvering, fast response, and no terrain limitation in the field of fire extinguishing, which can quickly reach the power plant fire scene and obtain real-time information. However, a single unmanned aerial vehicle still has insufficient capacity when dealing with complex scenes such as power plant fire. Its load and endurance are limited, which makes it difficult to continuously monitor and efficiently extinguish fire in large area of power plant for a long time. In order to effectively solve the problem of power plant fire emergency rescue and improve the efficiency of fire prevention and control, the unmanned aerial vehicle fire extinguishing needs to be further improved to solve the existing problems. SUMMARY

[0004] The present application aims to solve the problems in the prior art and provides a fire emergency linkage method with unmanned aerial vehicle cooperation. The method is used for inter-plant perimeter fire inspection, uses unmanned aerial vehicle with camera to quickly and accurately identify fire target and positioning, and links with fire extinguishing unmanned aerial vehicle to realize point bombing fire extinguishing.

[0005] The present application is realized by the following technical solutions. The present application provides a fire emergency linkage method with unmanned aerial vehicle cooperation, which specifically comprises: the unmanned aerial vehicle inspects the plant boundary fire in the inspection path, determines the coordinate position of the fire in the three-dimensional model of the power plant and transmits the position information to the ground station cloud platform, the ground station cloud platform transmits the data collected by the unmanned aerial vehicle to the fire extinguishing unmanned aerial vehicle to execute the fire extinguishing task, the fire extinguishing unmanned aerial vehicle autonomously flies and bombs the fire, and the cloud platform displays the flight path planning and flight state monitoring; The unmanned aerial vehicle shoots the power plant from multiple perspectives according to the planned route, uses the real-time two-dimensional reconstruction function of DJI ZhiTu to timely find and correct image problems, reduces the flight speed for key buildings, and obtains details by surrounding shooting; the image and laser radar data are imported into DJI ZhiTu to remove unqualified images; the integrity of the laser radar data is checked, and the missing areas are marked; the air triangulation software is started to quickly match the image feature points to construct a sparse three-dimensional point cloud framework; the laser radar point cloud is fused to form a dense point cloud after encryption to present the fine form of the power plant; based on the dense point cloud, a three-dimensional model is generated, noise points are removed through smoothing processing, model holes and crack problems are previewed and checked, and the three-dimensional model is optimized by adjusting parameters as needed.

[0006] Further, the inspection unmanned aerial vehicle autonomously flies to detect, first, an operator sets flight parameters, plans a route, and clearly defines detection targets and indicators at a ground control station according to inspection requirements, then the unmanned aerial vehicle autonomously takes off according to the planned route, a navigation positioning system is positioned in real time during flight, a flight control system ensures stable flight, the unmanned aerial vehicle carries a camera to collect target data in real time, the collected data is transmitted to a ground station cloud platform for processing, the ground station cloud platform analyzes the data to determine whether there is an abnormality; if an abnormality is detected, an alarm is immediately sent and detailed information is sent to the ground control station; after the inspection is completed, the unmanned aerial vehicle autonomously returns and lands, and stores the detection data for subsequent analysis and archiving.

[0007] Further, the determination of the position of the fire target is specifically as follows: the laser range finder emits a laser beam, which is reflected back to the unmanned aerial vehicle when it touches the target object, the distance between the target and the unmanned aerial vehicle is calculated according to the formula "distance = speed of light x time ÷ 2" based on the constant speed of light and the round-trip time of the laser; at the same time, the inertial measurement unit carried by the unmanned aerial vehicle continuously monitors the pitch angle, roll angle and yaw angle attitude information of the unmanned aerial vehicle, and the global satellite navigation system provides real-time geographic position and height data of the unmanned aerial vehicle; finally, the calculation unit of the unmanned aerial vehicle deeply fuses the laser ranging data, attitude information and satellite navigation data, converts the position information of the fire target point in the three-dimensional model space of the power plant into accurate coordinates in the geographic coordinate system by using the triangulation algorithm, so as to determine the position of the fire target.

[0008] Further, when the inspection unmanned aerial vehicle performs a task, it scans the power plant environment in real time through the carried data acquisition equipment; once a fire sign is found, its position coordinates are located, and the coordinate values are encoded and packaged, and are sent to the ground station cloud platform through a wireless communication link; the ground station cloud platform acts as a data transfer station, checks the received data to ensure that the information is complete and accurate, then re-encapsulates the key information of the fire coordinates according to the preset rules or the instructions of the operator, completes the adaptation processing according to the communication protocol of the fire extinguishing unmanned aerial vehicle, and is sent through a specific frequency or network channel; the communication module of the fire extinguishing unmanned aerial vehicle listens to the signal in real time, and immediately decodes the coordinate values to obtain the geographic position coordinates of the fire after receiving the coordinate values.

[0009] Further, through the adapted mounting rack and connecting piece, the fire extinguishing bomb-thrower is stably installed at the mounting point below or on the side of the fire extinguishing unmanned aerial vehicle; the power supply line and data transmission line of the fire extinguishing unmanned aerial vehicle are connected, so that the bomb-thrower and the fire extinguishing unmanned aerial vehicle control system realize signal interaction.

[0010] Further, the A algorithm is combined with the three-dimensional space characteristics to construct a path planning model, a node is defined as a three-dimensional coordinate point in the three-dimensional space, the Euclidean distance and the heuristic function value between nodes are calculated, the optimal path from the starting point to the target point, i.e., the fire point, is evaluated; meanwhile, the influence of the obstacles is considered, the area where the obstacle points are located is set as an impassable area, so that the planned path is prevented from passing through the obstacles, and the fire extinguishing point is smoothly reached.

[0011] Further, after the fire extinguishing unmanned aerial vehicle reaches the preset bomb-throwing point, the unmanned aerial vehicle control system sends an instruction to the bomb-thrower, triggers the bomb-throwing driving device, and quickly and accurately drops the fire extinguishing bombs in a set order and interval; during the bomb-throwing process, the bomb-thrower feeds back the remaining number of ammunition and the dropping state information to the fire extinguishing unmanned aerial vehicle and the ground station cloud platform; after the bomb-throwing is completed, the fire extinguishing unmanned aerial vehicle hovers or circles, shoots the picture of the bomb-throwing area through the camera, and returns the picture to the ground control station; the operator evaluates the fire extinguishing effect, and if the fire is not effectively controlled, the fire extinguishing unmanned aerial vehicle is planned to throw bombs again or adjust the strategy.

[0012] Further, the unmanned aerial vehicle is provided with an audio amplification shouting device.

[0013] The application further provides an electronic device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the fire emergency linkage method coordinated by the unmanned aerial vehicle when executing the computer program.

[0014] The application further provides a computer readable storage medium for storing computer instructions, and the computer instructions implement the steps of the fire emergency linkage method coordinated by the unmanned aerial vehicle when executed by a processor.

[0015] Compared with the prior art, the method has the advantages that the method reduces the labor cost, improves the inspection efficiency, reduces the safety risk, improves the fault diagnosis capability, prolongs the equipment life, reduces the influence on the environment, promotes the technological innovation, saves resources and promotes sustainable development. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0017] Figure 1 A flow chart of a fire emergency linkage method of a UAV cooperation. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0019] The present application provides a fire emergency linkage method of a UAV cooperation. The method identifies a fire target through a high-definition camera carried by a UAV, and transmits the fire position to a ground station cloud platform to dispatch a fire extinguishing UAV for pinpoint fire extinguishing, thereby solving the problems of low efficiency of traditional inspection and difficulty in comprehensive coverage, and solving the problem of insufficient capacity of a single UAV in dealing with complex scenes such as power plant fires. Moreover, the linkage of multiple UAVs can greatly improve the efficiency of fire prevention and control and fire fighting.

[0020] Specifically, in combination with Figure 1 The present application provides a fire emergency linkage method of a UAV cooperation. The method specifically comprises: a UAV inspects a plant boundary fire under an efficient inspection path, determines the coordinate position of the fire in a three-dimensional model of the power plant and transmits the position information to a ground station cloud platform, the ground station cloud platform transmits the data collected by the UAV to a fire extinguishing UAV to perform a fire extinguishing task, the fire extinguishing UAV autonomously flies and drops a bomb to extinguish the fire, and the cloud platform displays flight path planning and monitoring of flight state. The UAV shoots the power plant from multiple perspectives according to the planned route, uses the real-time two-dimensional reconstruction function of DJI ZhiTu to timely discover and correct image problems such as blurring and abnormal exposure, reduces the flight speed to 3-4 meters per second for key buildings such as chimneys and cooling towers, and surrounds to shoot to obtain details; imports the image and laser radar data into DJI ZhiTu to eliminate unqualified images such as blurring and ghosting; checks the integrity of the laser radar data and marks the missing areas; starts the aerial triangulation software to quickly match the image feature points, constructs a sparse three-dimensional point cloud framework, fuses the laser radar point cloud, encrypts to form a dense point cloud, and presents the fine form of the power plant; generates a three-dimensional model based on the dense point cloud, smoothes to remove noise points, previews to check the model hole and crack problems, and adjusts the parameters as needed to optimize the three-dimensional model.

[0021] The inspection unmanned aerial vehicle autonomously flies to detect, first, an operator sets flight parameters, plans a route, and specifies a detection target and index at a ground control station according to an inspection requirement, then the unmanned aerial vehicle autonomously takes off according to the planned route, a navigation positioning system is positioned in real time during flight, a flight control system guarantees stable flight, the unmanned aerial vehicle carries a camera to collect target data in real time, the collected data is transmitted to a ground station cloud platform for processing, the ground station cloud platform analyzes the data to determine whether there is an anomaly, if an anomaly is detected, an alarm is immediately sent and detailed information is sent to the ground control station, after the inspection is completed, the unmanned aerial vehicle autonomously returns and lands, and at the same time, detection data is stored for subsequent analysis and archiving.

[0022] Fire identification: the unmanned aerial vehicle is equipped with an infrared camera, which detects the surface temperature of objects to find potential high-temperature fire sources. The unmanned aerial vehicle flies above the power plant according to a preset route, and the infrared camera collects images in real time to ensure timely capture of dynamic changes in fire conditions. A large number of images and data of fire conditions and normal states in the power plant are collected to build a data set. A model is trained using a YOLO deep learning algorithm to learn the characteristic patterns of fire points, smoke color, shape, and temperature distribution. After the collected data is transmitted to the ground station cloud platform, the trained model automatically analyzes. Once a fire is identified, the unmanned aerial vehicle transmits fire alarm information, location, and image data in real time to the ground control station through a wireless communication module, and the ground control station formulates a fire extinguishing and rescue plan according to the received information to dispatch fire extinguishing unmanned aerial vehicles to carry out rescue work.

[0023] The determination of the target position of the fire condition is as follows: a laser range finder emits a laser beam, which is reflected back to the unmanned aerial vehicle when it touches a target object. According to the constant speed of light and the round-trip time of the laser beam, the distance between the target and the unmanned aerial vehicle is calculated by the formula "distance = speed of light x time ÷ 2". At the same time, an inertial measurement unit (IMU) carried by the unmanned aerial vehicle continuously monitors the pitch angle, roll angle, and yaw angle attitude information of the unmanned aerial vehicle, and a global satellite navigation system (such as GPS, Beidou) provides real-time geographic position and height data of the unmanned aerial vehicle. Finally, the computing unit of the unmanned aerial vehicle deeply fuses the laser ranging data, attitude information, and satellite navigation data, and uses a triangulation algorithm to convert the position information of the fire condition target point in the three-dimensional model space of the power plant into accurate coordinates in the geographic coordinate system, thereby determining the target position of the fire condition.

[0024] When the inspection unmanned aerial vehicle performs a task, it scans the power plant environment in real time through the data acquisition equipment (infrared camera, high-definition camera, etc.) carried by the unmanned aerial vehicle. Once signs of fire such as open fire and high-temperature area are found, the location coordinates are located, and the coordinate values are encoded and packaged. The wireless communication link sends the coordinate values to the ground station cloud platform. The ground station cloud platform receives the data and first checks to ensure the information is complete and accurate. Then, according to the preset rules or the instructions of the operator, the fire coordinates key information is re-encapsulated, and the communication protocol of the fire extinguishing unmanned aerial vehicle is adapted and processed. Then, it is sent through a specific frequency or network channel. The communication module of the fire extinguishing unmanned aerial vehicle listens to the signal in real time, and decodes the coordinate values immediately after receiving the coordinate values to obtain the geographical coordinates of the fire.

[0025] The fire extinguishing bomb-throwing device is stably installed at the mounting point below or on the side of the fire extinguishing unmanned aerial vehicle through the adapted mounting rack and connecting piece. The power supply line and data transmission line of the fire extinguishing unmanned aerial vehicle are connected to realize signal interaction between the bomb-throwing device and the fire extinguishing unmanned aerial vehicle control system. After installation, power-on test is performed to check whether the opening and closing and bomb-throwing action of the bomb-throwing device are normal. The angle and position of the bomb-throwing device are adjusted to ensure the accuracy of the bomb-throwing direction. In addition, a bomb-throwing device control module needs to be integrated into the original flight control software of the unmanned aerial vehicle. The module needs to receive the bomb-throwing instructions from the ground control station, automatically calculate the bomb-throwing opportunity according to the flight state (position, height, speed, etc.) of the unmanned aerial vehicle, and control the bomb-throwing device to perform the bomb-throwing action.

[0026] The three-dimensional model data of the power plant and the fire area are imported into the unmanned aerial vehicle ground control station. The key information related to fire extinguishing tasks is extracted from the three-dimensional model point cloud, including the three-dimensional coordinates of the fire occurrence point, the position and shape information of the surrounding obstacles (such as buildings, trees, power lines, etc.), and the range of passable areas. Through algorithm analysis of the model point cloud, the obstacle point set within a certain range around the fire point is marked, and the safe flight space area is determined to provide basic data for subsequent route planning. The A algorithm (or Dijkstra algorithm) is used to construct a path planning model combined with the characteristics of three-dimensional space. The nodes are defined as three-dimensional coordinate points in three-dimensional space. The Euclidean distance and heuristic function value between nodes are calculated to evaluate the optimal path from the starting point (current position of the unmanned aerial vehicle) to the target point (fire point). At the same time, considering the influence of obstacles, the area where the obstacle points are located is set as an impassable area to avoid the planned path passing through the obstacles, so as to smoothly reach the fire point.

[0027] The fire extinguishing unmanned plane reaches the preset bomb-throwing point, the unmanned plane control system sends an instruction to the bomb-throwing device, triggers the bomb-throwing driving device, and quickly and accurately throws the fire extinguishing bomb in a set order and interval; during the bomb-throwing process, the bomb-throwing device feeds back the remaining number of ammunition and the throwing state information to the fire extinguishing unmanned plane and the ground station cloud platform; after the bomb-throwing is completed, the fire extinguishing unmanned plane hovers or circles, shoots the picture of the bomb-throwing area through a camera, and returns to the ground control station; the operator evaluates the fire extinguishing effect, and if the fire is not effectively controlled, plans the fire extinguishing unmanned plane to throw bombs again or adjusts the strategy.

[0028] The unmanned plane is equipped with a high-power and high-definition loudspeaker shouting device, such as a directional loudspeaker or an omnidirectional loudspeaker. The directional loudspeaker can concentrate sound to a specific area, and is suitable for shouting to accurately locate personnel; the omnidirectional loudspeaker can realize 360-degree sound diffusion, and is suitable for large-area personnel evacuation notification. The shouting device is stably installed on the unmanned plane, and the power supply and data transmission line are connected to ensure the normal work of the device. When a fire or an emergency occurs in the power plant, the unmanned plane evacuation program is started. The operator plans the flight route of the unmanned plane at the ground control station, so that it can cover all personnel gathering areas and evacuation channels.

[0029] The application further provides an electronic device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the fire emergency linkage method coordinated by the unmanned plane when executing the computer program.

[0030] The application further provides a computer readable storage medium for storing computer instructions, and the computer instructions implement the steps of the fire emergency linkage method coordinated by the unmanned plane when executed by a processor.

[0031] The memory in the embodiments of the application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. Among them, the nonvolatile memory can be a read only memory (read only memory, ROM), a programmable read only memory (programmable ROM, PROM), an erasable programmable read only memory (erasable PROM, EPROM), an electrically erasable programmable read only memory (electrically EPROM, EEPROM) or a flash memory. The volatile memory can be a random access memory (random access memory, RAM) used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the method described in the application is intended to include but not limited to these and any other suitable type of memory.

[0032] In the above embodiments, all or part of the method can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the method can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as high-density digital video disc (digital video disc, DVD)), or semiconductor media (such as solid state disc (solid state disc, SSD)) and the like.

[0033] In the implementation process, each step of the above method can be completed by integrated logic circuit of hardware in the processor or instruction in the form of software. The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware processor execution or executed by combination of hardware and software modules in the processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0034] It should be noted that the processor in the embodiments of the present application can be an integrated circuit chip with a signal processing capability. In the implementation process, each step of the method embodiments can be completed by the integrated logic circuit or the instruction in the form of software in the processor. The processor mentioned above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0035] The above describes in detail the unmanned aerial vehicle cooperative fire emergency linkage method proposed in the present application, and the principle and implementation manner of the present application are described by applying specific examples. The above embodiment is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and the above description should not be understood as the limitation of the present application.

Claims

1. A fire emergency linkage method using drones, characterized in that: The method specifically includes: a drone inspects a plant boundary fire along an inspection route, determines the coordinate location of the fire in a three-dimensional model of the power plant, and transmits the location information to a ground station cloud platform. The ground station cloud platform transmits the data collected by the drone to a firefighting drone to perform a firefighting mission. The firefighting drone flies autonomously and drops bombs to extinguish the fire, and the cloud platform displays flight path planning and flight status monitoring. The drone captured the power plant from multiple angles according to the planned route, and DJI Intelligent Map's real-time 2D reconstruction function was used to promptly identify and correct image problems. For key buildings, the flight speed was reduced and surround shots were taken to obtain details. The images and LiDAR data were imported into DJI Intelligent Map to eliminate unqualified images. The integrity of the LiDAR data was checked and missing areas were marked. The aerial triangulation software was used to quickly match image feature points and construct a sparse 3D point cloud framework. The LiDAR point cloud was fused and encrypted to form a dense point cloud, presenting the detailed shape of the power plant. A 3D model was generated based on the dense point cloud, smoothed to remove noise, and the model was previewed to check for holes and cracks. Parameters were adjusted as needed to optimize the 3D model.

2. The method according to claim 1, characterized in that For autonomous flight inspection of inspection drones, first, the operator sets the flight parameters, plans the route, and specifies the inspection targets and indicators at the ground control station according to the inspection requirements. Then, the drone takes off autonomously according to the planned route. The navigation and positioning system performs real-time positioning during flight, and the flight control system ensures stable flight. The drone is equipped with a camera to collect target data in real time. The collected data is transmitted to the ground station cloud platform for processing, and the ground station cloud platform analyzes the data to determine whether there are any abnormalities. If an abnormality is detected, an alarm will be immediately issued and detailed information will be sent to the ground control station. After completing the inspection, the drone returns and lands autonomously, and the inspection data will be stored for subsequent analysis and archiving.

3. The method according to claim 1, characterized in that The target fire location is determined as follows: a laser rangefinder emits a laser beam. When the laser hits the target object, it reflects back to the drone. Based on the constant speed of light and the laser's round-trip time, the distance between the target and the drone is calculated using the formula "distance = speed of light × time ÷ 2." Simultaneously, the drone's onboard inertial measurement unit continuously monitors its pitch, roll, and yaw attitude information, while the global satellite navigation system provides the drone's geographic location and altitude data in real time. Finally, the drone's computing unit deeply integrates the laser ranging data, attitude information, and satellite navigation data, using a triangulation algorithm to convert the fire target's position within the power plant's three-dimensional model space into precise coordinates in a geographic coordinate system, thereby determining the target fire location.

4. The method according to claim 1, wherein When the inspection drone performs its mission, it scans the power plant environment in real time through the data acquisition equipment it carries. Once signs of fire are found, the drone locates its position coordinates and encodes and packages the coordinate values ​​through a wireless communication link to the ground station cloud platform. The ground station cloud platform acts as a data transfer station. After receiving the data, it first verifies it to ensure that the information is complete and accurate. Then, according to preset rules or operator instructions, it repackages the key information of the fire coordinates, completes the adaptation processing according to the communication protocol of the fire-fighting drone, and then sends it in a directed manner through a specific frequency or network channel. The fire-fighting drone's communication module monitors the signal in real time, and immediately decodes the coordinate values ​​after receiving them to obtain the geographical coordinates of the fire.

5. The method according to claim 1, wherein The fire-fighting grenade launcher is securely mounted on the mounting point below or on the side of the fire-fighting drone through the appropriate mounting bracket and connectors; the power line and data transmission line of the fire-fighting drone are connected to enable signal interaction between the grenade launcher and the fire-fighting drone control system.

6. The method according to claim 1, characterized in that The A algorithm is used in combination with the characteristics of three-dimensional space to construct a path planning model. Nodes are defined as three-dimensional coordinate points in three-dimensional space. The optimal path from the starting point to the target point, i.e., the fire point, is evaluated by calculating the Euclidean distance and heuristic function value between nodes. At the same time, the influence of obstacles is taken into account and the area where the obstacle point is located is set as an inaccessible area to prevent the planned path from passing through obstacles, thereby smoothly reaching the fire extinguishing point.

7. The method according to claim 1, characterized in that When the fire-fighting drone arrives at the preset bombing point, the drone control system sends instructions to the bomb dropper, triggering the bombing drive device to quickly and accurately drop the fire-fighting bombs in the set order and intervals; during the bombing process, the bomb dropper provides real-time feedback on the remaining number of ammunition and the release status information to the fire-fighting drone and the ground station cloud platform; after the bombing is completed, the fire-fighting drone hovers or flies in a circle, and uses the camera to capture the image of the bombing area and transmit it back to the ground control station; the operator evaluates the fire-fighting effect. If the fire is not effectively controlled, the fire-fighting drone will plan to drop bombs again or adjust the strategy.

8. The method according to claim 1, characterized in that The drone is equipped with a loudspeaker.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium for storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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