Intelligent fire-fighting unmanned aerial vehicle control system and method suitable for high-rise building
The intelligent fire-fighting drone control system enables drones to accurately extinguish internal fires and guide trapped personnel in high-rise building fires, solving the problem that drones are difficult to use for fire extinguishing and rescue inside buildings in existing technologies, and improving rescue efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-21
- Publication Date
- 2026-03-27
AI Technical Summary
Existing firefighting drones are insufficient for effectively extinguishing fires inside high-rise buildings and assisting rescue personnel in carrying out rescue operations.
An intelligent fire-fighting drone control system was designed, equipped with communication equipment, an optical pod, and a launch bay. It carries window-breaking fire extinguishing bombs and, combined with image acquisition equipment and a central control system, enables the drone to fly along a preset route for intelligent fire extinguishing while offline, and guide trapped personnel through the communication equipment.
Drones can fly precisely in complex environments, effectively extinguish fires inside buildings, and assist rescue personnel in carrying out rescue operations through communication equipment, thereby improving rescue efficiency and safety.
Smart Images
Figure CN121731718A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to an intelligent fire-fighting UAV control system and method suitable for high-rise buildings. Background Technology
[0002] The current trend of using drones for high-rise building firefighting stems primarily from the complexity of high-rise building fire rescue and the limitations of traditional firefighting methods. High-rise fires are difficult to extinguish due to complex terrain and numerous obstructions; personnel are often unable to move to ideal locations due to environmental constraints, and rescue personnel also face significant challenges. While fires in high-rise buildings spread rapidly upwards, and traditional firefighting methods are extremely difficult, drones can carry firefighting equipment directly to upper floors to extinguish fires. Furthermore, drones offer rapid response times, eliminate the need for personnel to approach the fire source, and provide high safety.
[0003] The existing technical solutions mentioned above have the following drawbacks: When fire-fighting drones are used to extinguish fires in high-rise buildings, in addition to deploying or using fire-fighting equipment, they also need to extinguish the fire inside the building and assist rescue personnel in carrying out rescue operations. Summary of the Invention
[0004] In order to enable fire-fighting drones to extinguish fires inside buildings and locate and guide trapped personnel, this application provides an intelligent fire-fighting drone control system and method suitable for high-rise buildings.
[0005] On the one hand, the intelligent fire-fighting drone control system for high-rise buildings provided in this application adopts the following technical solution: A smart fire-fighting drone control system suitable for high-rise buildings includes a drone body and control equipment. The drone body is equipped with communication equipment, a launch cabin and an optical pod. The launch cabin is equipped with a window-breaking fire extinguishing bomb. The optical pod is connected to an image acquisition device. The drone body is connected to a central control system, which includes a remote communication module, an information acquisition module, a flight control module, a launch control module and a communication control module. The remote communication module receives information transmitted by the control device and sends information to the control device; The information acquisition module is connected to the optical pod, controls the image acquisition device to acquire image information, and transmits the image information to the remote communication module, which then sends it to the control device. The navigation control module monitors the motion information of the UAV body, determines the current position and attitude of the UAV body in real time based on the motion information, calls the information received by the remote communication module, generates a preset flight path based on the information, and controls the navigation direction of the UAV body according to the preset flight path. The launch control module calls the information received by the remote communication module. If the information includes launch information, then the window-breaking fire extinguishing projectile is launched according to the launch information. The communication control module calls the information received by the remote communication module. If the information includes voice information, it controls the communication device to play the voice information.
[0006] By adopting the above scheme, the fire-fighting drone of this application can collect real-time images and intelligently control the drone's flight according to a preset route. This avoids signal problems caused by altitude and environment affecting the control equipment's direct control of the drone's flight, allowing the drone to still fly along a predetermined trajectory even when offline. It is equipped with window-breaking fire extinguishing bombs, specifically designed to extinguish fires inside buildings, and can guide or comfort trapped personnel through communication equipment, assisting rescue personnel in carrying out rescue operations.
[0007] Preferably, the UAV body is equipped with a double-layer twelve-rotor wing, and the overall control system also includes a data storage module, a geographic judgment module, and an intelligent flight module; The data storage module is pre-loaded with geographic terrain data; The geographic judgment module calls the geographic terrain data stored in the data storage module and the current position and attitude of the UAV body in the navigation control module. Based on the geographic terrain data and the current position of the UAV body, it determines the current low-altitude geographic projection position of the UAV and transmits it to the intelligent flight module. The intelligent flight module has a preset danger distance. The intelligent flight module calls information from the information acquisition module and the navigation control module, and judges the distance between the UAV and the surrounding environment based on the called information. When the distance is less than the danger distance, it generates flight path change information to move away from the environment and transmits the flight path change information to the navigation control module. The navigation control module adjusts the preset flight path according to the flight path change information.
[0008] By adopting the above solution, the drone can intelligently adjust its flight trajectory by referring to the surrounding environment when flying in the complex fire scene, reducing the possibility of the drone hitting the surrounding environment.
[0009] Preferably, the overall control system further includes a temperature monitoring module, a 3D generation module, and a trend judgment module; The temperature monitoring module collects the temperature value around the drone body and transmits the temperature value to the 3D generation module; The 3D generation module has a preset 3D coordinate system and a spacing between annotation points. The 3D generation module calls the preset route already used by the navigation control module, uses the preset route to generate a 3D navigation curve on the 3D coordinate system, matches the temperature value with the route position, selects multiple annotation points on the 3D navigation curve according to the spacing between annotation points, annotates the temperature value on each annotation point, and transmits the annotated 3D navigation curve to the trend judgment module. The trend judgment module has a preset temperature alarm value. Based on the temperature value change of the standard point on the three-dimensional navigation curve and the unused preset route, it predicts the temperature value of the surrounding environment after the UAV body flies along the preset route. If the temperature value of the surrounding environment after the UAV body flies along the preset route exceeds the temperature alarm value, it transmits alarm information to the navigation control module. After receiving the alarm information, the navigation control module stops using the current preset route and sends a route update request to the remote communication module.
[0010] By adopting the above solution, the fire scene will affect the image field of view due to flames and smoke, making it difficult for users to judge the normal flight path of the drone. The drone of this application can judge the surrounding heat source based on the ambient temperature and the flight path already flown. If it is possible to fly to an area with excessively high temperature, it will avoid flying to the preset flight path and request the user to re-determine the flight path.
[0011] Preferably, the trend judgment module has a preset flame temperature. It determines the distance between each standard point and the flame based on the temperature value of each standard point on the three-dimensional navigation curve, estimates the flame position near the preset flight path in the three-dimensional coordinate system, predicts the distance between the UAV body and the flame after the UAV body travels along the preset flight path based on the flame position, and calculates the temperature value of the surrounding environment after the UAV body travels along the preset flight path based on the predicted distance value.
[0012] By adopting the above scheme, the temperature of future flight paths can be more accurately determined by predicting the location of the fire source.
[0013] Preferably, the image acquisition device includes a thermal imager, which acquires thermal imaging information around the UAV. The overall control system also includes a thermal imaging module. The thermal imaging module calls the thermal imaging information from the information acquisition module and the three-dimensional flight curve from the trend judgment module, selects the thermal imaging information received for each marker point, and generates a two-dimensional image of the heat source around the UAV body at the marker point based on the thermal imaging information corresponding to each marker point. After associating the two-dimensional image of the heat source with the standard point, the two-dimensional image of the heat source and the three-dimensional flight curve are transmitted to the remote communication module. The remote communication module sends the two-dimensional image of the heat source and the three-dimensional flight curve to the control device.
[0014] By adopting the above scheme, thermal imaging can be used to roughly determine the outline of the heat source around the drone. However, since the positions of the heat source and the drone are constantly changing, and the temperature of the fire source is much higher than the human body temperature, it is difficult to determine the location of the personnel by the heat source. The system obtains a two-dimensional image of the heat source by outlining the heat source, and combines the two-dimensional image of the heat source with the three-dimensional flight curve so that users can determine the location of the personnel by the changes in historical heat source images.
[0015] On the other hand, the intelligent fire-fighting drone control method for high-rise buildings provided in this application adopts the following technical solution: A control method for intelligent firefighting drones suitable for high-rise buildings, comprising an intelligent firefighting drone control system for high-rise buildings as described above, including the following steps: Monitor the movement information of the drone itself, and determine the current position and attitude of the drone in real time based on the movement information; Acquire image information and send it to the control device; Receive the preset flight path sent by the control equipment, and control the flight direction of the UAV body according to the preset flight path; Receive launch information sent by the control equipment, and control the launch bay to launch window-breaking fire extinguishing bombs according to the launch information; It receives voice information sent by the control device and controls the communication device to play the voice information.
[0016] By adopting the above scheme, the fire-fighting drone of this application can collect real-time images and intelligently control the drone's flight according to a preset route. This avoids signal problems caused by altitude and environment affecting the control equipment's direct control of the drone's flight, allowing the drone to still fly along a predetermined trajectory even when offline. It is equipped with window-breaking fire extinguishing bombs, specifically designed to extinguish fires inside buildings, and can guide or comfort trapped personnel through communication equipment, assisting rescue personnel in carrying out rescue operations.
[0017] Preferably, the following steps are also included: Preset geographic terrain data and danger distances; Determine the current low-altitude geographic projection position of the drone based on geographic terrain data and the current position of the drone itself. Determine the distance between the drone and its surroundings based on the information retrieved; When the distance is less than the danger distance, a route change information is generated to move away from the environment, and the preset route is adjusted according to the route change information.
[0018] By adopting the above solution, the drone can intelligently adjust its flight trajectory by referring to the surrounding environment when flying in the complex fire scene, reducing the possibility of the drone hitting the surrounding environment.
[0019] Preferably, the following steps are also included: Preset standard point distance and temperature alarm values; Collect temperature values around the drone body; A three-dimensional navigation curve is generated on a three-dimensional coordinate system using a preset route, and the temperature value is matched with the route position. Based on the distance between standard points, select multiple marker points on the three-dimensional navigation curve and mark the temperature value at each marker point; Predict the temperature of the surrounding environment after the UAV body flies along the preset route based on the temperature changes of standard points on the three-dimensional flight curve and the unused preset route. If the temperature of the surrounding environment exceeds the temperature alarm value after the drone has flown along the preset route, an alarm message will be sent, the current preset route will be stopped, and a route update request will be sent to the control device.
[0020] By adopting the above solution, the fire scene will affect the image field of view due to flames and smoke, making it difficult for users to judge the normal flight path of the drone. The drone of this application can judge the surrounding heat source based on the ambient temperature and the flight path already flown. If it is possible to fly to an area with excessively high temperature, it will avoid flying to the preset flight path and request the user to re-determine the flight path.
[0021] Preferably, the step of "predicting the temperature of the surrounding environment after the UAV body flies along the preset route based on the temperature value change of the standard point on the three-dimensional flight curve and the unused preset route" further includes: Preset flame temperature; Based on the temperature value of each standard point on the three-dimensional navigation curve, the distance of each standard point from the flame is determined, and the position of the flame near the preset route is estimated in the three-dimensional coordinate system. Based on the location of the flame, the distance between the UAV and the flame is predicted after the UAV travels along the preset route. Based on the predicted distance, the temperature of the surrounding environment after the UAV travels along the preset route is calculated.
[0022] By adopting the above scheme, the temperature of future flight paths can be more accurately determined by predicting the location of the fire source.
[0023] Preferably, the following steps are also included: Collect thermal imaging information around the drone; Select the thermal imaging information received for each marker point, and generate a two-dimensional image of the heat source around the UAV body at the location of the marker point based on the thermal imaging information corresponding to each marker point. After associating the two-dimensional image of the heat source with the standard point, the two-dimensional image of the heat source and the three-dimensional navigation curve are sent to the control equipment.
[0024] By adopting the above scheme, thermal imaging can be used to roughly determine the outline of the heat source around the drone. However, since the positions of the heat source and the drone are constantly changing, and the temperature of the fire source is much higher than the human body temperature, it is difficult to determine the location of the personnel by the heat source. The system obtains a two-dimensional image of the heat source by outlining the heat source, and combines the two-dimensional image of the heat source with the three-dimensional flight curve so that users can determine the location of the personnel by the changes in historical heat source images.
[0025] In summary, the present invention has the following beneficial effects: 1. The firefighting drone of this application can collect real-time images and intelligently control the drone's flight according to a preset route, avoiding signal problems caused by altitude and environment from affecting the control equipment to directly control the drone's flight, so that the drone can still fly along the predetermined trajectory even when offline.
[0026] 2. Equipped with window-breaking fire extinguishing bombs, specifically designed to extinguish fires inside buildings.
[0027] 3. Able to guide or comfort trapped personnel through communication equipment and assist rescue personnel in carrying out rescue operations. Attached Figure Description
[0028] Figure 1 This is an overall system block diagram of Embodiment 1 of this application.
[0029] Explanation of reference numerals in the attached figures: 1. UAV body; 11. Communication equipment; 12. Launch bay; 121. Window-breaking fire extinguishing grenade; 13. Optical pod; 131. Image acquisition equipment; 2. Control equipment; 3. Central control system; 31. Remote communication module; 32. Information acquisition module; 33. Flight control module; 34. Launch control module; 35. Communication control module; 36. Data storage module; 37. Geographical judgment module; 38. Intelligent flight module; 39. Temperature monitoring module; 310. 3D generation module; 311. Trend judgment module; 312. Thermal imaging module. Detailed Implementation
[0030] Example 1: This application discloses an intelligent fire-fighting drone control system suitable for high-rise buildings, including a drone body 1 and control equipment 2. The drone body 1 is equipped with a double-layer twelve-rotor wing. The drone body 1 is equipped with communication equipment 11, a launch bay 12, and an optical pod 13. The launch bay 12 contains window-breaking fire extinguishing bombs 121. The optical pod 13 is connected to an image acquisition device 131, which includes a thermal imager, a high-definition camera, and a laser rangefinder. Because the drone body 1 carries a large amount of equipment and the convective wind speeds between buildings are high, a double-layer twelve-rotor wing is used to increase flight stability and safety. The thermal imager collects thermal imaging information around the drone, the high-definition camera collects image information, and the laser rangefinder detects the distance between the drone body 1 and the surrounding environment.
[0031] like Figure 1 As shown, the UAV body 1 is connected to the central control system 3, which includes a remote communication module 31, an information acquisition module 32, a flight control module 33, a launch control module 34, a communication control module 35, a data storage module 36, a geographic judgment module 37, an intelligent flight module 38, a temperature monitoring module 39, a 3D generation module 310, a trend judgment module 311, and a thermal imaging module 312.
[0032] like Figure 1 As shown, the remote communication module 31 receives information transmitted by the control device 2 and sends information to the control device 2. The information acquisition module 32 is connected to the optical pod 13, controls the image acquisition device 131 to acquire image information, and transmits the image information to the remote communication module 31, which then sends it to the control device 2. The temperature monitoring module 39 acquires the temperature value around the UAV body 1 and transmits the temperature value to the 3D generation module 310.
[0033] like Figure 1 As shown, the navigation control module 33 monitors the motion information of the UAV body 1, determines the current position and attitude of the UAV body 1 in real time based on the motion information, calls the information received by the remote communication module 31, generates a preset route based on the information, and controls the navigation direction of the UAV body 1 according to the preset route.
[0034] like Figure 1 As shown, the launch control module 34 calls the information received by the remote communication module 31. If the information includes launch information, it launches the window-breaking fire extinguishing projectile 121 according to the launch information. The communication control module 35 calls the information received by the remote communication module 31. If the information includes voice information, it controls the communication device 11 to play the voice information.
[0035] like Figure 1 As shown, the data storage module 36 has preset geographic terrain data. The geographic judgment module 37 calls the geographic terrain data stored in the data storage module 36 and the current position and attitude of the UAV body 1 in the navigation control module 33, determines the current low-altitude geographic projection position of the UAV based on the geographic terrain data and the current position of the UAV body 1, and transmits it to the intelligent flight module 38.
[0036] like Figure 1 As shown, the intelligent flight module 38 has a preset danger distance. The intelligent flight module 38 calls upon information from the information acquisition module 32 and the flight control module 33 to determine the distance between the UAV body 1 and the surrounding environment. When the distance is less than the danger distance, it generates flight path change information to move away from the environment and transmits this information to the flight control module 33. The flight control module 33 then adjusts the preset flight path based on the flight path change information. In the complex environment of a fire scene, the UAV can intelligently adjust its flight trajectory by referring to the surrounding environment, reducing the possibility of the UAV colliding with the surrounding environment.
[0037] like Figure 1As shown, the 3D generation module 310 has a preset 3D coordinate system and a spacing between annotation points. The 3D generation module 310 calls the preset route already used by the navigation control module 33, uses the preset route to generate a 3D navigation curve on the 3D coordinate system, matches the temperature value with the route position, selects multiple annotation points on the 3D navigation curve according to the spacing between annotation points, annotates the temperature value on each annotation point, and transmits the annotated 3D navigation curve to the trend judgment module 311.
[0038] like Figure 1 As shown, the trend judgment module 311 has preset temperature alarm values and flame temperatures. Based on the temperature value of each standard point on the three-dimensional flight curve, it determines the distance of each standard point from the flame. It estimates the flame position near the preset flight path in the three-dimensional coordinate system, predicts the distance between the UAV body 1 and the flame after flying along the preset flight path based on the flame position, and calculates the temperature value of the surrounding environment after the UAV body 1 flies along the preset flight path based on the predicted distance value. If the temperature value of the surrounding environment after the UAV body 1 flies along the preset flight path exceeds the temperature alarm value, it transmits an alarm message to the flight control module 33. After receiving the alarm message, the flight control module 33 stops using the current preset flight path and sends a flight path update request to the remote communication module 31. At fire scenes, flames and smoke can affect the image field of view, making it difficult for users to determine the normal flight path of the UAV. The UAV in this application can judge the surrounding heat source situation based on the ambient temperature and the already flown flight path. If it is possible to fly towards an area with excessively high temperatures, it will avoid flying along the preset flight path and request the user to re-determine the flight path.
[0039] like Figure 1 As shown, the thermal imaging module 312 calls the thermal imaging information from the information acquisition module 32 and the three-dimensional flight curve from the trend judgment module 311, selects the thermal imaging information received for each marker point, and generates a two-dimensional image of the heat source around the UAV body 1 at the marker point position based on the thermal imaging information corresponding to each marker point. After associating the two-dimensional image of the heat source with the standard point, the two-dimensional image of the heat source and the three-dimensional flight curve are transmitted to the remote communication module 31. The remote communication module 31 sends the two-dimensional image of the heat source and the three-dimensional flight curve to the control device 2. Thermal imaging can roughly determine the outline of the heat source around the UAV. However, because the positions of the heat source and the UAV are constantly changing, and the temperature of the fire source is much higher than the human body temperature, it is difficult to determine the location of personnel by heat source. The system obtains a two-dimensional image of the heat source by outlining the heat source, and combines the two-dimensional image of the heat source with the three-dimensional flight curve so that users can determine the location of personnel by historical changes in heat source images.
[0040] The implementation principle of the intelligent fire-fighting drone control system and method applicable to high-rise buildings in this application embodiment is as follows: The fire-fighting drone of this application can collect real-time images and intelligently control the drone to fly according to a preset route, avoiding signal problems caused by altitude and environment affecting the control device 2 to directly control the drone's flight, so that the drone can still fly along the predetermined trajectory even when offline. It is equipped with a window-breaking fire extinguishing bomb 121, which is specifically designed to extinguish fires inside buildings, and can guide or comfort trapped personnel through the communication device 11, assisting rescue personnel in carrying out rescue operations.
[0041] Example 2: This application discloses a control method for intelligent firefighting drones suitable for high-rise buildings, including the aforementioned intelligent firefighting drone control system for high-rise buildings. The specific steps are as follows: S100, preset geographical terrain data, danger distance, standard point distance, temperature alarm value, flame temperature.
[0042] S200: Monitor the motion information of the UAV body 1, and determine the current position and attitude of the UAV body 1 in real time based on the motion information.
[0043] S201. Acquire image information: Collect thermal imaging information around the drone and send it to control device 2.
[0044] S202. Collect the temperature value around the drone body 1.
[0045] S300 receives the preset route sent by the control device 2 and controls the navigation direction of the UAV body 1 according to the preset route.
[0046] S301. Determine the current low-altitude geographic projection position of the UAV based on the geographic terrain data and the current position of the UAV body 1.
[0047] S302. Determine the distance between the drone body 1 and the surrounding environment based on the information retrieved.
[0048] S303. When the distance is less than the danger distance, generate flight path change information to move away from the environment, and adjust the preset flight path according to the flight path change information. The fire scene environment is complex, and the drone can intelligently adjust its flight path by referring to the surrounding environment, reducing the possibility of the drone hitting the surrounding environment.
[0049] S400 receives the launch information sent by the control device 2 and controls the launch bay 12 to launch the window-breaking fire extinguishing projectile 121 according to the launch information.
[0050] S401: Receive voice information sent by control device 2 and control communication device 11 to play the voice information.
[0051] S500 uses a preset route to generate a three-dimensional navigation curve in a three-dimensional coordinate system, matching the temperature value with the route position.
[0052] S501. Select multiple marker points on the three-dimensional navigation curve based on the distance between standard points, and mark the temperature value on each marker point.
[0053] S502. Based on the temperature changes at standard points on the three-dimensional flight curve and the unused preset flight path, predict the temperature of the surrounding environment after the UAV body 1 flies along the preset flight path.
[0054] S503. If the temperature of the surrounding environment exceeds the temperature alarm value after the UAV body 1 has traveled along the preset route, an alarm message is sent, the current preset route is stopped, and a route update request is sent to the control device 2.
[0055] S600: Determine the distance between each standard point and the flame based on the temperature value of each standard point on the three-dimensional navigation curve, and estimate the position of the flame near the preset route in the three-dimensional coordinate system.
[0056] S601. Based on the location of the flame, predict the distance between the UAV body 1 and the flame after it travels along the preset route, and calculate the temperature of the surrounding environment after the UAV body 1 travels along the preset route based on the predicted distance.
[0057] S700: Select the thermal imaging information received for each marker point, and generate a two-dimensional image of the heat source around the UAV body 1 at the location of the marker point based on the thermal imaging information corresponding to each marker point.
[0058] S701. After associating the two-dimensional image of the heat source with the standard point, send the two-dimensional image of the heat source and the three-dimensional navigation curve to the control device 2.
[0059] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.
Claims
1. A smart firefighting drone control system suitable for high-rise buildings, characterized in that: The system includes a drone body (1) and a control device (2). The drone body (1) is equipped with a communication device (11), a launch bay (12) and an optical pod (13). The launch bay (12) is equipped with a window-breaking fire extinguishing bomb (121). The optical pod (13) is connected to an image acquisition device (131). The drone body (1) is connected to a central control system (3). The central control system (3) includes a remote communication module (31), an information acquisition module (32), a flight control module (33), a launch control module (34), and a communication control module (35). The remote communication module (31) receives information transmitted by the control device (2) and sends information to the control device (2); The information acquisition module (32) is connected to the optical pod (13), controls the image acquisition device (131) to acquire image information, transmits the image information to the remote communication module (31), and sends it to the control device (2) by the remote communication module (31). The navigation control module (33) monitors the motion information of the UAV body (1), and judges the current position and attitude of the UAV body (1) in real time based on the motion information. The navigation control module (33) calls the information received by the remote communication module (31), generates a preset route based on the information, and controls the navigation direction of the UAV body (1) based on the preset route. The launch control module (34) calls the information received by the remote communication module (31). If the information includes launch information, the window-breaking fire extinguishing bomb (121) is launched according to the launch information. The communication control module (35) calls the information received by the remote communication module (31). If the information includes voice information, it controls the communication device (11) to play the voice information.
2. The intelligent fire-fighting drone control system for high-rise buildings according to claim 1, characterized in that: The UAV body (1) is equipped with a double-layer twelve-rotor wing, and the overall control system (3) also includes a data storage module (36), a geographic judgment module (37), and an intelligent flight module (38); The data storage module (36) is pre-loaded with geographic terrain data; The geographic judgment module (37) calls the geographic terrain data stored in the data storage module (36) and the current position and attitude of the UAV body (1) in the navigation control module (33), and judges the current low-altitude geographic projection position of the UAV based on the geographic terrain data and the current position of the UAV body (1), and transmits it to the intelligent flight module (38). The intelligent flight module (38) has a preset danger distance. The intelligent flight module (38) calls the information of the information acquisition module (32) and the navigation control module (33) to determine the distance between the UAV body (1) and the surrounding environment based on the called information. When the distance is less than the danger distance, it generates route change information away from the environment and transmits the route change information to the navigation control module (33). The navigation control module (33) adjusts the preset route according to the route change information.
3. The intelligent fire-fighting drone control system for high-rise buildings according to claim 1, characterized in that: The overall control system (3) also includes a temperature monitoring module (39), a three-dimensional generation module (310), and a trend judgment module (311); The temperature monitoring module (39) collects the temperature value around the UAV body (1) and transmits the temperature value to the three-dimensional generation module (310); The three-dimensional generation module (310) has a preset three-dimensional coordinate system and a spacing between annotation points. The three-dimensional generation module (310) calls the preset route already used by the navigation control module (33), uses the preset route to generate a three-dimensional navigation curve on the three-dimensional coordinate system, matches the temperature value with the route position, selects multiple annotation points on the three-dimensional navigation curve according to the spacing between annotation points, annotates the temperature value on each annotation point, and transmits the annotated three-dimensional navigation curve to the trend judgment module (311). The trend judgment module (311) has a preset temperature alarm value. Based on the temperature value change of the standard point on the three-dimensional navigation curve and the unused preset route, it predicts the temperature value of the surrounding environment after the UAV body (1) flies along the preset route. If the temperature value of the surrounding environment after the UAV body (1) flies along the preset route exceeds the temperature alarm value, it transmits alarm information to the navigation control module (33). After receiving the alarm information, the navigation control module (33) stops using the current preset route and sends a route update request to the remote communication module (31).
4. The intelligent fire-fighting drone control system for high-rise buildings according to claim 3, characterized in that: The trend judgment module (311) has a preset flame temperature. It judges the distance between each standard point and the flame based on the temperature value of each standard point on the three-dimensional navigation curve. It estimates the flame position near the preset route in the three-dimensional coordinate system. It predicts the distance between the UAV body (1) and the flame after the UAV body (1) travels along the preset route based on the flame position. It calculates the temperature value of the surrounding environment after the UAV body (1) travels along the preset route based on the predicted distance value.
5. A smart fire-fighting drone control system for high-rise buildings according to claim 3, characterized in that: The image acquisition device (131) includes a thermal imager, which acquires thermal imaging information around the UAV. The control system (3) also includes a thermal imaging module (312). The thermal imaging module (312) calls the thermal imaging information of the information acquisition module (32) and the three-dimensional flight curve of the trend judgment module (311), selects the thermal imaging information received for each marker point, and generates a two-dimensional image of the heat source around the UAV body (1) at the marker point based on the thermal imaging information corresponding to each marker point. After associating the two-dimensional image of the heat source with the standard point, the two-dimensional image of the heat source and the three-dimensional flight curve are transmitted to the remote communication module (31). The remote communication module (31) sends the two-dimensional image of the heat source and the three-dimensional flight curve to the control device (2).
6. A control method for intelligent firefighting drones suitable for high-rise buildings, comprising an intelligent firefighting drone control system for high-rise buildings as described in any one of claims 1-5, characterized in that, Includes the following steps: Monitor the motion information of the UAV body (1) and determine the current position and attitude of the UAV body (1) in real time based on the motion information; Acquire image information and send it to the control device (2); Receive the preset route sent by the control device (2), and control the navigation direction of the UAV body (1) according to the preset route; Receive the launch information sent by the control device (2), and control the launch cabin (12) to launch the window-breaking fire extinguishing bomb (121) according to the launch information; Receive voice information sent by the control device (2) and control the communication device (11) to play the voice information.
7. A control method for intelligent firefighting drones applicable to high-rise buildings according to claim 6, characterized in that, It also includes the following steps: Preset geographic terrain data and danger distances; The current low-altitude geographic projection position of the UAV is determined based on the geographic terrain data and the current position of the UAV body (1). The distance between the drone body (1) and the surrounding environment is determined based on the information retrieved; When the distance is less than the danger distance, a route change information is generated to move away from the environment, and the preset route is adjusted according to the route change information.
8. A control method for intelligent firefighting drones applicable to high-rise buildings according to claim 6, characterized in that, It also includes the following steps: Preset standard point distance and temperature alarm values; Collect the temperature value around the UAV body (1); A three-dimensional navigation curve is generated on a three-dimensional coordinate system using a preset route, and the temperature value is matched with the route position. Based on the distance between standard points, select multiple marker points on the three-dimensional navigation curve and mark the temperature value at each marker point; Based on the temperature changes at standard points on the three-dimensional flight curve and the unused preset flight path, predict the temperature of the surrounding environment of the UAV body (1) after it flies along the preset flight path; If the temperature of the surrounding environment exceeds the temperature alarm value after the UAV body (1) flies along the preset route, an alarm message is sent, the current preset route is stopped, and a route update request is sent to the control device (2).
9. A control method for intelligent firefighting drones applicable to high-rise buildings according to claim 8, characterized in that, The step "predicting the temperature of the surrounding environment of the UAV body (1) after it travels along the preset route based on the temperature changes of standard points on the three-dimensional flight curve and the unused preset route" also includes: Preset flame temperature; Based on the temperature value of each standard point on the three-dimensional navigation curve, determine the distance of each standard point from the flame, and estimate the position of the flame near the preset route in the three-dimensional coordinate system. Based on the location of the flame, the distance between the UAV body (1) and the flame after it travels along the preset route is predicted, and the temperature of the surrounding environment after the UAV body (1) travels along the preset route is calculated based on the predicted distance.
10. A control method for intelligent firefighting drones applicable to high-rise buildings according to claim 8, characterized in that, It also includes the following steps: Collect thermal imaging information around the drone; Select the thermal imaging information received for each marker point, and generate a two-dimensional image of the heat source around the UAV body (1) at the location of the marker point based on the thermal imaging information corresponding to each marker point. After associating the two-dimensional image of the heat source with the standard point, the two-dimensional image of the heat source and the three-dimensional navigation curve are sent to the control device (2).