Air-ground collaborative fire extinguishing task planning method
By constructing a simulation method for air-ground coordinated firefighting, the problem of lack of coordination between aerial firefighting and ground firefighting was solved, achieving optimized resource allocation and improved firefighting efficiency, thereby reducing fire losses.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2025-12-03
- Publication Date
- 2026-04-24
AI Technical Summary
In existing firefighting technologies, aerial firefighting and ground firefighting lack coordination, resulting in low firefighting efficiency and unreasonable resource allocation, failing to fully utilize their respective advantages, and increasing fire losses.
A comprehensive air-ground coordinated firefighting simulation method is constructed. By acquiring and analyzing firefighting data, firefighting models of aircraft and ground personnel are established to optimize the allocation of air and ground resources, formulate coordinated strategies, and simulate firefighting operations to improve efficiency.
It integrates the advantages of aerial firefighting and ground firefighting, provides accurate decision-making basis, optimizes resource allocation, improves firefighting efficiency, and reduces fire losses.
Smart Images
Figure CN121920649A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of aviation emergency rescue technology, specifically relating to a method for planning air-ground coordinated firefighting missions. Background Technology
[0002] In forest fire fighting, a single firefighting method is often ineffective. Currently, both aerial and ground firefighting have their limitations. While aerial firefighting can quickly cover large areas, it is greatly affected by weather conditions and is insufficient in accurately dealing with localized fires. Ground firefighting can extinguish fires at close range and with precision, but it is constrained by terrain, transportation, and other factors, resulting in a slower speed to reach the fire scene and lower efficiency in controlling the spread of large-scale fires.
[0003] Existing firefighting research and practice largely consider aerial firefighting and ground firefighting separately, lacking systematic research and simulation methods for their coordinated operations. This leads to difficulties in the efficient allocation of air and ground resources during actual firefighting operations, failing to fully utilize their respective advantages, reducing firefighting efficiency, and increasing fire damage. For example, after aircraft water spraying, ground personnel may fail to promptly follow up to clear remaining embers, resulting in reignition. Therefore, there is an urgent need for a comprehensive firefighting simulation method that considers air-ground coordination to optimize firefighting strategies and improve firefighting efficiency. Summary of the Invention In view of the above problems, this invention provides a method for planning air-ground coordinated firefighting missions, solving the problem of low firefighting efficiency and unreasonable resource allocation caused by the lack of coordination between aerial and ground firefighting in existing firefighting methods. By constructing a comprehensive air-ground coordinated firefighting simulation method, it fully considers the firefighting capabilities of ground personnel and aircraft, achieves optimized allocation of air and ground resources, provides scientific decision-making basis for firefighting commanders, thereby improving the overall firefighting effect and reducing casualties and property losses caused by fires.
[0004] This invention provides a method for planning air-ground coordinated firefighting missions, the specific steps of which are as follows: Step 1: Obtain fire extinguishing data, including aircraft fire extinguishing information, ground fire extinguishing information, and fire extinguishing results, under various fire levels and environmental conditions. Step 2: Classify the firefighting data to obtain the final water spraying firefighting data; based on the final water spraying firefighting data, establish an aircraft firefighting model and a ground personnel firefighting model; Step 3. Based on the arrival time of aircraft and ground personnel at the fire scene, the fire spread trend, and the scale of the fire, analyze the collaborative effect of aircraft and ground personnel under various fire types in historical fire cases, summarize optimization experience, and obtain review results; based on the review results, formulate multiple optimization schemes with the goal of minimizing time consumption, and determine the collaborative strategy of aircraft water spraying and ground personnel fire fighting through simulation calculations. Step 4. Build a simulated fire scenario in the simulation platform. Based on the simulated fire scenario, construct the corresponding geographical scene, meteorological environment and fire spread model. Simulate air-ground coordinated fire fighting operations in real time. According to the coordinated strategy obtained in Step 3, call the aircraft fire fighting model and ground personnel fire fighting model corresponding to the fire type and aircraft model in Step 2 to obtain the simulated fire fighting results of air-ground coordination. By comparing the simulated fire fighting results with actual fire fighting case data, verify the accuracy of the aircraft fire fighting model and ground personnel fire fighting model. Continuously optimize the aircraft fire fighting model and ground personnel fire fighting model until the simulated fire fighting results converge and obtain the final comprehensive fire fighting strategy planning model. Step 5. Use the final integrated fire suppression strategy planning model to plan the integrated fire suppression strategy.
[0005] Optionally, environmental conditions include geographical region, meteorological conditions, and topography; aircraft firefighting information includes aircraft type, water load, flight altitude, flight speed, water spray coverage area, and flight parameters; ground personnel firefighting information includes the number of personnel, the type and quantity of firefighting equipment, the personnel's firefighting capabilities, and the response time from receiving the mission to arriving at the scene.
[0006] Optionally, the fire extinguishing results include the amount of water sprayed for coverage, the total amount of water sprayed, the actual amount of water used to extinguish the fire after spraying, and the actual amount of water used to extinguish the fire after spraying.
[0007] Optionally, in step 2, the aircraft model and fire level are classified, and the amount of water used for spraying and the actual amount of water used for fire extinguishing are analyzed to obtain the final water spraying and fire extinguishing data.
[0008] Optionally, the aircraft fire suppression model includes the aircraft's water spray area and effective fire suppression area.
[0009] Optionally, the ground personnel firefighting model can be established by simulating the advance speed and firefighting range of ground firefighting operations based on the number of personnel, equipment performance, personnel's firefighting skills, fire intensity, and terrain factors.
[0010] Compared with the prior art, the present invention has at least the following beneficial effects: (1) The method of the present invention fully integrates the advantages of aerial firefighting and ground firefighting, breaking the limitation of the two fighting independently, and can more comprehensively and accurately reflect the actual firefighting effectiveness. By quantifying the air-ground coordination effectiveness index, it provides a more accurate basis for firefighting decision-making and avoids the blindness of previous decisions.
[0011] (2) The method of the present invention is based on detailed data processing and collaborative decision-making algorithms, which realizes the optimal allocation of air and ground resources. For example, when facing forest fires, aircraft can be reasonably arranged to carry out large-area water spraying to block the spread of fire at the front end of the fire, according to the fire distribution and terrain conditions. At the same time, ground personnel can be directed to enter the area with weaker fire to clear the remaining fire, thereby improving fire extinguishing efficiency and reducing resource waste.
[0012] (3) The method of the present invention can simulate the air-ground coordinated fire extinguishing process in different scenarios, help fire extinguishing commanders to familiarize themselves with various situations in advance, formulate more scientific fire extinguishing plans, improve the ability to respond to fires, and effectively reduce the losses caused by fires. Attached Figure Description
[0013] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.
[0014] Figure 1 This is a flowchart of the air-ground coordinated firefighting mission planning method of the present invention. Detailed Implementation
[0015] To better understand the above-described objectives, features, and advantages of the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other. Furthermore, the present invention can be implemented in other ways different from those described herein; therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.
[0016] A specific embodiment of the present invention, such as Figure 1 A method for planning air-ground coordinated firefighting missions is proposed, with the following specific steps: Step 1: Obtain fire suppression data, including aircraft fire suppression information, ground fire suppression information, and fire suppression results, for forest fires of different levels under different environmental conditions. Specifically, environmental conditions include geographical region, meteorological conditions, and topography; aircraft firefighting information includes aircraft type, water load, flight altitude, flight speed, water spray coverage area, and flight parameters; ground personnel firefighting information includes the number of personnel, the type and quantity of firefighting equipment, personnel firefighting capabilities, and response time from receiving the mission to arriving at the scene.
[0017] Furthermore, forest fire levels include general forest fires, relatively large forest fires, major forest fires, and extremely large forest fires.
[0018] Furthermore, the fire extinguishing results include the amount of water sprayed for coverage, the total amount of water deployed, and the actual amount of water used to extinguish the fire after spraying.
[0019] Furthermore, the fire extinguishing data is screened and organized to remove erroneous and invalid data, thus obtaining processed fire extinguishing data and ensuring the accuracy and completeness of the data.
[0020] Step 2: Classify the collected fire suppression data according to aircraft type and forest fire level, and analyze the amount of water sprayed and the actual amount of water used for fire suppression to obtain the final fire suppression data; based on the final fire suppression data, establish an aircraft fire suppression model and a ground personnel fire suppression model.
[0021] Specifically, the aircraft fire suppression model combines turbulent jet theory with aircraft performance parameters to calculate the aircraft water spray area and effective fire suppression area under different conditions. Furthermore, the expression for the aircraft's water spray area model is as follows:
[0022]
[0023]
[0024]
[0025]
[0026] in, R represents the area of the aircraft's spray pattern; S0 represents the width of the aircraft's spray pattern; S0 is the area of the water outlet. For correction factor ( ); q The momentum ratio; U represents the crosswind speed at the outlet. L For export longitudinal velocity; Density of water; H is the air density; V is the aircraft's flight altitude; T is the sum of the flight speed and the wind speed in the direction of the aircraft's flight; Q is the spraying time; Q is the water load; flow is the spraying flow rate; and L represents the water hose length.
[0027] Considering the performance differences of different aircraft models, effective fire suppression area coefficient models for different aircraft models under different forest fire levels are established, and the expressions are as follows:
[0028]
[0029]
[0030]
[0031]
[0032] in, The effective fire suppression area coefficient of the aircraft is represented; A, B, C, and D represent relevant parameters. The values of the relevant parameters vary under different fire types and different aircraft models, as shown in Table 1. It is a constant; An inverse proportional function representing the water spray height; A direct proportional function representing the water spraying speed; A direct proportional function representing the water spray height; An inverse proportional function representing the water spraying speed; , , , is an adjustable constant parameter; V is the sum of flight speed and wind speed in the direction of the aircraft's flight. Indicates the percentage of interaction; This indicates the probability of success.
[0033] Furthermore, regarding the uncertainty in the data, an "uncertainty interval" is set ( and The symbol “)” is used to indicate the range of possible results.
[0034] The aircraft types include small helicopters, medium helicopters, large helicopters, single-engine amphibious aircraft, twin-engine amphibious aircraft, single-engine firefighting aircraft, large firefighting aircraft, and super-large firefighting aircraft. Small helicopters refer to helicopters with a maximum takeoff weight of less than 2 tons; medium helicopters refer to helicopters with a maximum takeoff weight between 2 and 6 tons, capable of carrying 4 to 10 personnel and 1 to 3 tons of fire extinguishing agent; large helicopters refer to helicopters with a maximum takeoff weight of more than 6 tons, capable of carrying more personnel and a large amount of fire extinguishing equipment and fire extinguishing agent, with a water carrying capacity of 5 to 10 tons or even more; single-engine amphibious aircraft refer to aircraft powered by a single engine, capable of taking off and landing on both water and land, with a relatively small takeoff weight, usually between a few tons and a dozen tons; multi-engine amphibious aircraft refer to amphibious aircraft powered by two or more engines, with a takeoff weight generally reaching tens of tons, and a water carrying capacity usually reaching 5 to 15 tons or even more; single-engine firefighting aircraft refer to fixed-wing aircraft specifically designed for firefighting, powered by a single engine, with a takeoff weight generally between a few tons and a dozen tons, and a water carrying capacity usually between 1 and 5 tons. Large firefighting aircraft refer to those with a takeoff weight of several tens of tons or more, possessing a large capacity for carrying fire extinguishing agents and a long range; super-large firefighting aircraft refer to those converted from large transport aircraft or passenger planes, with a takeoff weight exceeding 100 tons and an extremely large capacity for carrying water or fire extinguishing agents, such as the "Super Firefighter 944" converted from a Boeing 747, which can carry up to 80 tons of water or fire retardant.
[0035] For example, in a typical forest fire, the effective fire-extinguishing area coefficient C of different aircraft models W As shown in Table 1 below.
[0036] Table 1 Effective area coefficient (C) of different fire extinguishing aircraft types in general forest fires W
[0037] Furthermore, the effective fire extinguishing area S efa The expression is: .
[0038] Specifically, the ground personnel firefighting model simulates the advance speed and fire suppression range of ground firefighting operations based on factors such as the number of personnel, equipment performance, personnel firefighting skills, fire intensity, and terrain. By establishing the ground personnel firefighting model and considering factors such as personnel movement speed and firefighting operation time, the fire suppression range that ground personnel can control within a certain timeframe is determined.
[0039] In typical and larger forest fires, the expression for the ground-based firefighting model is as follows:
[0040]
[0041] In major and catastrophic forest fires, the expression for the ground-based firefighting model is:
[0042]
[0043] Where PL represents the length of the fire line extinguished by ground personnel within a certain time. Real fires are generally in the form of fire lines, with varying lengths and a width of about 5 meters; num represents the total number of ground personnel, and t represents the time it takes for ground personnel to extinguish the fire. This indicates the impact of terrain factors on firefighting speed. The terrain slope of the geographical area where the fire occurred; The range is 1 to 9, which indicates the performance of firefighting equipment and the quality of firefighting skills of ground personnel. The performance of equipment and the firefighting skills of personnel are divided into qualified, good and excellent levels according to the level. The personnel level is determined based on the usual training results. Represents a constant.
[0044] Furthermore, ground personnel firefighting needs to consider personnel fatigue. Based on the actual situation, the ground personnel firefighting model is set so that personnel need to rest for 1 hour after 3 hours of firefighting.
[0045] Step 3. Introduce a collaborative decision-making firefighting method, comprehensively considering factors such as the arrival time of aircraft and ground personnel at the fire scene, the fire spread trend (predicted based on the fire spread model), and the scale of the fire. By reviewing historical fire cases, analyze the collaborative effects of aircraft and ground personnel under different fire types, summarize optimization experience, and obtain review results. Based on the review results, formulate multiple optimization schemes, with the optimization scheme aiming to minimize the time consumption. Determine the collaborative strategy of aircraft water spraying and ground personnel firefighting through simulation calculations.
[0046] For example, taking into account the arrival time of aircraft and ground personnel at the fire scene, the fire spread trend (predicted according to the fire spread model), and the size of the fire, the fire line is divided, with aircraft going to the downwind side to extinguish the fire and ground personnel going to the other side to extinguish the fire; if the ground personnel arrive slowly, one aircraft is dispatched to the side where the ground personnel are to suppress the spread of the flames.
[0047] Furthermore, the expression for the optimized solution is:
[0048] in, This represents the total time spent on both aircraft-based and ground-based water spraying operations. Indicates the time the aircraft arrived at the fire scene; Indicates the time when ground personnel arrived at the fire scene; Indicates the aircraft is in i The time required for each water collection point to complete one water collection and sprinkling task; This indicates the number of water intake points that can be selected for the current firefighting mission; Select the first step during the water spraying process for the aircraft i Decision variables for each water intake point; Indicates the aircraft selection number i Number of times water is collected and sprinkled at each water collection point; Indicates the first j The time required for the team's ground personnel to complete the firefighting mission; Indicates the number of teams of personnel on the ground; Indicates the first j The number of watering tasks assigned to the team's ground personnel.
[0049] For example, during the aircraft water spraying process, the first... i The decision variables for each water intake point are the distance between the water intake point and the fire site, and whether there are high mountains between the water intake point and the fire site (crossing these mountains would be more time-consuming and fuel-intensive, so it would be better to choose a water intake point that is farther away on the other side).
[0050] Furthermore, the constraints for optimizing the solution are as follows:
[0051] For the decision variable of selecting a water collection point during aircraft water spraying, if this water collection point is selected... ,otherwise , i =1, 2, ...
[0052] For example, when aircraft arrive at the scene quickly, priority is given to using them to suppress fires by spraying water on areas with larger fires and those threatening personnel safety. Simultaneously, based on ground traffic conditions, routes are planned for ground personnel to reach the water-sprayed areas for subsequent firefighting operations. By comparing the calculation results of different optimization schemes, the optimal scheme is selected for implementation, improving both firefighting efficiency and safety.
[0053] Furthermore, the expression for the fire spread model is:
[0054] Where Rs is the forest fire spread rate, in m / min; The intensity of the reaction in the flame zone, in kJ / min . m 2 ; For forest fire spread rate; This is the wind speed correction factor; This is the slope correction factor; The density of the combustible material is expressed in kg / m³. 3 ; The effective thermal coefficient; The amount of heat required to ignite a unit of combustible material, expressed in kJ / kg.
[0055] Step 4. Build a simulated fire scenario in the Unity simulation platform. Based on the simulated fire scenario, construct the corresponding geographical scene, meteorological environment, and fire spread model. Simulate air-ground coordinated firefighting operations in real time. According to the coordinated strategy obtained in Step 3, call the aircraft firefighting model and ground personnel firefighting model corresponding to the fire type and aircraft model in Step 2 to obtain the simulated firefighting results of air-ground coordination. By comparing the simulated firefighting results with actual firefighting case data, verify the accuracy of the aircraft firefighting model and ground personnel firefighting model. Continuously optimize the aircraft firefighting model and ground personnel firefighting model until the simulated firefighting results converge, and obtain the final comprehensive firefighting strategy planning model.
[0056] For example, by adjusting the wind speed influence coefficient in the aircraft firefighting model and the personnel firefighting error parameters in the ground personnel firefighting model, the simulation model can be continuously optimized to improve its accuracy and reliability, enabling it to more accurately predict the actual effect of air-ground coordinated firefighting and provide more valuable reference for actual firefighting operations.
[0057] Preferably, the geographical scene includes topography, building distribution, etc.; Meteorological environmental parameters are set to simulate the impact of different meteorological conditions on fire and firefighting operations. A fire spread model is constructed based on the Rothermel model or other suitable models to simulate the dynamic changes in the fire. During the simulation, the flight and water-dropping actions of aircraft and the actions of ground personnel are simulated in real time according to the strategy determined by the collaborative decision-making method. Data from each simulation's firefighting process is recorded, including firefighting time, fire area, and resource consumption.
[0058] Step 5. Use the final integrated fire suppression strategy planning model to plan the integrated fire suppression strategy.
[0059] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.
Claims
1. A method for planning air-ground coordinated firefighting missions, characterized in that, The specific steps are as follows: Step 1: Obtain fire extinguishing data, including aircraft fire extinguishing information, ground fire extinguishing information, and fire extinguishing results, under various fire levels and environmental conditions. Step 2: Classify the fire extinguishing data to obtain the final water spraying fire extinguishing data; Based on the final water spraying firefighting data, an aircraft firefighting model and a ground personnel firefighting model were established. Step 3. Based on the arrival time of aircraft and ground personnel at the fire scene, the fire spread trend, and the scale of the fire, analyze the collaborative effect of aircraft and ground personnel under various fire types in historical fire cases, summarize optimization experience, and obtain review results; based on the review results, formulate multiple optimization schemes with the goal of minimizing time consumption, and determine the collaborative strategy of aircraft water spraying and ground personnel fire fighting through simulation calculations. Step 4. Build a simulated fire scenario in the simulation platform. Based on the simulated fire scenario, construct the corresponding geographical scene, meteorological environment and fire spread model. Simulate air-ground coordinated fire fighting operations in real time. According to the coordinated strategy obtained in Step 3, call the aircraft fire fighting model and ground personnel fire fighting model corresponding to the fire type and aircraft model in Step 2 to obtain the simulated fire fighting results of air-ground coordination. By comparing the simulated fire fighting results with actual fire fighting case data, verify the accuracy of the aircraft fire fighting model and ground personnel fire fighting model. Continuously optimize the aircraft fire fighting model and ground personnel fire fighting model until the simulated fire fighting results converge and obtain the final comprehensive fire fighting strategy planning model. Step 5. Use the final integrated fire suppression strategy planning model to plan the integrated fire suppression strategy.
2. The air-ground coordinated firefighting mission planning method according to claim 1, characterized in that, Environmental conditions include geographical region, meteorological conditions, and topography; aircraft firefighting information includes aircraft type, water load, flight altitude, flight speed, water spray coverage area, and flight parameters; ground personnel firefighting information includes the number of personnel, the type and quantity of firefighting equipment, the personnel's firefighting capabilities, and the response time from receiving the mission to arriving at the scene.
3. The air-ground coordinated firefighting mission planning method according to claim 2, characterized in that, The fire extinguishing results include the amount of water sprayed for coverage, the total amount of water used, the actual amount of water used to extinguish the fire after spraying, and the actual amount of water used to extinguish the fire after spraying.
4. The air-ground coordinated firefighting mission planning method according to claim 3, characterized in that, In step 2, the aircraft type and fire level are classified, and the amount of water sprayed and the actual amount of water used for fire extinguishing are analyzed to obtain the final fire extinguishing data.
5. The air-ground coordinated firefighting mission planning method according to claim 3, characterized in that, The aircraft fire suppression model includes the area covered by the aircraft's water spray and the effective fire suppression area.
6. The air-ground coordinated firefighting mission planning method according to claim 3, characterized in that, The ground personnel firefighting model simulates the advance speed and firefighting range of ground firefighting operations based on the number of personnel, equipment performance, personnel firefighting skills, fire intensity, and terrain factors, thus establishing a ground personnel firefighting model.