Fire extinguishing operation method and system based on cooperation of unmanned aerial vehicles

Abstract

The application relates to the technical field of fire prevention and control, and discloses a fire extinguishing operation method and system controlled by unmanned aerial vehicles in cooperation, which comprises the following steps: when a fire occurs in a target area, target geographical position parameters of a fire source area are determined according to observation parameters corresponding to tower monitoring equipment and / or a detection unmanned aerial vehicle; fire extinguishing operation parameters for the fire source area are determined according to the target geographical position parameters and fire field image data of the fire source area; a fire extinguishing unmanned aerial vehicle is controlled to fly to the fire source area to perform networking operation with the detection unmanned aerial vehicle; and after the networking is completed, the fire extinguishing unmanned aerial vehicle is controlled to perform fire extinguishing operation on the fire source area according to fire extinguishing flight control parameters and bomb-throwing parameters of the fire extinguishing unmanned aerial vehicle through the detection unmanned aerial vehicle, so that human operation in the fire extinguishing operation process is reduced, an effective cooperative combat system among the unmanned aerial vehicles is formed, and the overall fire extinguishing operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire prevention and control, and particularly relates to a fire extinguishing operation method and system based on cooperation of unmanned aerial vehicles. BACKGROUND

[0002] At present, most of the fire conditions that can be effectively controlled are small and medium-sized fire conditions, and large fires are often difficult to effectively control. Further, the most effective fire condition suppression is within 3 minutes of the occurrence of the fire condition, which is the golden period for fire condition suppression. However, the existing forest fire condition patrol mainly relies on manual mountain patrol and unmanned aerial vehicles. These systems use multi-source data acquisition and processing technology to monitor the forest area in real time, aiming to timely discover fire sources or potential hazards. Once an anomaly is discovered, the system will quickly transmit the warning information to the rear fire personnel and fire extinguishing unmanned aerial vehicles to provide key information support for subsequent fire extinguishing operations.

[0003] However, this early warning mechanism has exposed many problems in actual application: on the one hand, the fire extinguishing unmanned aerial vehicles and other equipment are limited by manual control when performing tasks, and need to be manually controlled by operators remotely to carry out fire extinguishing operations. This not only requires high skills and reaction speed of the operators, but also makes it difficult for manual operation to respond quickly and accurately in the face of large-scale and high-intensity forest fires, and it is difficult to achieve rapid and mobile response to the fire condition and control of the fire condition within 3 minutes. On the other hand, the fire extinguishing unmanned aerial vehicles are often in a "each for itself" state in the fire extinguishing operation, and cannot form an effective cooperative combat system, greatly reducing the fire extinguishing efficiency. Therefore, there is an urgent need for a method that can improve the efficiency of fire extinguishing operations. SUMMARY

[0004] The present application provides a fire extinguishing operation method and system based on cooperation of unmanned aerial vehicles, which reduces manual control during fire extinguishing operations and forms an effective cooperative combat system between unmanned aerial vehicles, thereby improving the overall efficiency of fire extinguishing operations and achieving control of small and medium-sized fire conditions within 3 minutes, solving the problem of "small, early and quick" fire condition suppression.

[0005] To solve the above technical problems, the present application discloses a fire extinguishing operation method based on cooperation of unmanned aerial vehicles, which comprises:

[0006] When the preset tower monitoring device and / or the investigation unmanned aerial vehicle monitors a fire condition in a target area, the first observation parameter of the tower monitoring device and / or the second observation parameter of the investigation unmanned aerial vehicle is obtained, and the target geographical position parameter of the fire source area in the target area is determined according to the first observation parameter and / or the second observation parameter;

[0007] acquire fire field image data of the fire source region by a target device, and determine fire extinguishing operation parameters for the fire source region according to the target geographical position parameters and the fire field image data; the target device at least includes the investigation unmanned aerial vehicle that has flown to the fire source region, and the fire extinguishing operation parameters for the fire source region include at least one target hangar required for the fire source region, and fire extinguishing flight control parameters and bomb-throwing parameters of each fire extinguishing unmanned aerial vehicle in each target hangar;

[0008] control all the fire extinguishing unmanned aerial vehicles in the fire extinguishing operation parameter range to fly to the fire source region from all the target hangars, so that the investigation unmanned aerial vehicle and all the fire extinguishing unmanned aerial vehicles perform networking operation, and after the networking operation is completed, control all the fire extinguishing unmanned aerial vehicles to perform fire extinguishing operation on the fire source region by the investigation unmanned aerial vehicle and according to the fire extinguishing flight control parameters and the bomb-throwing parameters of all the fire extinguishing unmanned aerial vehicles.

[0009] The second aspect of the present application discloses a fire extinguishing operation system controlled by unmanned aerial vehicles in cooperation, and the system comprises:

[0010] an acquisition module, configured to acquire first observation parameters of a preset tower monitoring device and / or second observation parameters of an investigation unmanned aerial vehicle when the tower monitoring device and / or the investigation unmanned aerial vehicle monitor that a fire occurs in a target region;

[0011] a determination module, configured to determine target geographical position parameters of a fire source region in the target region according to the first observation parameters and / or the second observation parameters;

[0012] the acquisition module is further configured to acquire fire field image data of the fire source region by a target device; the target device at least includes the investigation unmanned aerial vehicle that has flown to the fire source region;

[0013] the determination module is further configured to determine fire extinguishing operation parameters for the fire source region according to the target geographical position parameters and the fire field image data; the fire extinguishing operation parameters for the fire source region include at least one target hangar required for the fire source region, and fire extinguishing flight control parameters and bomb-throwing parameters of each fire extinguishing unmanned aerial vehicle in each target hangar;

[0014] a control module, configured to control all the fire extinguishing unmanned aerial vehicles in the fire extinguishing operation parameter range to fly to the fire source region from all the target hangars, so that the investigation unmanned aerial vehicle and all the fire extinguishing unmanned aerial vehicles perform networking operation; after the networking operation is completed, control all the fire extinguishing unmanned aerial vehicles to perform fire extinguishing operation on the fire source region by the investigation unmanned aerial vehicle and according to the fire extinguishing flight control parameters and the bomb-throwing parameters of all the fire extinguishing unmanned aerial vehicles.

[0015] The third aspect of the present application discloses another unmanned aerial vehicle cooperative control fire extinguishing operation system, the system comprises:

[0016] a memory storing executable program codes;

[0017] a processor coupled with the memory;

[0018] The processor invokes the executable program codes stored in the memory to execute the unmanned aerial vehicle cooperative control fire extinguishing operation method disclosed in the first aspect of the present application.

[0019] The fourth aspect of the present application discloses a computer storage medium storing computer instructions, when the computer instructions are invoked, the computer instructions are used to execute the unmanned aerial vehicle cooperative control fire extinguishing operation method disclosed in the first aspect of the present application.

[0020] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0021] In the embodiments of the present application, when a fire is monitored in a target area, the target geographical position parameters of the fire source area are determined according to the observation parameters corresponding to the tower monitoring equipment and / or the investigation unmanned aerial vehicle; the fire extinguishing operation parameters for the fire source area are determined according to the target geographical position parameters and the fire field image data of the fire source area; the fire extinguishing unmanned aerial vehicle is controlled to fly to the fire source area to perform networking operation with the investigation unmanned aerial vehicle, and after the networking is completed, the fire extinguishing unmanned aerial vehicle is controlled to perform fire extinguishing operation on the fire source area through the investigation unmanned aerial vehicle and according to the fire extinguishing flight control parameters and the bomb-throwing parameters of the fire extinguishing unmanned aerial vehicle. In this way, the human operation in the fire extinguishing operation process is reduced, an effective cooperative combat system between unmanned aerial vehicles is formed, the overall fire extinguishing operation efficiency is improved, and the problem of "small, early and timely" fire extinguishing can be effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a flowchart of a fire extinguishing operation method of an unmanned aerial vehicle cooperative control disclosed by the embodiments of the present application;

[0024] Figure 2 is a flowchart of another fire extinguishing operation method of an unmanned aerial vehicle cooperative control disclosed by the embodiments of the present application;

[0025] Figure 3 is a structural schematic diagram of a fire extinguishing operation system of a UAV cooperative control disclosed by an embodiment of the present application;

[0026] Figure 4 is a structural schematic diagram of another fire extinguishing operation system of a UAV cooperative control disclosed by an embodiment of the present application;

[0027] Figure 5 is a structural schematic diagram of still another fire extinguishing operation system of a UAV cooperative control disclosed by an embodiment of the present application;

[0028] Figure 6 is a network flow schematic diagram of a UAV disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only 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 persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, product, or apparatus.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] The present application discloses a fire extinguishing operation method and system of UAV cooperative control, which reduces human control in the fire extinguishing operation process, forms an effective cooperative combat system between UAVs, and improves the overall efficiency of fire extinguishing operation.

[0033] Embodiment one

[0034] Please refer toFigure 1 , Figure 1 is a flowchart of a fire extinguishing operation method of a UAV cooperative control according to an embodiment of the present application. Wherein, Figure 1 The fire extinguishing operation method of the UAV cooperative control described can be applied to fire extinguishing operation in various fire occurrence scenarios, such as forest, sea surface, hillside, town, etc. The present application does not limit the method. Optionally, the method can be realized by a fire extinguishing operation cooperative control system, which can be integrated in an intelligent terminal device (such as an intelligent computer, a smart phone, a tablet, a fire control platform, an upper computer, etc.), or a local server or a cloud server for processing the fire extinguishing operation flow of the UAV cooperative control, etc. The present application does not limit the method. As shown in Figure 1 The fire extinguishing operation method of the UAV cooperative control can include the following operations:

[0035] 101. When the preset tower monitoring device and / or the investigation UAV monitor the occurrence of fire in the target area, the first observation parameter of the tower monitoring device and / or the second observation parameter of the investigation UAV are obtained, and the target geographical position parameter of the fire source area in the target area is determined according to the first observation parameter and / or the second observation parameter.

[0036] In the present application, optionally, the tower monitoring device can include a tower, a pole or a lookout tower, etc. The monitoring device can include one or more of visible light cameras, infrared thermal imaging devices, laser range finders, spectral cameras, etc. Further optionally, the type of investigation UAV can be multi-rotor, fixed-wing, compound wing, etc. The number can be 1 or more, and the investigation UAV can carry one or more of various load devices, such as visible light cameras, infrared thermal imaging devices, laser range finders, spectral cameras, loudspeakers, searchlights, etc.

[0037] Further, the first observation parameter of the tower monitoring device includes the observation height parameter, the observation pitch angle parameter and the observation horizontal angle parameter, and the second observation parameter of the investigation UAV includes the body position parameter, the nacelle frame angle parameter and the first distance parameter between the target area and the fire source area.

[0038] Further, the fire monitoring deployment process of the daily target area can be understood as follows: according to the fire-prone areas evaluated based on historical data, or the areas that are prone to cause heavy losses after a fire occurs (such as target areas prone to fire, such as forests, sea surfaces, slopes, towns, etc.), the tower monitoring equipment is densely deployed to achieve all-around coverage of fire monitoring. At the same time, in order to make up for the monitoring blind spots of the tower monitoring equipment, multiple hangars are distributed near the target area (each hangar is equipped with a reconnaissance unmanned aerial vehicle and / or a fire extinguishing unmanned aerial vehicle), and in combination with the reconnaissance unmanned aerial vehicle scheduling process of each hangar, the key areas can be frequently inspected to improve the efficiency of discovering and accurately positioning the fire source area. Moreover, the reconnaissance unmanned aerial vehicle can also receive the secondary verification instructions of the fire control command system, quickly arrive above the fire source discovered by the tower monitoring equipment, search and accurately position the fire source area, so as to facilitate efficient fire source positioning and fire extinguishing operation process.

[0039] For example, after the reconnaissance unmanned aerial vehicle takes off, it can analyze visible light and infrared thermal imaging images in real time, and once a fire point is found, the visible light and infrared recognition results are verified with each other (if both are recognized as fire sources, the confidence of the fire source is higher. For example, the glint phenomenon may cause the visible light camera to misidentify as a fire source, but the infrared camera can exclude the glint phenomenon and reduce the false alarm probability), so as to improve the recognition rate. After the reconnaissance unmanned aerial vehicle confirms the fire source, the geographical coordinates of the fire source are calculated through the position of the unmanned aerial vehicle, the frame angle of the nacelle equipment, and the distance of the fire point target, and then the early warning data (including the image near the fire source and the geographical coordinates of the fire source area, etc.) are reported to the fire control command system through 4G / 5G / 6G or satellite communication link. In this way, the fire control command system can efficiently analyze the early warning data in combination with the geographical coordinates, images, etc. of the fire source area transmitted by the tower monitoring equipment. In addition, if the reconnaissance unmanned aerial vehicle discovers ground personnel through infrared thermal imaging images, it can also drive away the ground personnel through the carried megaphone.

[0040] 102. Obtain fire field image data of the target device for the fire source area, and determine fire extinguishing operation parameters for the fire source area according to the target geographical position parameter and the fire field image data.

[0041] In the embodiments of the present application, the target device includes a reconnaissance unmanned aerial vehicle that has flown to the fire source area, or includes a reconnaissance unmanned aerial vehicle that has flown to the fire source area and a tower monitoring equipment.

[0042] Further, the fire extinguishing operation parameters for the fire source area include at least one target hangar (e.g., g target hangars close to the fire source area are determined from h hangars in the target area, where g < h) required for the fire source area, and fire extinguishing flight control parameters (e.g., one or more of flight speed, flight direction, flight route, hovering position, hovering duration, flight mode, etc.) and bomb throwing parameters (e.g., one or more of bomb throwing number parameter, bomb throwing path parameter, bomb throwing position parameter, bomb throwing direction parameter, bomb throwing type parameter, bomb throwing frequency parameter, and bomb throwing relative speed parameter, etc.) of each fire extinguishing drone in each target hangar.

[0043] Further, in order to achieve the control of "small, early, and timely" fire in 3 minutes, the target hangars are distributed with a radius of not more than 5 kilometers, covering the fire source area within a range of not more than 5 kilometers, so that the operation time of the fire extinguishing drone can be greatly shortened, the operation mobility of the fire extinguishing drone is improved, and the fire extinguishing task is completed by the heavy load fire extinguishing drone in 3 minutes from the occurrence of the fire.

[0044] 103. Control all fire extinguishing drones in the fire extinguishing operation parameter range to fly from all target hangars to the fire source area, so that the reconnaissance drone and all fire extinguishing drones perform networking operations, and after completing the networking operations, the reconnaissance drone controls all fire extinguishing drones to perform fire extinguishing operations on the fire source area according to the fire extinguishing flight control parameters and the bomb throwing parameters of all fire extinguishing drones.

[0045] In the embodiment of the present application, after completing the networking operation, the reconnaissance drone can obtain the identity information of the fire extinguishing drone from the fire control command system, and after verifying the identity information of the fire extinguishing drone, the reconnaissance drone can send corresponding instructions to the fire extinguishing drone and receive transmission data of the fire extinguishing drone, so as to control the fire extinguishing drone to perform fire extinguishing operations on the fire source area according to the fire extinguishing flight control parameters and the bomb throwing parameters of the fire extinguishing drone.

[0046] In the embodiment of the present application, further, the step 103 of controlling all fire extinguishing drones to fly to the fire source area so that the reconnaissance drone and all fire extinguishing drones perform networking operations includes:

[0047] Obtain target networking reference parameters matched with the reconnaissance drone and all fire extinguishing drones;

[0048] Determine the communication parameters corresponding to each fire extinguishing drone according to the target networking reference parameters;

[0049] Based on the communication flight control parameters of all firefighting drones, control all firefighting drones to fly to the corresponding network node position in the fire source area, so that reconnaissance drones and all firefighting drones can form a network.

[0050] In this optional embodiment, the target networking reference parameters may include at least one of the following: signal coverage parameters of the fire source area, first position parameters of the reconnaissance drone, first communication capability parameters, second position parameters of all firefighting drones, and second communication capability parameters. The signal coverage parameters may include one or more of the following: signal coverage range parameters, signal coverage strength parameters, signal coverage type parameters, etc.; both the first and second communication capability parameters may include one or more of the following: corresponding communication type parameters, receiveable signal strength parameters, signal transmission strength parameters, etc.

[0051] Furthermore, the communication parameters corresponding to each firefighting drone include the communication target parameters corresponding to the firefighting drone and the communication firefighting flight control parameters. The communication target parameters corresponding to the firefighting drone include reconnaissance drones, or include reconnaissance drones and target communication firefighting drones (i.e., firefighting drones other than the firefighting drone itself that need to network with the firefighting drone).

[0052] For example, such as Figure 6 As shown, after receiving the firefighting command from the hangar, the firefighting drone is equipped with the corresponding number of fire extinguishing bombs. The drone then proceeds along its flight path to the corresponding network node location above the fire. Once both the reconnaissance and firefighting drones reach the fire area, they can communicate via 4G / 5G / 6G networks. For areas without 4G / 5G / 6G signal coverage, a mesh network can be used. Because the drones are equipped with mesh self-organizing network link devices, multiple drones entering the effective communication range of the mesh devices (typically several kilometers) can automatically form a local area network, enabling mutual communication.

[0053] It can be seen that the embodiment of the present application can construct a comprehensive and efficient fire monitoring and extinguishing system by integrating the tower monitoring device and the investigation unmanned aerial vehicle, realize the rapid discovery and accurate positioning of the fire source area, and significantly improve the fire response speed. At the same time, by obtaining the target geographic location parameters and the fire field image data of the fire source area, the fire extinguishing operation parameters can be accurately formulated to ensure the pertinence and effectiveness of the fire extinguishing operation. In addition, through the networking operation, the investigation unmanned aerial vehicle and all fire extinguishing unmanned aerial vehicles form a close communication network, realize the real-time sharing of information and the accurate transmission of instructions, and further enhance the collaboration and efficiency of the fire extinguishing operation. Overall, the present application effectively improves the accuracy of fire monitoring and the efficiency of fire extinguishing operation, provides strong technical support for the prevention and control of small fires in the target area prone to fire, and can effectively solve the control of "small, early and timely" fire in the 3-minute golden period of fire occurrence.

[0054] In an optional embodiment, the determining of the target geographic location parameter of the fire source area in the target area according to the first observation parameter and / or the second observation parameter in step 101 comprises:

[0055] When the first observation parameter and the second observation parameter are obtained, the first geographic location parameter of the fire source area is determined according to the first observation parameter, and the second geographic location parameter of the fire source area is determined according to the second observation parameter.

[0056] The target geographic location parameter of the fire source area is determined according to the first geographic location parameter and the second geographic location parameter.

[0057] In this optional embodiment, further, the determining of the first geographic location parameter of the fire source area according to the first observation parameter comprises:

[0058] The basic device parameter of the tower monitoring device and the pixel coordinate parameter of the fire source area in the target area are obtained;

[0059] The image coordinate parameter of the fire source area is determined according to the pixel size parameter and the pixel coordinate parameter, and the second distance parameter between the tower monitoring device and the fire source area is determined according to the observation height parameter and the observation pitch angle parameter;

[0060] The target longitude and latitude parameter of the fire source area is calculated as the first geographic location parameter of the fire source area according to the second distance parameter, the image coordinate parameter, the device focal length parameter and the device longitude and latitude parameter.

[0061] In the optional embodiment, the base device parameters include the pixel size parameters, the device focal length parameters, and the device latitude and longitude parameters. That is, it can be understood that the pixel coordinate parameters (u, v) of the fire source region are converted into image coordinate parameters (x, y) according to the pixel size parameters dx and dy of the tower monitoring device, wherein x = u * dx, y = v * dy. At the same time, the second distance parameter Z between the tower monitoring device and the fire source region is calculated according to the observation height parameter Hc and the observation pitch angle parameter φ of the tower monitoring device (Z = |OP| = Hc / tan(φ), O is the device optical center of the tower monitoring device, and P is the target point of the fire source region). Then, the target latitude and longitude parameters t_lat (target latitude parameter of the fire source region) and t_lon (target longitude parameter of the fire source region) of the fire source region are calculated according to the second distance parameter Z, the image coordinate parameters (x, y), the device focal length parameters f, and the device latitude and longitude parameters lat (device latitude) and lon (device longitude).

[0062] It can be seen that the optional embodiment can first convert the pixel coordinates of the fire source region into image coordinates using the pixel size of the tower monitoring device, calculate the distance between the device and the fire source in combination with the observation height and pitch angle of the tower monitoring device, and then calculate the first geographic location parameters of the fire source region by fusing the device focal length and device latitude and longitude parameters. At the same time, the second geographic location parameters of the fire source region are calculated according to the body position parameters of the investigation unmanned aerial vehicle, the nacelle frame angle parameters, and the first distance parameters, and finally the target geographic location parameters of the fire source region are determined by comprehensively combining the two, which not only significantly improves the accuracy of fire source positioning and effectively overcomes the limitations of single parameter positioning, but also improves the accuracy and stability of fire source positioning through multi-parameter fusion and calculation, provides accurate spatial information support for subsequent fire extinguishing operations, and helps to achieve more efficient and accurate fire prevention and rescue.

[0063] In another optional embodiment, the target latitude and longitude parameters of the fire source region are calculated according to the second distance parameter, the image coordinate parameter, the device focal length parameter, and the device latitude and longitude parameter, comprising:

[0064] According to the second distance parameter, the device focal length parameter, and the image coordinate parameter, the to-be-converted coordinate parameters of the fire source region in the device coordinate system matched with the tower monitoring device are determined;

[0065] According to the observation pitch angle parameter and the observation horizontal angle parameter, the Euler angle parameter of the tower monitoring device is determined, and the observation rotation matrix of the tower monitoring device is calculated according to the Euler angle parameter;

[0066] According to the observation rotation matrix and the preset translation matrix between the device coordinate system and the earth coordinate system, a coordinate transformation matrix corresponding to the fire source region is determined, and according to the coordinate parameter to be converted and the coordinate transformation matrix, an earth coordinate parameter of the fire source region in the earth coordinate system is determined.

[0067] According to the earth coordinate parameter, the device latitude and longitude parameter and the earth radius parameter, a target latitude and longitude parameter of the fire source region is determined.

[0068] In this optional embodiment, the calculation process of the target latitude and longitude parameter of the fire source region is as follows:

[0069] First, according to the second distance parameter Z, the image coordinate parameter (x, y) and the device focal length parameter f, an initial coordinate parameter (X, Y) of the fire source region in the device coordinate system matched with the tower monitoring device is calculated, wherein, Then, according to the initial coordinate parameter (X, Y), a coordinate parameter to be converted of the fire source region in the device coordinate system is determined .

[0070] At the same time, according to the observation pitch angle parameter φ and the observation horizontal angle parameter α of the tower monitoring device, an Euler angle parameter of the tower monitoring device is determined , and according to the Euler angle parameter, an observation rotation matrix of the tower monitoring device is calculated . Wherein, , and:

[0071] ;

[0072] Wherein, .

[0073] Then, according to the observation rotation matrix and the preset translation matrix between the device coordinate system and the earth coordinate system , the coordinate transformation matrix is calculated, wherein, . And according to the coordinate parameter to be converted and the coordinate transformation matrix , an earth coordinate parameter of the fire source region in the earth coordinate system (such as the north-east earth coordinate system) is determined , wherein, .

[0074] Finally, according to the earth coordinate parameter , the device latitude and longitude parameters lat, lon and the earth radius parameter R, the target latitude and longitude parameters t_lat, t_lon of the fire source area can be determined, wherein t_lat = (lat + Xn / R), t_lon = lon + Yn / R / cos(t_lat).

[0075] It can be seen that the optional embodiment can first determine the initial coordinates of the fire source in the device coordinate system, then construct the observation rotation matrix through the Euler angle parameters, and obtain the coordinate transformation matrix by combining the translation relationship between the device and the earth coordinate system, and finally convert the device coordinates into the earth coordinates and calculate the target latitude and longitude of the fire source area. In this way, through the geometric relationship of the observation data and the space conversion principle, the reliability and accuracy of the fire source positioning are significantly improved, and the errors caused by single parameter or simple estimation are reduced, thereby facilitating to provide more scientific and accurate spatial positioning support for fire monitoring and emergency response.

[0076] In yet another optional embodiment, the method further comprises:

[0077] Before controlling all the fire extinguishing drones to fly to the fire source area, determining the bomb hanging parameters of all the fire extinguishing drones according to the target geographic location parameters and the fire field image data;

[0078] According to the bomb hanging parameters of all the fire extinguishing drones, performing bomb hanging operation on all the fire extinguishing drones.

[0079] In the optional embodiment, optionally, the bomb hanging parameters include at least one of a bomb hanging type parameter, a bomb hanging quantity parameter, and a bomb hanging weight parameter. For example, the areas with more intense fire and larger burning area in the current fire source area can be assigned to some fire extinguishing drones for high-efficiency dry powder fire extinguishing bombs, and it is determined that these fire extinguishing drones need to hang N dry powder bombs, each weighing M kilograms. For some areas with relatively small fire and thick smoke, some fire extinguishing drones are assigned water-based fire extinguishing bombs, and it is determined that these fire extinguishing drones need to hang L dry powder bombs, each weighing J kilograms. Then, the mechanical arm can be used to perform bomb hanging operation on all the fire extinguishing drones according to the accurate bomb hanging parameters, so as to ensure that the fire extinguishing drones can fly to the fire field in the best state and participate in the fire fighting battle.

[0080] It can be seen that the optional embodiment can determine the hanging parameters according to the target geographic location parameters and the fire field image data before controlling the fire extinguishing unmanned aerial vehicle to fly to the fire source area, and perform the hanging operation on the fire extinguishing unmanned aerial vehicle according to the hanging parameters, so as to select the fire extinguishing bomb with stronger pertinence for the area with different fire intensity and smoke concentration in the fire source area, quickly and effectively control the fire, and reduce the loss caused by the fire. In addition, the accurate hanging operation can also ensure the flight safety of the unmanned aerial vehicle, reduce the influence of unreasonable hanging on the flight performance and stability of the unmanned aerial vehicle, and ensure that the entire fire extinguishing operation can be carried out safely, orderly and efficiently.

[0081] In yet another optional embodiment, the method further comprises:

[0082] Before the fire occurs in the target area, obtaining the warehouse parameters of each warehouse in the plurality of preset warehouses;

[0083] Obtaining the basic parameters of all fire extinguishing bombs to be hung;

[0084] According to the warehouse parameters of all warehouses and the basic parameters of all fire extinguishing bombs, predicting the affected parameters of all fire extinguishing bombs after being hung;

[0085] According to the affected parameters of all fire extinguishing bombs after being hung, determining the periodic hanging parameters of all fire extinguishing bombs;

[0086] According to the periodic hanging parameters of all fire extinguishing bombs, performing the pre-hanging operation on all fire extinguishing unmanned aerial vehicles in all warehouses.

[0087] In this optional embodiment, in addition to performing the hanging operation on the fire extinguishing unmanned aerial vehicle after receiving the fire extinguishing operation instruction and before the fire extinguishing operation, the fire extinguishing unmanned aerial vehicle can also be pre-hung before the fire occurs in the target area, so as to wait for the issuance of the fire extinguishing operation instruction at any time and immediately put into the fire extinguishing operation.

[0088] Optionally, the basic parameters include at least one of the fire extinguishing bomb type parameter, the fire extinguishing bomb content parameter, and the fire extinguishing bomb mechanical structure parameter; and the warehouse parameters include the warehouse geographic location parameter and / or the warehouse environment parameter (such as the warehouse temperature and humidity parameter, the warehouse size parameter, etc.).

[0089] Further optionally, the affected parameters after being hung include at least one of the content moisture parameter after being hung, the content deterioration parameter after being hung, and the shell damage parameter after being hung; and the periodic hanging parameters include the periodic hanging time parameter and the periodic hanging quantity parameter.

[0090] For example, the database can first obtain the basic parameters of all fire extinguishing bombs to be hung on the bomb. These fire extinguishing bombs are of various types, including dry powder fire extinguishing bombs and water-based fire extinguishing bombs. The content parameters of each fire extinguishing bomb, such as the composition of dry powder and the concentration of water-based solution, and the mechanical structure parameters, such as the shell material and size, are recorded in detail.

[0091] Then, the system comprehensively analyzes the parameters of each hangar. Different hangars have different geographical locations, some are close to the sea and have high humidity, and some are located in the inland and are relatively dry. At the same time, the temperature and humidity parameters of the hangar also differ due to the operation of the air conditioning system, and the size parameter of the hangar determines the number of unmanned aerial vehicles and fire extinguishing bombs that can be accommodated. Based on these hangar parameters and fire extinguishing bomb basic parameters, the system predicts the affected parameters of all fire extinguishing bombs after hanging. For example, in a hangar with high humidity, the content of water-based fire extinguishing bombs after hanging may show a high risk of moisture, and may cause solution dilution; while dry powder fire extinguishing bombs in a hangar with high temperature, the content of the bomb after hanging may have an increase in the deterioration parameter, affecting the fire extinguishing effect.

[0092] Then, according to the predicted affected parameters after hanging, the system further determines the periodic hanging parameters of all fire extinguishing bombs. For water-based fire extinguishing bombs with high risk of moisture, the periodic hanging time parameter in a hangar with high humidity is set to a short period, such as checking and replacing every 3 days; while for dry powder fire extinguishing bombs in a dry hangar with low risk of deterioration, the periodic hanging time parameter can be set to every 10 days. The periodic hanging quantity parameter can be reasonably allocated according to the frequency of unmanned aerial vehicles, and the historical regional fire situation.

[0093] Finally, according to the periodic hanging parameters of all fire extinguishing bombs, the staff or through the mechanical arm, pre-hanging operation is carried out on all fire extinguishing unmanned aerial vehicles in all hangars to ensure that the unmanned aerial vehicles can quickly carry good fire extinguishing bombs into the battle when a fire occurs.

[0094] It can be seen that the optional embodiment can analyze the pre-hanging operation mode based on multiple parameters, and can detect various problems that may occur during the hanging process of fire extinguishing bombs, such as content moisture, deterioration, and shell damage, so as to take targeted preventive measures. Not only can it effectively shorten the response time required for subsequent preparation and deployment in fire extinguishing operations, but also can effectively ensure the quality and performance of fire extinguishing bombs in subsequent fire extinguishing operations, and ensure the success rate of fire extinguishing unmanned aerial vehicle operations.

[0095] In yet another optional embodiment, the method further comprises:

[0096] During the fire extinguishing operation, the current state parameters of all fire extinguishing unmanned aerial vehicles are obtained;

[0097] determine all the to-be-recovered UAVs satisfying the preset UAV recovery condition from all the firefighting UAVs according to the current state parameters of all the firefighting UAVs, and obtain the current position parameters of all the to-be-recovered UAVs;

[0098] obtain target hangar parameters of each hangar in the preset plurality of hangars;

[0099] For each to-be-recovered UAV, determine a recovery hangar matching the to-be-recovered UAV from all the hangars according to the target hangar parameters of all the hangars, the current position parameters and the current state parameters of the to-be-recovered UAV, and perform a recovery operation on the to-be-recovered UAV by the recovery hangar.

[0100] In this optional embodiment, optionally, the current state parameters include at least one of a current remaining power parameter, a current fault parameter and a current remaining firefighting bomb parameter; and the target hangar parameters include a hangar geographic position parameter and a hangar state parameter (such as a space state of the hangar, a number of UAVs to be recovered in the hangar, etc.).

[0101] For example, during the firefighting operation, the firefighting command system obtains the current state parameters of all the firefighting UAVs in real time. Some of the UAVs have a current remaining power parameter indicating that the power is about to be exhausted due to long-time flight; some of the UAVs have a current fault parameter indicating mechanical failure due to encountering obstacles during flight; and some of the UAVs have a current remaining firefighting bomb parameter indicating that the number of remaining firefighting bombs is very small. Then, the system obtains the target hangar parameters of each hangar in the preset plurality of hangars. For example, the hangars are distributed at different geographic positions around the fire site, some of the hangars have a hangar geographic position parameter indicating that they are close to the fire site and can quickly receive the UAVs; and some of the hangars have a hangar state parameter indicating that they have a good space state, can accommodate the to-be-recovered UAVs, and have a small number of UAVs to be recovered. Then, the system can immediately perform comprehensive analysis and matching according to the target hangar parameters of all the hangars, the current position parameters and the current state parameters of the to-be-recovered UAVs. For example, for a UAV with a current remaining power parameter indicating that the power is about to be exhausted and located at the east side of the fire site, the system preferentially selects a hangar close to the east side of the fire site and having a good hangar state as the recovery hangar; and for another UAV with a current fault parameter indicating mechanical failure and a current remaining firefighting bomb parameter indicating a large number of remaining firefighting bombs, the system selects a hangar having professional maintenance equipment and sufficient firefighting bomb reserves for recovery in consideration of the convenience of maintenance and reloading. Thus, after the recovery hangar is determined, the recovery hangar can be commanded to perform a recovery operation on the corresponding to-be-recovered UAV through wireless communication instructions, and finally the UAV flies back to the designated hangar according to a preset flight route.

[0102] It can be seen that the optional embodiment can realize dynamic recovery of the fire extinguishing unmanned aerial vehicle during the fire extinguishing operation, so as to improve the recovery accuracy and efficiency of the fire extinguishing unmanned aerial vehicle, and facilitate the smooth operation of the hangar, thereby providing a strong guarantee for subsequent unmanned aerial vehicle maintenance, bomb hanging and re-deployment, thereby improving the efficiency and success rate of the entire fire rescue operation.

[0103] Embodiment two

[0104] Please refer to Figure 2 , Figure 2 is another flowchart of the fire extinguishing operation method of the unmanned aerial vehicle cooperative control disclosed in the embodiment of the present application. Wherein, Figure 2 The fire extinguishing operation method of the unmanned aerial vehicle cooperative control described can be applied to fire extinguishing operations on various fire occurrence scenes, such as forests, sea surfaces, slopes, towns, etc. where fires occur, and the present application embodiment is not limited. Optionally, the method can be realized by a fire extinguishing operation cooperative control system, which can be integrated in an intelligent terminal device (such as a smart computer, a smart phone, a tablet, a fire control platform, an upper computer, etc.), or a local server or a cloud server for processing the fire extinguishing operation process of the unmanned aerial vehicle cooperative control, etc. The present application embodiment is not limited. As shown in Figure 2 The fire extinguishing operation method of the unmanned aerial vehicle cooperative control can include the following operations:

[0105] 201、When the preset tower monitoring device and / or the investigation unmanned aerial vehicle monitors that a fire occurs in the target area, the first observation parameter of the tower monitoring device and / or the second observation parameter of the investigation unmanned aerial vehicle are acquired, and the target geographical position parameter of the fire source area in the target area is determined according to the first observation parameter and / or the second observation parameter.

[0106] 202、Acquire the fire field image data of the target device for the fire source area, and analyze the target feature parameter of the fire source area according to the fire field image data.

[0107] In the embodiment of the present application, wherein the target feature parameter includes a fire source feature parameter and a smoke feature parameter. Optionally, the fire source feature parameter includes at least one of a fire line length parameter, a fire field area parameter, a fire flame height parameter, a fire flame brightness parameter, a fire flame color parameter, a fire spread direction parameter, and a fire field temperature distribution parameter; the smoke feature parameter includes at least one of a smoke type parameter, a smoke concentration parameter, and a smoke direction parameter.

[0108] 203、Acquire the environmental parameter of the fire source area, and determine the affected situation of the fire source area according to the environmental parameter and the target feature parameter.

[0109] In the embodiments of the present application, optionally, the environmental parameters include at least one of temperature and humidity parameters, wind direction parameters, wind speed parameters, light intensity parameters, precipitation parameters, terrain parameters, and flammable target distribution parameters. Among them, the affected situation includes the fire source affected situation and the smoke affected situation, such as the predicted area expansion situation, temperature rise situation, fire rise situation, smoke concentration enhancement situation, smoke direction change situation, etc. of the fire source area affected by high light intensity, high wind speed, etc. in the future time period.

[0110] 204, according to the affected situation and the target feature parameter, determine the risk level parameter of the fire source area, and according to the risk level parameter, determine the fire extinguishing unmanned aerial vehicle demand parameter of the fire source area.

[0111] In the embodiments of the present application, wherein the fire extinguishing unmanned aerial vehicle demand parameter includes the number of all fire extinguishing unmanned aerial vehicles required by the fire source area and the type parameter (such as multi-rotor, fixed wing, compound wing, unmanned helicopter, etc. Type, can be one type, also can be multiple types).

[0112] Further, the risk level parameter of the fire source area can be determined by the fire control command system. The investigation unmanned aerial vehicle can perform long-time hovering investigation above the fire source, track the fire source target, and rely on visible light and infrared thermal imaging equipment to collect high-resolution images of the fire scene, and combine the intelligent jigsaw algorithm to superimpose the jigsaw result on the GIS map to support the fire control command system to analyze the fire source / smoke feature parameter, so as to facilitate the fire control command system to accurately evaluate the risk level parameter of the fire source area in combination with the environmental parameters of the fire source area, such as the dynamic decision model constructed by the fire control command system based on reinforcement learning, extracting the fire line length, flame area, and fire spread direction from the fire scene image, combining the infrared thermal imaging data to quantify the temperature distribution of the fire scene, and combining the real-time environmental parameters and other inputs to perform risk assessment.

[0113] Further, the fire control command system can determine the number of fire extinguishing unmanned aerial vehicles and the type parameter according to the risk level parameter (equivalent to a weight parameter) and in combination with other parameters, such as the fire area parameter, the effective fire extinguishing area of the fire extinguishing bomb, and the maximum number of fire extinguishing bombs carried by each fire extinguishing unmanned aerial vehicle.

[0114] 205, according to the target geographical position parameter, the affected situation, the target feature parameter, and the fire extinguishing unmanned aerial vehicle demand parameter, determine the fire extinguishing operation parameter for the fire source area.

[0115] 206. Control all fire extinguishing UAVs in the fire extinguishing operation parameter range to fly from all target hangars to the fire source area, so that the reconnaissance UAV and all fire extinguishing UAVs perform networking operations, and after completing the networking operations, the reconnaissance UAV controls all fire extinguishing UAVs to perform fire extinguishing operations on the fire source area according to the fire extinguishing flight control parameters and the bomb throwing parameters of all fire extinguishing UAVs.

[0116] In the embodiment of the present application, for other descriptions of steps 201 and 206, please refer to the detailed description of steps 101 and 103 in Embodiment One, and the present embodiment will not be repeated here.

[0117] It can be seen that by implementing the embodiment of the present application, the geographical location of the fire source can be located by using the coordinated monitoring of the tower monitoring device and the reconnaissance UAV; then the target features of the fire source area can be extracted by using the fire field image intelligent analysis technology, and the risk level of the fire source area can be evaluated in combination with the environmental parameters to determine the type and quantity of fire extinguishing UAVs required for the fire source area, so that the fire extinguishing operation parameters can be automatically generated according to the real-time updated fire source position, target features and environmental impact data. In this way, it is beneficial to improve the determination reliability and accuracy of the fire extinguishing operation parameters for the fire source area, and further beneficial to improve the rationality of the fire extinguishing resource allocation, so as to realize an efficient and intelligent UAV fire extinguishing operation process.

[0118] In an optional embodiment, the determination of the fire extinguishing operation parameters for the fire source area according to the target geographical location parameters, the affected situation, the target feature parameters and the fire extinguishing UAV demand parameters in step 205 includes:

[0119] According to the target geographical location parameters, the affected situation and the target feature parameters, the fire source area is divided to obtain a plurality of target sub-areas, and according to the preset fire extinguishing bomb type parameter set and the fire extinguishing bomb fire extinguishing area parameter set, the fire extinguishing bomb demand parameters corresponding to each target sub-area are determined;

[0120] According to the type of each fire extinguishing UAV, the target capability parameters of each fire extinguishing UAV are determined, and according to the fire extinguishing bomb demand parameters of all target sub-areas and the target capability parameters of all fire extinguishing UAVs, the target sub-area corresponding to the fire extinguishing operation of each fire extinguishing UAV, the fire extinguishing flight control parameters and the bomb throwing parameters corresponding to the corresponding target sub-area are determined.

[0121] In the optional embodiment, it can be understood that the fire source area is divided into M target sub-areas according to the current fire distribution, the fire / smoke change trend, the fire area, and the like, and the number and type of the fire extinguishing bomb to be launched are planned for each target sub-area according to the regional geographic location parameter, the regional affected situation, the regional characteristic parameter, the preset fire extinguishing bomb type parameter set, and the fire extinguishing bomb area parameter set of each target sub-area, and then the target capacity parameter of the fire extinguishing unmanned aerial vehicle is combined to plan the bomb launching route, the bomb launching number, the bomb launching mode, and the like of the corresponding target sub-area.

[0122] Optionally, the fire extinguishing bomb demand parameter includes at least one of a fire extinguishing bomb number demand parameter, a fire extinguishing bomb type demand parameter, and a fire extinguishing bomb weight demand parameter; and the target capacity parameter includes at least one of a flight capacity parameter, an obstacle avoidance capacity parameter, a load capacity parameter, and a hovering capacity parameter.

[0123] Further optionally, the number of target sub-areas corresponding to each fire extinguishing unmanned aerial vehicle can be 1 or more. The fire extinguishing flight control parameter of each fire extinguishing unmanned aerial vehicle for the corresponding target sub-area includes at least one of a flight speed parameter, a flight direction parameter, a flight route parameter, a hovering position parameter, a hovering time parameter, and a flight mode parameter of the fire extinguishing unmanned aerial vehicle for the target sub-area; and the bomb launching parameter of each fire extinguishing unmanned aerial vehicle for the corresponding target sub-area includes at least one of a bomb launching number parameter, a bomb launching path parameter, a bomb launching position parameter, a bomb launching direction parameter, a bomb launching type parameter, a bomb launching frequency parameter, and a bomb launching relative speed parameter of the fire extinguishing unmanned aerial vehicle for the target sub-area.

[0124] It can be seen that the optional embodiment can scientifically divide the fire source area into multiple target sub-areas based on the fire source geographic location, the affected situation, and the target characteristic parameter, and determine the fire extinguishing bomb demand scheme for each target sub-area in combination with the fire extinguishing bomb performance parameter; meanwhile, the operation sub-area, the bomb launching strategy, and the fire extinguishing flight control strategy of each unmanned aerial vehicle are dynamically planned according to the type of the unmanned aerial vehicle and the matching flight, load, obstacle avoidance, and the like core capacity parameter, so that the precise adaptation of the fire extinguishing resources and the fire situation demand can be ensured, the resource waste is reduced, the fire extinguishing efficiency is improved, and the flexibility and response capacity of the fire extinguishing operation in the complex fire field environment are significantly enhanced through the multi-parameter collaborative optimization.

[0125] In another optional embodiment, the method further includes:

[0126] In the fire extinguishing operation process, the current fire field image data of the fire source area and the target situation corresponding to all fire extinguishing unmanned aerial vehicles transmitted by the investigation unmanned aerial vehicle are received in real time;

[0127] According to the current fire field image data, the current characteristic parameter of the fire source area is analyzed;

[0128] determining whether there is a rework sub-region (i.e., a sub-region that is subjected to secondary operation or re-operation when the fire is rekindled or not completely extinguished) that does not meet the preset operation effect condition according to the first current characteristic parameters of all the operated sub-regions;

[0129] When the determination result is no, the target sub-region corresponding to each fire extinguishing drone, the fire extinguishing flight control parameter and the bomb throwing parameter for the corresponding target sub-region are updated according to the second current characteristic parameters of all the unoperated sub-regions and the target situation corresponding to all the fire extinguishing drones, so as to control all the fire extinguishing drones to continue the fire extinguishing operation on all the unoperated sub-regions according to the updated fire extinguishing flight control parameter and the bomb throwing parameter of all the fire extinguishing drones;

[0130] When the determination result is yes, the target sub-region corresponding to each fire extinguishing drone, the fire extinguishing flight control parameter and the bomb throwing parameter for the corresponding target sub-region are updated according to the first current characteristic parameters of the rework sub-region, the second current characteristic parameters of all the unoperated sub-regions and the target situation corresponding to all the fire extinguishing drones, so as to control all the fire extinguishing drones to continue the fire extinguishing operation on all the unoperated sub-regions and the rework sub-region according to the updated fire extinguishing flight control parameter and the bomb throwing parameter of all the fire extinguishing drones.

[0131] In this optional embodiment, optionally, the target situation includes at least one of the remaining fire extinguishing bomb situation, the unmanned aerial vehicle recovery situation and the unmanned aerial vehicle supplement situation. The unmanned aerial vehicle recovery situation can be understood as that the fire command system can determine whether a fire extinguishing drone needs to be recovered according to the battery capacity, the fault state, the remaining fire extinguishing bomb parameters and the like of the fire extinguishing drone during the operation, and if yes, determines the target landing hangar of the fire extinguishing drone based on the current position, flight capability and the like, and recovers the fire extinguishing drone through the target landing hangar to charge / recharge the battery, repair, supplement the fire extinguishing bomb and the like. When the fire extinguishing drone during / after the operation does not have the capability of safely landing in the hangar for recovery, it can also land in a preset nearest emergency landing point. The unmanned aerial vehicle supplement situation can be understood as that the fire command system can determine the number, type, bomb hanging parameters and the like of the fire extinguishing drone that needs to be supplemented according to the fire area area increase situation, the fire increase situation, the smoke density increase situation, the fault situation of the on-site fire extinguishing drone, the fire extinguishing effect parameter of the operated sub-region, the fire source area environment change situation and the like during the operation.

[0132] Further, the current characteristic parameters of the fire source area include first current characteristic parameters of all worked sub-areas and second current characteristic parameters of all unworked sub-areas in all target sub-areas, and the first current characteristic parameters and the second current characteristic parameters each include at least one of corresponding current fire source characteristic parameters and current smoke characteristic parameters, such as a current fire line length parameter, a current fire field area parameter, a current fire flame height parameter, a current fire flame brightness parameter, a current fire flame color parameter, a current fire spread direction parameter, a current fire field temperature distribution parameter, a current smoke type parameter, a current smoke concentration parameter, a current smoke direction parameter, and the like.

[0133] For example, the investigation unmanned aerial vehicle can dynamically plan a continued work sub-area of each fire extinguishing unmanned aerial vehicle, a fire extinguishing flight control parameter and a bomb throwing parameter for the sub-area in the fire source area site according to the current characteristic parameters of the real-time worked / unworked sub-areas and in combination with corresponding target conditions of all fire extinguishing unmanned aerial vehicles, implement a dynamic work process, effectively improve fire extinguishing work flexibility, and thus be beneficial to guarantee that each target sub-area obtains excellent fire extinguishing effect.

[0134] Further, when it is determined that the number of unworked sub-areas and the number of reworked sub-areas are both 0, it can be determined that the fire extinguishing task is completed, and then the investigation unmanned aerial vehicle can continue to check the fire field and evaluate the fire extinguishing effect, such as analyzing the fire source site by using an on-board visible light, infrared or spectrum device to check whether there is a residual fire source or a local high temperature area. If there is, the investigation is continued; if there is not, it is determined that the fire is extinguished. If the fire is extinguished and there is no risk of rekindling, the result can be reported to a fire control command system, and a patrol task is continued to be executed; if the fire is not extinguished, the latest fire field condition is reported in an early warning manner.

[0135] It can be seen that the optional embodiment can receive fire field image data transmitted by the investigation unmanned aerial vehicle in real time during the fire extinguishing process, dynamically analyze fire source / smoke characteristic parameters of worked and unworked sub-areas, and in combination with real-time information such as remaining ammunition and recovery state of the fire extinguishing unmanned aerial vehicle, identify a sub-area that needs to be reworked, and then dynamically adjust work target areas, flight control parameters and bomb throwing strategies of each fire extinguishing unmanned aerial vehicle, so as to ensure accurate coverage of unworked areas and implement intensified fire extinguishing for reworked areas. In this way, it is beneficial to form a closed-loop control system of "monitoring-evaluating-adjusting-executing", significantly improve flexibility and adaptability of fire extinguishing work, effectively avoid resource waste and fire extinguishing blind area, and at the same time, guarantee thoroughness of fire extinguishing effect through a fire field final state checking mechanism, thereby providing a complete dynamic decision-making solution for efficient and safe fire extinguishing in a complex fire field environment.

[0136] Embodiment three

[0137] Please refer to Figure 3 ,Figure 3 is a structural schematic diagram of a fire extinguishing operation system with unmanned aerial vehicle (UAV) cooperative control disclosed by an embodiment of the present application. As shown in the figure, the fire extinguishing operation system with UAV cooperative control can include: Figure 3

[0138] The acquisition module 301 is configured to acquire first observation parameters of the tower monitoring device and / or second observation parameters of the investigation UAV when the preset tower monitoring device and / or the investigation UAV monitor a fire in a target area.

[0139] The determination module 302 is configured to determine a target geographical position parameter of a fire source area in the target area according to the first observation parameters and / or the second observation parameters.

[0140] The acquisition module 301 is further configured to acquire fire field image data of the target device for the fire source area; the target device at least includes the investigation UAV that has flown to the fire source area.

[0141] The determination module 302 is further configured to determine a fire extinguishing operation parameter for the fire source area according to the target geographical position parameter and the fire field image data.

[0142] The control module 303 is configured to control all fire extinguishing UAVs in the fire extinguishing operation parameter range to fly from all target hangars to the fire source area, so that the investigation UAV and all the fire extinguishing UAVs perform networking operation; after the networking operation is completed, the investigation UAV controls all the fire extinguishing UAVs to perform fire extinguishing operation on the fire source area according to fire extinguishing flight control parameters and bomb-throwing parameters of all the fire extinguishing UAVs.

[0143] In the embodiment of the present application, the fire extinguishing operation parameter for the fire source area includes at least one target hangar required for the fire source area, and fire extinguishing flight control parameters and bomb-throwing parameters of each fire extinguishing UAV in each target hangar.

[0144] Further, the manner in which the control module 303 controls all the fire extinguishing UAVs to fly to the fire source area so that the investigation UAV and all the fire extinguishing UAVs perform networking operation specifically includes:

[0145] Acquiring target networking reference parameters matched with the investigation UAV and all the fire extinguishing UAVs;

[0146] Determining corresponding communication parameters of each fire extinguishing UAV according to the target networking reference parameters;

[0147] Controlling all the fire extinguishing UAVs to fly to corresponding networking node positions in the fire source area according to the corresponding communication parameters of all the fire extinguishing UAVs, so that the investigation UAV and all the fire extinguishing UAVs perform networking operation.

[0148] ​In the optional embodiment, the target networking reference parameter comprises at least one of a signal coverage parameter of the fire source area, a first position parameter of the reconnaissance unmanned aerial vehicle, a first communication capability parameter, a second position parameter of all the fire extinguishing unmanned aerial vehicles, and a second communication capability parameter; the communication parameter corresponding to each fire extinguishing unmanned aerial vehicle comprises a communication object parameter corresponding to the fire extinguishing unmanned aerial vehicle and a communication fire extinguishing flight control parameter, and the communication object parameter corresponding to the fire extinguishing unmanned aerial vehicle comprises the reconnaissance unmanned aerial vehicle or the reconnaissance unmanned aerial vehicle and a target communication fire extinguishing unmanned aerial vehicle.

[0149] It can be seen that the implementation Figure 3 The described unmanned aerial vehicle cooperative control fire extinguishing operation system can construct a comprehensive and efficient fire monitoring and fire extinguishing system by integrating the tower monitoring device and the reconnaissance unmanned aerial vehicle, realize rapid discovery and accurate positioning of the fire source area, and significantly improve the fire response speed. At the same time, by obtaining the target geographic position parameter and the fire field image data of the fire source area, the fire extinguishing operation parameters can be accurately formulated to ensure the pertinence and effectiveness of the fire extinguishing operation. In addition, through the networking operation, a close communication network is formed between the reconnaissance unmanned aerial vehicle and all the fire extinguishing unmanned aerial vehicles, realizing real-time sharing of information and accurate transmission of instructions, and further enhancing the cooperation and efficiency of the fire extinguishing operation. Overall, the present application effectively improves the accuracy of fire monitoring and the efficiency of fire extinguishing operation, and provides strong technical support for fire prevention and control of the target area prone to fire.

[0150] In an optional embodiment, the first observation parameter comprises an observation height parameter, an observation pitch angle parameter, and an observation horizontal angle parameter, and the second observation parameter comprises a body position parameter, a nacelle frame angle parameter, and a first distance parameter between the target area and the fire source area;

[0151] The determination module 302 determines the target geographic position parameter of the fire source area in the target area according to the first observation parameter and / or the second observation parameter, and the determination manner comprises:

[0152] When the first observation parameter and the second observation parameter are obtained, the first geographic position parameter of the fire source area is determined according to the first observation parameter, and the second geographic position parameter of the fire source area is determined according to the second observation parameter;

[0153] The target geographic position parameter of the fire source area is determined according to the first geographic position parameter and the second geographic position parameter;

[0154] The determination of the first geographic position parameter of the fire source area according to the first observation parameter comprises:

[0155] The basic device parameter of the tower monitoring device and the pixel coordinate parameter of the fire source area in the target area are obtained; the basic device parameter comprises a pixel size parameter, a device focal length parameter, and a device latitude and longitude parameter;

[0156] According to the pixel size parameter and the pixel coordinate parameter, an image coordinate parameter of the fire source area is determined, and according to the observation height parameter and the observation pitch angle parameter, a second distance parameter between the tower monitoring device and the fire source area is determined;

[0157] According to the second distance parameter, the image coordinate parameter, the device focal length parameter and the device latitude and longitude parameter, a target latitude and longitude parameter of the fire source area is calculated as a first geographic position parameter of the fire source area.

[0158] In this optional embodiment, the basic device parameters include the pixel size parameter, the device focal length parameter and the device latitude and longitude parameter.

[0159] It can be seen that the implementation Figure 4 The described unmanned aerial vehicle cooperative control fire extinguishing operation system can first convert the pixel coordinates of the fire source area into image coordinates using the pixel size of the tower monitoring device, and calculate the distance between the device and the fire source in combination with the observation height and pitch angle of the tower monitoring device, and then calculate the first geographic position parameter of the fire source area by fusing the device focal length and device latitude and longitude parameters. At the same time, according to the body position parameter of the investigation unmanned aerial vehicle, the nacelle frame angle parameter and the first distance parameter, the second geographic position parameter of the fire source area is calculated, and finally the target geographic position parameter of the fire source area is determined by comprehensively combining the two, which not only significantly improves the accuracy of fire source positioning and effectively overcomes the limitations of single parameter positioning, but also improves the accuracy and stability of fire source positioning through multi-parameter fusion and calculation, provides accurate spatial information support for subsequent fire extinguishing operation, and helps to achieve more efficient and precise fire prevention and rescue.

[0160] In another optional embodiment, the determination module 302 calculates the target latitude and longitude parameter of the fire source area according to the second distance parameter, the image coordinate parameter, the device focal length parameter and the device latitude and longitude parameter in the following manner:

[0161] According to the second distance parameter, the device focal length parameter and the image coordinate parameter, a to-be-converted coordinate parameter of the fire source area in a device coordinate system matched with the tower monitoring device is determined;

[0162] According to the observation pitch angle parameter and the observation horizontal angle parameter, an Euler angle parameter of the tower monitoring device is determined, and according to the Euler angle parameter, an observation rotation matrix of the tower monitoring device is calculated;

[0163] According to the observation rotation matrix and a preset translation matrix between the device coordinate system and the earth coordinate system, a coordinate transformation matrix corresponding to the fire source area is determined, and according to the to-be-converted coordinate parameter and the coordinate transformation matrix, an earth coordinate parameter of the fire source area in the earth coordinate system is determined;

[0164] According to the earth coordinate parameter, the device latitude and longitude parameter and the earth radius parameter, the target latitude and longitude parameter of the fire source area is determined.

[0165] In the optional embodiment, the coordinate parameter to be converted of the fire source area is:

[0166] ;

[0167] Wherein, , (x, y) is the image coordinate parameter of the fire source area, f is the device focal length parameter, and Z is the second distance parameter;

[0168] And the observation rotation matrix of the tower monitoring device is: ;

[0169] Wherein, ;

[0170] Ax, Ay and Az are determined by the Euler angle parameter [AxAyAz] of the tower monitoring device, wherein, , φ is the observation pitch angle parameter, and α is the observation horizontal angle parameter.

[0171] Further, the earth coordinate parameter of the fire source area is:

[0172] ;

[0173] Wherein, is the coordinate transformation matrix corresponding to the fire source area, and , is the translation matrix;

[0174] And the target latitude parameter t_lat and the target longitude parameter t_lon in the target latitude and longitude parameter of the fire source area are respectively:

[0175] t_lat = (lat + Xn / R), t_lon = lon + Yn / R / cos(t_lat);

[0176] Wherein, lat is the device latitude parameter in the device latitude and longitude parameter, lon is the device longitude parameter in the device latitude and longitude parameter, and R is the earth radius parameter.

[0177] It can be seen that the implementation Figure 4The described unmanned aerial vehicle cooperative control fire extinguishing operation system can first determine the initial coordinates of the fire source in the device coordinate system, then construct an observation rotation matrix through Euler angle parameters, and obtain a coordinate transformation matrix in combination with the translation relationship between the device and the earth coordinate system, finally convert the device coordinates into earth coordinates and calculate the target longitude and latitude of the fire source area. In this way, through the geometric relationship of the observation data and the space conversion principle, the reliability and accuracy of the fire source positioning are significantly improved, and the errors caused by a single parameter or simple estimation are reduced, thereby facilitating to provide more scientific and accurate spatial positioning support for fire monitoring and emergency response.

[0178] In yet another optional embodiment, the determining module 302 determines the fire extinguishing operation parameters for the fire source area according to the target geographic location parameters and the fire field image data in the following manner:

[0179] According to the fire field image data, analyze the target feature parameters of the fire source area;

[0180] Obtain the environmental parameters of the fire source area, and determine the affected situation of the fire source area according to the environmental parameters and the target feature parameters;

[0181] According to the affected situation and the target feature parameters, determine the risk level parameters of the fire source area, and according to the risk level parameters, determine the fire extinguishing unmanned aerial vehicle demand parameters of the fire source area;

[0182] According to the target geographic location parameters, the affected situation, the target feature parameters and the fire extinguishing unmanned aerial vehicle demand parameters, determine the fire extinguishing operation parameters for the fire source area.

[0183] In this optional embodiment, the target feature parameters include fire source feature parameters and smoke feature parameters; the environmental parameters include at least one of temperature and humidity parameters, wind direction parameters, wind speed parameters, light intensity parameters, precipitation parameters, terrain parameters and flammable target distribution parameters, the affected situation includes fire source affected situation and smoke affected situation; the fire extinguishing unmanned aerial vehicle demand parameters include the number and type parameters of all fire extinguishing unmanned aerial vehicles required by the fire source area.

[0184] It can be seen that the implementation Figure 4The described unmanned aerial vehicle cooperative control fire extinguishing operation system can first utilize the cooperation of the tower monitoring device and the reconnaissance unmanned aerial vehicle to locate the fire source geographical position, and then utilize the fire field image intelligent analysis technology to extract the target features of the fire source area and combine the environmental parameters to evaluate the risk level of the fire source area to determine the type and quantity of the fire extinguishing unmanned aerial vehicles required by the fire source area, so as to automatically generate the fire extinguishing operation parameters according to the real-time updated fire source position, target features and environmental influence data, thereby improving the determination reliability and accuracy of the fire extinguishing operation parameters for the fire source area, and further improving the rationality of the fire extinguishing resource allocation, thereby realizing an efficient and intelligent unmanned aerial vehicle fire extinguishing operation process.

[0185] In yet another optional embodiment, the determination module 302 determines the fire extinguishing operation parameters for the fire source area according to the target geographical position parameters, the affected situation, the target feature parameters and the fire extinguishing unmanned aerial vehicle demand parameters, and the manner specifically includes:

[0186] According to the target geographical position parameters, the affected situation and the target feature parameters, the fire source area is divided to obtain a plurality of target sub-areas, and according to the preset fire extinguishing bomb type parameter set and the fire extinguishing bomb fire extinguishing area parameter set, the fire extinguishing bomb demand parameters corresponding to each target sub-area are determined;

[0187] According to the type of each fire extinguishing unmanned aerial vehicle, the target capability parameters of each fire extinguishing unmanned aerial vehicle are determined, and according to the fire extinguishing bomb demand parameters of all target sub-areas and the target capability parameters of all fire extinguishing unmanned aerial vehicles, the target sub-area corresponding to the fire extinguishing operation of each fire extinguishing unmanned aerial vehicle, the fire extinguishing flight control parameters and the bomb dropping parameters corresponding to the corresponding target sub-area are determined.

[0188] In this optional embodiment, the fire extinguishing bomb demand parameters include at least one of the fire extinguishing bomb quantity demand parameters, the fire extinguishing bomb type demand parameters and the fire extinguishing bomb weight demand parameters; and the target capability parameters include at least one of the flight capability parameters, the obstacle avoidance capability parameters, the load capability parameters and the hovering capability parameters.

[0189] It can be seen that the implementation Figure 4 The described unmanned aerial vehicle cooperative control fire extinguishing operation system can scientifically divide the fire source area into a plurality of target sub-areas based on the fire source geographical position, the affected situation and the target feature parameters, and determine the fire extinguishing bomb demand scheme for each target sub-area in combination with the fire extinguishing bomb performance parameters; meanwhile, according to the type of the unmanned aerial vehicle, the flight, load, obstacle avoidance and other core capability parameters are matched, the operation sub-area, bomb dropping strategy and fire extinguishing flight control strategy of each unmanned aerial vehicle are dynamically planned, so that the precise adaptation of the fire extinguishing resources and the fire situation demand can be ensured, the resource waste is reduced, the fire extinguishing efficiency is improved, and through the multi-parameter cooperative optimization, the flexibility and response capability of the fire extinguishing operation in the complex fire field environment are significantly enhanced.

[0190] In yet another optional embodiment, the system further comprises:

[0191] The receiving module 304 is configured to receive, in real time during the fire extinguishing operation, the current fire field image data of the fire source region transmitted by the reconnaissance unmanned aerial vehicle and the target situation corresponding to all the fire extinguishing unmanned aerial vehicles.

[0192] The analysis module 305 is configured to analyze the current characteristic parameters of the fire source region according to the current fire field image data.

[0193] The judgment module 306 is configured to determine, according to the first current characteristic parameters of all the operated sub-regions, whether there is a rework sub-region that does not meet the preset operation effect condition in all the operated sub-regions.

[0194] The control module 303 is further configured to, when the judgment module 306 determines no, update the target sub-region corresponding to all the fire extinguishing unmanned aerial vehicles, the fire extinguishing flight control parameters and the bomb-throwing parameters corresponding to the target sub-region according to the second current characteristic parameters of all the unoperated sub-regions and the target situation corresponding to all the fire extinguishing unmanned aerial vehicles, so as to control all the fire extinguishing unmanned aerial vehicles to continue the fire extinguishing operation on all the unoperated sub-regions according to the updated fire extinguishing flight control parameters and the bomb-throwing parameters of all the fire extinguishing unmanned aerial vehicles; and when the judgment module 306 determines yes, update the target sub-region corresponding to all the fire extinguishing unmanned aerial vehicles, the fire extinguishing flight control parameters and the bomb-throwing parameters corresponding to the target sub-region according to the first current characteristic parameters of the rework sub-region, the second current characteristic parameters of all the unoperated sub-regions and the target situation corresponding to all the fire extinguishing unmanned aerial vehicles, so as to control all the fire extinguishing unmanned aerial vehicles to continue the fire extinguishing operation on all the unoperated sub-regions and the rework sub-region according to the updated fire extinguishing flight control parameters and the bomb-throwing parameters of all the fire extinguishing unmanned aerial vehicles.

[0195] In this optional embodiment, the target situation includes at least one of the remaining fire extinguishing bomb situation, the unmanned aerial vehicle recovery situation and the unmanned aerial vehicle replenishment situation; the current characteristic parameters of the fire source region include the first current characteristic parameters of all the operated sub-regions in all the target sub-regions and the second current characteristic parameters of all the unoperated sub-regions, and the first current characteristic parameters and the second current characteristic parameters both include corresponding current fire source characteristic parameters and current smoke characteristic parameters.

[0196] It can be seen that the implementation Figure 4The described unmanned aerial vehicle cooperative control fire extinguishing operation system can receive fire field image data transmitted by the reconnaissance unmanned aerial vehicle in real time during the fire extinguishing process, dynamically analyze the fire / smoke characteristic parameters of the sub-regions that have been operated and the sub-regions that have not been operated, and combine the real-time information such as the remaining ammunition of the fire extinguishing unmanned aerial vehicle and the recovery state to identify the sub-regions that need to be re-operated, and then dynamically adjust the operation target region, flight control parameter and bomb throwing strategy of each fire extinguishing unmanned aerial vehicle, so as to ensure the accurate coverage of the unoperated region and implement intensive fire extinguishing for the re-operated region. In this way, the "monitoring-evaluation-adjustment-execution" closed-loop control system is formed, the flexibility and adaptability of the fire extinguishing operation are significantly improved, the waste of resources and the fire extinguishing blind area are effectively avoided, and the thoroughness of the fire extinguishing effect is ensured through the fire field final state checking mechanism, thereby providing a complete dynamic decision-making solution for efficient and safe fire extinguishing in a complex fire field environment.

[0197] In yet another optional embodiment, the determining module 302 is further configured to:

[0198] Before the control module 303 controls all the fire extinguishing unmanned aerial vehicles to fly to the fire source region, the bomb hanging parameters of all the fire extinguishing unmanned aerial vehicles are determined according to the target geographical position parameters and the fire field image data;

[0199] In addition, the system further comprises:

[0200] The bomb hanging module 307 is configured to perform bomb hanging operation on all the fire extinguishing unmanned aerial vehicles according to the bomb hanging parameters of all the fire extinguishing unmanned aerial vehicles.

[0201] In this optional embodiment, the bomb hanging parameters include at least one of a bomb hanging type parameter, a bomb hanging quantity parameter and a bomb hanging weight parameter.

[0202] It can be seen that the implementation Figure 4 The described unmanned aerial vehicle cooperative control fire extinguishing operation system can receive fire field image data transmitted by the reconnaissance unmanned aerial vehicle in real time during the fire extinguishing process, dynamically analyze the fire / smoke characteristic parameters of the sub-regions that have been operated and the sub-regions that have not been operated, and combine the real-time information such as the remaining ammunition of the fire extinguishing unmanned aerial vehicle and the recovery state to identify the sub-regions that need to be re-operated, and then dynamically adjust the operation target region, flight control parameter and bomb throwing strategy of each fire extinguishing unmanned aerial vehicle, so as to ensure the accurate coverage of the unoperated region and implement intensive fire extinguishing for the re-operated region. In this way, the "monitoring-evaluation-adjustment-execution" closed-loop control system is formed, the flexibility and adaptability of the fire extinguishing operation are significantly improved, the waste of resources and the fire extinguishing blind area are effectively avoided, and the thoroughness of the fire extinguishing effect is ensured through the fire field final state checking mechanism, thereby providing a complete dynamic decision-making solution for efficient and safe fire extinguishing in a complex fire field environment.

[0203] In yet another optional embodiment, the acquiring module 301 is further configured to:

[0204] Before the fire occurs in the target region, the warehouse parameters of each warehouse in the plurality of preset warehouses are acquired, and the basic parameters of all the fire extinguishing bombs to be hung are acquired;

[0205] and the system further comprises:

[0206] The prediction module 308 is configured to predict the affected parameters of all the fire extinguishing bombs after being hung according to the hangar parameters of all the hangars and the basic parameters of all the fire extinguishing bombs.

[0207] The determination module 302 is further configured to determine the periodic hanging parameters of all the fire extinguishing bombs according to the affected parameters of all the fire extinguishing bombs after being hung.

[0208] The hanging module 307 is further configured to perform the pre-hanging operation on all the fire extinguishing drones in all the hangars according to the periodic hanging parameters of all the fire extinguishing bombs.

[0209] In the optional embodiment, the hangar parameters include the hangar geographic location parameters and / or the hangar environment parameters; the basic parameters include at least one of the fire extinguishing bomb type parameters, the fire extinguishing bomb content parameters and the fire extinguishing bomb mechanical structure parameters; the affected parameters after being hung include at least one of the content moisture parameters after being hung, the content deterioration parameters after being hung and the shell damage parameters after being hung; and the periodic hanging parameters include the periodic hanging time parameters and the periodic hanging quantity parameters.

[0210] It can be seen that the implementation Figure 4 The described unmanned aerial vehicle cooperative control fire extinguishing operation system can comprehensively analyze the pre-hanging operation mode based on multiple parameters, can find various problems that may occur in the hanging process of the fire extinguishing bomb in advance, such as content moisture, deterioration and shell damage, and thus targeted preventive measures can be taken, which not only effectively shortens the response time required for subsequent preparation for fire extinguishing operation, but also effectively guarantees the quality and performance of the fire extinguishing bomb in the subsequent fire extinguishing operation process, and ensures the success rate of the fire extinguishing drone fire extinguishing operation.

[0211] In yet another optional embodiment, the acquisition module 301 is further configured to:

[0212] During the fire extinguishing operation, acquire the current state parameters of all the fire extinguishing drones;

[0213] The determination module 302 is further configured to determine all the to-be-recovered drones whose current state parameters meet the preset unmanned aerial vehicle recovery condition from all the fire extinguishing drones according to the current state parameters of all the fire extinguishing drones, and acquire the current location parameters of all the to-be-recovered drones.

[0214] The acquisition module 301 is further configured to acquire the target hangar parameters of each hangar in the preset multiple hangars;

[0215] and the system further comprises:

[0216] The recovery module 309 is configured to determine a recovery hangar matching the unmanned aerial vehicle to be recovered from all hangars according to the target hangar parameters of all hangars, the current position parameters of the unmanned aerial vehicle to be recovered and the current state parameters, and recover the unmanned aerial vehicle to be recovered by the recovery hangar.

[0217] In the optional embodiment, the current state parameters include at least one of the current remaining power parameters, the current fault parameters and the current remaining fire extinguishing bomb parameters; and the target hangar parameters include the hangar geographic position parameters and the hangar state parameters.

[0218] It can be seen that the implementation Figure 4 The unmanned aerial vehicle cooperative control fire extinguishing operation system described herein can dynamically recover the fire extinguishing unmanned aerial vehicle during the fire extinguishing operation, which is beneficial to improve the recovery accuracy and efficiency of the fire extinguishing unmanned aerial vehicle, and is beneficial to the smooth operation of the hangar, thereby providing a strong guarantee for subsequent unmanned aerial vehicle maintenance, bomb hanging and re-deployment, thereby improving the efficiency and success rate of the entire fire rescue action.

[0219] Embodiment four

[0220] Please refer to Figure 5 , Figure 5 is another structure diagram of the unmanned aerial vehicle cooperative control fire extinguishing operation system according to an embodiment of the present application. As Figure 5 shown, the unmanned aerial vehicle cooperative control fire extinguishing operation system can include:

[0221] a memory 401 storing executable program codes;

[0222] a processor 402 coupled with the memory 401;

[0223] The processor 402 invokes the executable program codes stored in the memory 401 to execute the steps of the unmanned aerial vehicle cooperative control fire extinguishing operation method described in the embodiment one or the embodiment two of the present application.

[0224] Embodiment five

[0225] The embodiment of the present application discloses a computer storage medium, which stores computer instructions, and when the computer instructions are invoked, the steps of the unmanned aerial vehicle cooperative control fire extinguishing operation method described in the embodiment one or the embodiment two of the present application are executed.

[0226] Embodiment six

[0227] The embodiment of the present application discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the unmanned aerial vehicle cooperative control fire extinguishing operation method described in embodiment one or embodiment two.

[0228] The system embodiments described above are only schematic, wherein the modules illustrated as separate components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, i.e., can be located in one place or distributed on multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0229] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable storage medium, including a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a programmable read-only memory (Programmable Read-only Memory, PROM), an erasable programmable read-only memory (Erasable Programmable Read Only Memory, EPROM), a one-time programmable read-only memory (One-time Programmable Read-Only Memory, OTPROM), an electrically erasable programmable read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), a compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0230] Finally, it should be noted that: the disclosed unmanned aerial vehicle cooperative control fire extinguishing operation method and system disclosed in the embodiment of the application is only the preferred embodiment of the application, and is only used to illustrate the technical solutions of the application, but not to limit it; although the application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; It can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A method for fire extinguishing operation by drone cooperative control, characterized in that, The method comprises: When a preset tower monitoring device and / or a reconnaissance unmanned aerial vehicle monitor a fire in a target area, a first observation parameter of the tower monitoring device is acquired; the first observation parameter comprises an observation height parameter, an observation pitch angle parameter, and an observation horizontal angle parameter; A basic device parameter of the tower monitoring device and a pixel coordinate parameter of a fire source area in the target area are acquired; the basic device parameter comprises a pixel size parameter, a device focal length parameter, and a device latitude and longitude parameter; According to the pixel size parameter and the pixel coordinate parameter, an image coordinate parameter of the fire source area is determined, and according to the observation height parameter and the observation pitch angle parameter, a second distance parameter between the tower monitoring device and the fire source area is determined; According to the second distance parameter, the image coordinate parameter, the device focal length parameter, and the device latitude and longitude parameter, a target latitude and longitude parameter of the fire source area is calculated as a first geographic location parameter of the fire source area; According to the first geographic location parameter, a target geographic location parameter of the fire source area is determined; Fire field image data of a target device for the fire source area is acquired, and according to the target geographic location parameter and the fire field image data, a fire extinguishing operation parameter for the fire source area is determined; the target device at least comprises the reconnaissance unmanned aerial vehicle that has flown to the fire source area, and the fire extinguishing operation parameter for the fire source area comprises at least one target hangar required for the fire source area, and a fire extinguishing flight control parameter and a bomb-throwing parameter of each fire extinguishing unmanned aerial vehicle in each target hangar; All the fire extinguishing unmanned aerial vehicles in the fire extinguishing operation parameter range are controlled to fly to the fire source area from all the target hangars, so that networking operation is performed between the reconnaissance unmanned aerial vehicle and all the fire extinguishing unmanned aerial vehicles, and after the networking operation is completed, all the fire extinguishing unmanned aerial vehicles are controlled to perform fire extinguishing operation on the fire source area by the reconnaissance unmanned aerial vehicle and according to the fire extinguishing flight control parameter and the bomb-throwing parameter of all the fire extinguishing unmanned aerial vehicles.

2. The unmanned aerial vehicle cooperative control fire extinguishing operation method according to claim 1, wherein, The calculation of the target latitude and longitude parameter of the fire source area according to the second distance parameter, the image coordinate parameter, the device focal length parameter, and the device latitude and longitude parameter comprises: According to the second distance parameter, the device focal length parameter, and the image coordinate parameter, a to-be-converted coordinate parameter of the fire source area in a device coordinate system matched with the tower monitoring device is determined; According to the observation pitch angle parameter and the observation horizontal angle parameter, an Euler angle parameter of the tower monitoring device is determined, and an observation rotation matrix of the tower monitoring device is calculated according to the Euler angle parameter; According to the observation rotation matrix and a translation matrix between the device coordinate system and an earth coordinate system, a coordinate transformation matrix corresponding to the fire source area is determined, and an earth coordinate parameter of the fire source area in the earth coordinate system is determined according to the to-be-converted coordinate parameter and the coordinate transformation matrix. According to the earth coordinate parameter, the device latitude and longitude parameter, and the earth radius parameter, a target latitude and longitude parameter of the fire source area is determined.

3. The unmanned aerial vehicle cooperative control fire extinguishing operation method according to claim 2, wherein, The coordinate parameter to be converted of the fire source region is: ; wherein, (x, y) are image coordinate parameters of the fire source region, f is a focal length parameter of the device, and Z is the second distance parameter; And the observation rotation matrix of the tower monitoring device is: ; wherein ; Ax, Ay and Az are determined by the Euler angle parameters [AxAyAz] of the tower monitoring device, wherein φ is the observed elevation angle parameter and α is the observed horizontal angle parameter.

4. The unmanned aerial vehicle cooperative control fire extinguishing operation method according to claim 3, wherein, The earth coordinate parameter of the fire source area is: ； wherein, is a coordinate transformation matrix corresponding to the fire source region, and , is the translation matrix; And a target latitude parameter t_lat and a target longitude parameter t_lon in the target latitude and longitude parameter of the fire source area are respectively: t_lat = (lat + Xn / R), t_lon = lon + Yn / R / cos(t_lat); Wherein, lat is a device latitude parameter in the device latitude and longitude parameter, lon is a device longitude parameter in the device latitude and longitude parameter, and R is the earth radius parameter.

5. The method for fire extinguishing operation of drone cooperative control according to any one of claims 1-4, characterized in that, According to the target geographical position parameter and the fire scene image data, a fire extinguishing operation parameter for the fire source area is determined, including: According to the fire scene image data, a target feature parameter of the fire source area is analyzed; the target feature parameter includes a fire source feature parameter and a smoke feature parameter; An environment parameter of the fire source area is obtained, and according to the environment parameter and the target feature parameter, an affected situation of the fire source area is determined; the environment parameter includes at least one of a temperature and humidity parameter, a wind direction parameter, a wind speed parameter, an illumination intensity parameter, a precipitation parameter, a terrain parameter, and a flammable target distribution parameter, and the affected situation includes a fire source affected situation and a smoke affected situation; According to the affected situation and the target feature parameter, a risk level parameter of the fire source area is determined, and according to the risk level parameter, a fire extinguishing unmanned aerial vehicle demand parameter of the fire source area is determined; the fire extinguishing unmanned aerial vehicle demand parameter includes the number and type parameters of all fire extinguishing unmanned aerial vehicles required by the fire source area; According to the target geographical position parameter, the affected situation, the target feature parameter, and the fire extinguishing unmanned aerial vehicle demand parameter, a fire extinguishing operation parameter for the fire source area is determined.

6. The unmanned aerial vehicle cooperative control fire extinguishing operation method according to claim 5, wherein, According to the target geographical position parameter, the affected situation, the target feature parameter, and the fire extinguishing unmanned aerial vehicle demand parameter, a fire extinguishing operation parameter for the fire source area is determined, including: According to the target geographical position parameter, the affected situation, and the target feature parameter, a division operation is performed on the fire source area to obtain a plurality of target sub-areas, and according to a preset fire extinguishing bomb type parameter set and a fire extinguishing bomb fire extinguishing area parameter set, a fire extinguishing bomb demand parameter corresponding to each target sub-area is determined; the fire extinguishing bomb demand parameter includes at least one of a fire extinguishing bomb quantity demand parameter, a fire extinguishing bomb type demand parameter, and a fire extinguishing bomb weight demand parameter; According to the type of each of the fire extinguishing drones, a target capability parameter of each of the fire extinguishing drones is determined, and according to the fire extinguishing bomb demand parameters of all the target sub-regions and the target capability parameters of all the fire extinguishing drones, a target sub-region corresponding to the fire extinguishing operation of each of the fire extinguishing drones, a fire extinguishing flight control parameter for the corresponding target sub-region, and a bomb dropping parameter are determined; the target capability parameter includes at least one of a flight capability parameter, an obstacle avoidance capability parameter, a load capacity parameter, and a hovering capability parameter.

7. The method of fire extinguishing operation by drone cooperation control according to any one of claims 1-4, characterized in that, The control of all the fire extinguishing drones flying to the fire source region to enable the networking operation between the investigation drone and all the fire extinguishing drones includes: Obtaining target networking reference parameters matched with the investigation drone and all the fire extinguishing drones; the target networking reference parameters include at least one of a signal coverage parameter of the fire source region, a first position parameter of the investigation drone, a first communication capability parameter, a second position parameter of all the fire extinguishing drones, and a second communication capability parameter; According to the target networking reference parameters, the communication parameters corresponding to each of the fire extinguishing drones are determined; the communication parameters corresponding to each of the fire extinguishing drones include a communication object parameter corresponding to the fire extinguishing drone and a communication fire extinguishing flight control parameter, and the communication object parameter corresponding to the fire extinguishing drone includes the investigation drone or the investigation drone and a target communication fire extinguishing drone; According to the communication fire extinguishing flight control parameters corresponding to all the fire extinguishing drones, all the fire extinguishing drones are controlled to fly to the corresponding networking node positions in the fire source region to enable the networking operation between the investigation drone and all the fire extinguishing drones. 8.The fire extinguishing operation method of drone cooperative control according to claim 6, wherein, The method further includes: During the fire extinguishing operation, real-time receiving of current fire field image data transmitted by the investigation drone for the fire source region and target conditions corresponding to all the fire extinguishing drones is performed; the target conditions include at least one of a remaining fire extinguishing bomb condition, a drone recovery condition, and a drone replenishment condition; According to the current fire field image data, current characteristic parameters of the fire source region are analyzed; the current characteristic parameters of the fire source region include first current characteristic parameters of all the operated sub-regions in all the target sub-regions and second current characteristic parameters of all the unoperated sub-regions, and the first current characteristic parameters and the second current characteristic parameters each include corresponding current fire source characteristic parameters and current smoke characteristic parameters; According to the first current characteristic parameters of all the operated sub-regions, it is determined whether there is a re-operation sub-region in all the operated sub-regions that does not meet a preset operation effect condition; When the determination result is no, the target sub-regions corresponding to all the fire extinguishing drones, the fire extinguishing flight control parameters for the corresponding target sub-regions, and the bomb-throwing parameters are updated according to the second current characteristic parameters of all the un-operated sub-regions and the target conditions corresponding to all the fire extinguishing drones, so that all the fire extinguishing drones continue to perform the fire extinguishing operation on all the un-operated sub-regions according to the updated fire extinguishing flight control parameters and bomb-throwing parameters of all the fire extinguishing drones; When the determination result is yes, the target sub-regions corresponding to all the fire extinguishing drones, the fire extinguishing flight control parameters for the corresponding target sub-regions, and the bomb-throwing parameters are updated according to the first current characteristic parameters of the re-operated sub-region, the second current characteristic parameters of all the un-operated sub-regions, and the target conditions corresponding to all the fire extinguishing drones, so that all the fire extinguishing drones continue to perform the fire extinguishing operation on all the un-operated sub-regions and the re-operated sub-region according to the updated fire extinguishing flight control parameters and bomb-throwing parameters of all the fire extinguishing drones.

9. The method of claim 1-4, wherein, The method further comprises: Before controlling all the fire extinguishing drones to fly to the fire source region, determining the bomb-hanging parameters of all the fire extinguishing drones according to the target geographical position parameters and the fire field image data; the bomb-hanging parameters include at least one of a bomb-hanging type parameter, a bomb-hanging quantity parameter, and a bomb-hanging weight parameter; Performing a bomb-hanging operation on all the fire extinguishing drones according to the bomb-hanging parameters of all the fire extinguishing drones.

10. The method of claim 1-4, wherein, The method further comprises: Before the target region has a fire, obtaining preset warehouse parameters of each of a plurality of warehouses; the warehouse parameters include a warehouse geographical position parameter and / or a warehouse environment parameter; Obtaining basic parameters of all the fire extinguishing bombs to be hung; the basic parameters include at least one of a fire extinguishing bomb type parameter, a fire extinguishing bomb content parameter, and a fire extinguishing bomb mechanical structure parameter; According to the warehouse parameters of all the warehouses and the basic parameters of all the fire extinguishing bombs, predicting post-hanging affected parameters corresponding to all the fire extinguishing bombs; the post-hanging affected parameters include at least one of a post-hanging content dampness parameter, a post-hanging content deterioration parameter, and a post-hanging shell damage parameter; According to the post-hanging affected parameters corresponding to all the fire extinguishing bombs, determining periodic bomb-hanging parameters corresponding to all the fire extinguishing bombs; the periodic bomb-hanging parameters include a periodic bomb-hanging time parameter and a periodic bomb-hanging quantity parameter; According to the periodic bomb-hanging parameters corresponding to all the fire extinguishing bombs, performing a pre-bomb-hanging operation on all the fire extinguishing drones in all the warehouses.

11. The method of fire extinguishing operation by drone cooperation control according to any one of claims 1-4, characterized in that, The method further comprises: During the fire extinguishing operation, obtaining current state parameters of all the fire extinguishing drones; the current state parameters include at least one of a current remaining power parameter, a current fault parameter, and a current remaining fire extinguishing bomb parameter; According to the current state parameters of all the fire extinguishing drones, determining all the to-be-recovered drones from all the fire extinguishing drones that satisfy preset drone recovery conditions, and obtaining current position parameters of all the to-be-recovered drones; acquire target hangar parameters of each of a plurality of preset hangars; the target hangar parameters include hangar geographic location parameters and hangar state parameters; for each of the unmanned aerial vehicles to be recycled, determine a recycling hangar matching the unmanned aerial vehicle to be recycled from all the hangars according to the target hangar parameters of all the hangars, the current location parameters of the unmanned aerial vehicle to be recycled, and the current state parameters, and perform recycling operation on the unmanned aerial vehicle to be recycled by the recycling hangar.

12. A fire extinguishing operation system using cooperative control of unmanned aerial vehicles, characterized by, The system is used to perform the unmanned aerial vehicle cooperative control fire extinguishing operation method of any one of claims 1-11, and the system comprises: The acquisition module is used to acquire first observation parameters of the tower monitoring device when the tower monitoring device and / or the investigation unmanned aerial vehicle monitor that a fire occurs in a target area; the first observation parameters include observation height parameters, observation pitch angle parameters, and observation horizontal angle parameters; The determination module is used to acquire basic device parameters of the tower monitoring device and pixel coordinate parameters of a fire source area in the target area; the basic device parameters include pixel size parameters, device focal length parameters, and device latitude and longitude parameters; determine image coordinate parameters of the fire source area according to the pixel size parameters and the pixel coordinate parameters, and determine a second distance parameter between the tower monitoring device and the fire source area according to the observation height parameters and the observation pitch angle parameters; calculate target latitude and longitude parameters of the fire source area as first geographic location parameters of the fire source area according to the second distance parameter, the image coordinate parameters, the device focal length parameters, and the device latitude and longitude parameters; and determine target geographic location parameters of the fire source area according to the first geographic location parameters; The acquisition module is also used to acquire fire field image data of the target device for the fire source area; the target device at least includes the investigation unmanned aerial vehicle that has flown to the fire source area; The determination module is also used to determine fire extinguishing operation parameters for the fire source area according to the target geographic location parameters and the fire field image data; the fire extinguishing operation parameters for the fire source area include at least one target hangar required for the fire source area, and fire extinguishing flight control parameters and bomb throwing parameters of each fire extinguishing unmanned aerial vehicle in each target hangar; The control module is used to control all the fire extinguishing unmanned aerial vehicles in the range of the fire extinguishing operation parameters to fly to the fire source area from all the target hangars, so that networking operation is performed between the investigation unmanned aerial vehicle and all the fire extinguishing unmanned aerial vehicles; after the networking operation is completed, the investigation unmanned aerial vehicle controls all the fire extinguishing unmanned aerial vehicles to perform fire extinguishing operation on the fire source area according to the fire extinguishing flight control parameters and the bomb throwing parameters of all the fire extinguishing unmanned aerial vehicles.

13. A fire extinguishing operation system using cooperative control of unmanned aerial vehicles, characterized by, The system comprises: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to perform the unmanned aerial vehicle cooperative control fire extinguishing operation method of any one of claims 1-11.

14. A computer storage medium, characterized in that The computer storage medium stores computer instructions, which are invoked to execute the unmanned aerial vehicle cooperative control fire extinguishing operation method according to any one of claims 1-11.

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