Fire point identifying and throwing system for helicopter bucket fire extinguishment

Abstract

The invention discloses a helicopter bucket fire extinguishing fire point identifying and throwing system, and relates to the technical field of aviation fire extinguishment, the system collects and processes fire scene data through a fire point three-dimensional sensing module, distributes task priority and a water throwing sequence through a multi-machine cooperative scheduling module, and distributes a water and fire extinguishing agent mixed medium through a composite medium proportioning module; the atomizing and throwing execution module intelligently adjusts parameters to execute operation, and the closed-loop feedback optimization module collects data dynamic optimization parameters after throwing, so that efficient fire extinguishing and dynamic adjustment are achieved; according to the invention, through multi-dimensional perception and multi-machine cooperative scheduling, comprehensive collection of fire scene data and scientific distribution of tasks are realized, and operation conflicts are avoided; the fire extinguishing accuracy and the action effect are improved by means of on-demand matching and intelligent atomization throwing of the composite medium; and the whole process is continuously optimized in combination with closed-loop feedback, an efficient regulation and control system is formed, and the overall efficiency and the resource utilization rate of helicopter bucket fire extinguishing are improved.

Description

Technical Field

[0001] This invention relates to the field of aviation firefighting technology, specifically a helicopter bucket fire extinguishing system for identifying and distributing fire extinguishing materials. Background Technology

[0002] Helicopter-borne water bombing, as an important aerial firefighting method, is widely used in forest and grassland fires, urban high-altitude fires, and fire suppression in areas inaccessible to ground firefighting forces due to its advantages of mobility, wide operating range, and lack of terrain limitations. With the continuous improvement of fire prevention and control systems, the complexity and variability of various fire scenarios have continuously increased the requirements for aerial firefighting technology. Accurate identification of fire points in the fire scene, coordinated operation of multiple helicopters, scientific adaptation of fire extinguishing media, and precise execution of scattering operations have become the core points for improving the efficiency and effectiveness of aerial firefighting operations. Currently, the field of aerial firefighting is developing towards intelligence, systematization, and collaboration. There is an urgent need in the industry for firefighting systems that can achieve integrated fire point detection, task scheduling, media ratio, scattering execution, and effect optimization. Achieving intelligent control of the entire firefighting operation process through multi-device integration and multi-algorithm deployment has become an important direction for the research and development of aerial firefighting technology.

[0003] Traditional helicopter water-dropping firefighting technology suffers from numerous technical shortcomings in practical applications. Its overall operational intelligence is low, making it difficult to adapt to the demands of complex fire scenes. In fire point identification, traditional sensing methods are relatively simplistic, relying heavily on single devices to collect fire scene data. This fails to acquire multi-dimensional data on the fire point and its surrounding environment, resulting in a lack of comprehensive data support for judging fire type and fire situation, leading to potential identification errors. Furthermore, multi-aircraft operations lack a scientific scheduling mechanism, with task allocation primarily relying on human experience, failing to consider both the actual fire situation and the real-time helicopter status, resulting in low collaborative efficiency. The order of water drops and drop point planning lack rationality, and the use of a single type of extinguishing medium limits its effectiveness due to the inability to flexibly adjust the ratio based on fire characteristics. Additionally, the parameter adjustments for the spraying operation lack intelligent basis, resulting in poor coverage and utilization efficiency of the medium. Moreover, traditional technology lacks a robust feedback mechanism for operational effects, making it impossible to adjust operational strategies promptly based on firefighting results, easily leading to resource waste and even delays in optimal firefighting opportunities. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a helicopter bucket fire extinguishing system with fire point identification and dispensing capabilities. This system collects fire scene data through a three-dimensional fire point perception module, allocates tasks through a multi-aircraft collaborative scheduling module, mixes fire extinguishing media through a composite medium proportioning module, accurately dispenses the extinguishing media through a misting dispensing execution module, and dynamically adjusts parameters through a closed-loop feedback optimization module. This system achieves accurate fire point identification, multi-aircraft collaborative operation, media adaptation to fire points, and intelligent adjustment of dispensing parameters, effectively improving fire extinguishing efficiency and effectiveness, and forming a closed-loop optimization mechanism throughout the entire process.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a helicopter bucket fire extinguishing system with fire point identification and dispensing capability, the system comprising: Fire point 3D perception module: integrates lidar, infrared thermal imager and visible light camera to collect various data of the fire scene and preprocess them, and output standardized parameters; Multi-aircraft collaborative scheduling module: It adopts a master-slave formation architecture, consisting of 1 command helicopter and 3-5 water-dropping helicopters. It deploys a multi-aircraft task weight allocation algorithm, receives standardized parameters, collects real-time status data of each helicopter, calculates task allocation weights and determines the operation priority, water-dropping order and drop point of each helicopter, completes task allocation and issues operation instructions. Composite medium proportioning module: includes a dual-chamber isolated bucket, equipped with proportioning adjustment and mixing components. The dual-chamber isolated bucket is loaded with water and high-efficiency fire extinguishing agent respectively. According to the operation instructions of the multi-machine coordinated dispatch module, the outflow ratio of the two media is adjusted by proportioning, and then the two media are fully and evenly mixed to provide a suitable composite fire extinguishing medium for atomized spraying. Atomizing and spraying execution module: includes an adjustable atomizing nozzle array and a spraying controller, receives fire point parameters, medium state parameters and operation instructions, uses a spraying parameter intelligent adaptation algorithm to calculate the adaptability of spraying parameters, adjusts relevant spraying parameters and executes atomizing and spraying operations; Closed-loop feedback optimization module: Integrates infrared thermal imager and data processor, collects fire data after spraying, compares the data before and after spraying to calculate and update relevant parameters, and feeds the updated parameters back to the other modules to drive each module to perform dynamic parameter optimization.

[0006] Furthermore, in the fire point 3D perception module, the lidar, infrared thermal imager, and visible light camera are all deployed on the command helicopter. The lidar continuously emits laser beams towards the fire scene and receives signals after the laser beams are reflected by obstacles and the surface of the fire point, acquiring data on the 3D coordinates of the fire point and surrounding terrain, the fire point height, the fire point coverage area, terrain slope, and the distribution location of obstacles; the infrared thermal imager captures images of the fire scene temperature distribution, collecting the average temperature, maximum temperature, and distribution range of different temperature zones of the fire point, distinguishing between open flames, smoldering flames, and embers, and monitoring the flame temperature gradient; the visible light camera acquires color images of the fire scene, collecting... The system collects data on the appearance characteristics of combustibles at the fire site, the distribution range of combustibles, the shape of the flames at fire points, and the boundary contours of the fire head and fire line. It identifies the types of combustibles, preprocesses the collected raw data to remove abnormal data and noise, and constructs a three-dimensional model of the fire site. The built-in fire point feature library contains a database of different fire point types, combustion characteristics, and terrain parameters, which is trained from historical fire suppression data of forest / urban fires. It analyzes the preprocessed data to identify fire point types such as fire head, fire line, and lingering fire, normalizes parameters such as fire intensity, spread rate, and terrain complexity, and outputs standardized parameters to the multi-machine collaborative scheduling module.

[0007] Furthermore, in the multi-machine collaborative scheduling module, the mathematical expression of the multi-machine task weight allocation algorithm is:

[0008] in, Assign a weight to the j-th helicopter for the i-th fire point; i is the index of the fire point, representing the i-th fire point; j is the index of the helicopter, representing the j-th helicopter; The fire intensity of the i-th fire point is obtained by normalizing the average temperature of the fire points, and its value ranges from 0 to 1. The spread rate of the i-th fire point is obtained by normalizing the fire head movement rate, and its value ranges from 0 to 1. is the terrain complexity of the i-th fire point, which is obtained by normalizing the terrain slope and obstacle density, and its value ranges from 0 to 1. The real-time distance from the j-th helicopter to the i-th fire point is in meters, and the reciprocal is taken after normalization for calculation. The remaining resource coefficient of the j-th helicopter is obtained by weighting and normalizing the remaining water and fuel quantities, and its value ranges from 0 to 1. , The two are weighting coefficients, and their sum is 1. They can be dynamically adjusted according to different fire extinguishing scenarios.

[0009] Furthermore, in the multi-aircraft collaborative scheduling module, the real-time status data of each helicopter includes the real-time three-dimensional position coordinates, flight attitude angles, flight speeds, remaining fuel, remaining water in the bucket, working status of onboard equipment, and current operational route information of the command helicopter and the water-dropping helicopter. This data is collected in real time by the onboard sensors of each helicopter and transmitted to the command helicopter via a data link. It is used to support the calculation of the multi-aircraft task weight allocation algorithm and provide data support for determining the operation priority, water drop sequence, and drop point.

[0010] Furthermore, in the multi-aircraft collaborative scheduling module, the task priority is sorted according to the task allocation weight value calculated by the multi-aircraft task weight allocation algorithm. The higher the weight value, the higher the priority of the helicopter's operation on the target fire point. The priority sorting comprehensively considers the fire intensity, spread speed, terrain complexity, real-time distance between the helicopter and the fire point, and the remaining resource coefficient of the helicopter. The water drop sequence is executed in descending order of task priority. At the same time, combined with the collaborative scheduling strategy under the master-slave formation architecture, helicopters that are closer to the fire point and have more remaining resources are given priority to perform the first round of water drop operations. The order is dynamically adjusted according to the real-time changes in the fire and the effect of the previous water drop. The subsequent water drop sequence is adjusted. When multiple operational helicopters are available for the same fire point, water is dropped sequentially according to the weight value of each helicopter for that fire point, from high to low. When a helicopter completes water drop or its status no longer meets the operational conditions, the command helicopter will recalculate the weights and update the water drop sequence to ensure the continuity and targeting of the water drop operation. The drop points are delineated based on the three-dimensional perception data of the fire point, focusing on covering the fire front, fire wings, and key areas at the forefront of fire spread. At the same time, the spatial distribution of drop points is optimized by combining the real-time flight attitude of the helicopters, safe flight altitude, and on-site wind speed and direction factors, so that the drop areas of each helicopter are connected to form a continuous fire extinguishing coverage zone, thereby improving the overall fire extinguishing efficiency.

[0011] Furthermore, in the multi-aircraft collaborative scheduling module, task allocation is coordinated by the command helicopter. Based on the task allocation weight of each helicopter calculated by the multi-aircraft task weight allocation algorithm, combined with the determined operation priority, water drop sequence and drop point, the fire-fighting operation task is allocated to each water-dropping helicopter. During the allocation process, the real-time status and operation capability of each helicopter are taken into account to ensure that the task allocation is scientific and reasonable and the load is balanced, avoiding task overlap or resource waste. At the same time, the task allocation is verified and confirmed to ensure that the allocation result is accurate. The operation instructions include the exclusive operation tasks of each water-dropping helicopter, specifically the specified fire point, operation priority, water drop sequence, three-dimensional coordinates of the drop point, flight path planning, water drop timing, bucket drop angle and speed, and status feedback requirements during the operation. The command helicopter issues the operation instructions to each water-dropping helicopter through a dedicated data link to ensure efficient and error-free instruction transmission, guide each water-dropping helicopter to carry out fire-fighting operations in an orderly manner, and simultaneously receive instruction execution feedback from each helicopter to monitor the operation progress in real time.

[0012] Furthermore, in the atomizing and spraying execution module, the composite extinguishing medium is a water-based composite system adapted to helicopter atomizing and spraying operations, possessing both cooling and heat-reducing and asphyxiating flame-retardant effects. It uses water as the base carrier, mixed with a high-efficiency, environmentally friendly extinguishing agent in a specific ratio tailored to the fire extinguishing needs. This allows for rapid penetration into the fire ignition point, inhibiting fire spread and interrupting the combustion chain reaction, adapting to extinguishing needs of different fire intensities. The composite extinguishing medium is prepared in stages using a dual-chamber isolated bucket and supporting components. The dual-chamber isolated bucket independently holds water and a high-efficiency... To prevent the extinguishing agent from being mixed with the two media in advance, which would lead to a decrease in effectiveness, the composite medium proportioning module receives the operation instructions issued by the multi-machine collaborative scheduling module and adjusts the outflow ratio of water and high-efficiency extinguishing agent through the proportioning adjustment component. This ensures that the proportion meets the current fire extinguishing requirements. The two media, after adjustment, enter the mixing component simultaneously and are thoroughly stirred and mixed to form a composite extinguishing medium with uniform texture and stable effectiveness. This ensures that its physical properties are compatible with the atomization and dispersal process, providing reliable medium support for subsequent high-efficiency fire extinguishing and ensuring that the extinguishing medium can effectively act on the fire point after dispersal.

[0013] Furthermore, in the atomization and spraying execution module, the mathematical expression for the intelligent adaptation algorithm of the spraying parameters is:

[0014] in, Representing the Type of ignition point for the first The suitability of the spraying parameters ranges from 0 to 1. A higher suitability value indicates that the spraying parameters are more suitable for the current fire extinguishing needs. A fire point type index is assigned to distinguish the kth type of fire point based on different fuel types and combustion intensities. The spraying parameters are indexed and include three categories: composite medium ratio, atomized particle size, and spray angle. Corresponding to the Item spraying parameters; Representing the The combustion characteristic coefficient of the ignition point is obtained by normalizing the ignition point fuel type and real-time flame temperature. The value range is 0-1. The stronger the flammability of the fuel and the higher the flame temperature, the larger the value of this coefficient. Representing the The fire extinguishing efficiency of the spraying parameters is obtained from the output of the efficiency model trained by historical fire extinguishing operation data. The value ranges from 0 to 1, and the larger the value, the better the fire extinguishing effect of the parameter. Representing the Seed ignition point use The deviation of the fire extinguishing effect after the application of various parameters is obtained by normalizing the rate of change of fire point temperature collected by the feedback module and taking the reciprocal. The smaller the value, the better the fire extinguishing effect. The reciprocal is then used in the calculation. Representing the The environmental impact factor of the ignition point is obtained by normalizing the terrain slope and real-time wind speed of the area where the ignition point is located. The value range is 0-1, and the larger the value, the more unfavorable the environment is to the fire fighting operation. , The two represent weighting coefficients and satisfy the following conditions: + =1, which can be dynamically adjusted according to the fire extinguishing target.

[0015] Furthermore, in the atomizing spraying execution module, the atomizing spraying operation is completed by an adjustable atomizing nozzle array under the control of the spraying controller. Relying on an intelligent adaptation algorithm for spraying parameters, it is carried out in an orderly manner in conjunction with received fire point parameters, medium state parameters, and operation instructions. Before operation, a fixed spraying angle and range are preset, with the preset spraying angle being 0°-180° horizontally and 30°-90° vertically, which can be flexibly fine-tuned according to the fire point location. The preset spraying range is set according to the fire point area, with a preset range of 5m for small fire points. 2 -15m 2 Medium-sized fire point 15m 2 -30m 2 Large fire point 30m 2 -50m 2 It can be flexibly adapted to the actual area of ​​the fire point to ensure full coverage of the fire point without wasting media. During operation, the spraying controller adjusts the atomization particle size, spray angle and media outflow rate of the nozzle array according to the adaptability of the spraying parameters output by the algorithm, so that the uniformly atomized composite fire extinguishing medium is sprayed to the target fire point at a preset angle and range, ensuring that the medium fully covers the fire point area. At the same time, the spraying status parameters are collected in real time and fed back to the collaborative scheduling module for dynamic fine-tuning of parameters to ensure efficient and accurate atomization spraying operation and improve fire extinguishing effect.

[0016] Furthermore, in the closed-loop feedback optimization module, the post-dispensing fire data reflects the real-time status of the fire, the extinguishing effect, and the action of the extinguishing medium after the atomized dispensing operation, and supports parameter optimization. This data mainly includes real-time temperature of each area of ​​the fire, temperature change rate, specific location of unextinguished areas, range of extinguished areas, coverage and distribution of the composite extinguishing medium on the fire, real-time changes in the surrounding terrain and wind speed, real-time decay of fire intensity, and reaction effect data between the composite extinguishing medium and the fire fuel. This data is processed through infrared thermal imaging integrated into the closed-loop feedback optimization module. The imager and data processor work together to acquire data. The infrared thermal imager is aimed at the entire target fire area after the spraying is completed, continuously capturing infrared thermal images of the fire area. It simultaneously collects temperature information and temperature change dynamics at various points in the fire area. The data processor simultaneously receives the raw image data and temperature data transmitted by the infrared thermal imager, performs noise reduction, normalization and analysis on the collected raw data, removes invalid interference data, and extracts effective information reflecting the true state of the fire area. Finally, it forms complete and accurate fire area data after spraying, providing reliable data support for subsequent parameter calculation and update and dynamic optimization of various modules.

[0017] Compared with existing technologies, this helicopter bucket fire extinguishing system with fire point identification and dispensing capabilities has the following advantages: I. This invention integrates multiple types of sensing devices to build a three-dimensional fire point sensing module, enabling comprehensive collection and refined preprocessing of multi-dimensional fire scene data. Combined with a master-slave formation architecture, it constructs a multi-aircraft collaborative scheduling module. Relying on a dedicated algorithm, it completes task weight calculation and overall planning of operational elements. Multi-dimensional sensing methods can overcome the limitations of information collection by a single device, accurately capturing various characteristics of the fire scene and the core attributes of the fire point, providing comprehensive and accurate basic data for subsequent operations. Multi-aircraft collaborative scheduling can comprehensively consider the actual fire situation and the real-time operational capabilities of each helicopter, achieving scientific allocation and orderly scheduling of firefighting tasks. This allows multiple helicopters to form an efficient collaborative system for firefighting operations, effectively avoiding resource conflicts, operational overlaps, and blind spots in the fire scene during multi-aircraft operations, and significantly improving the overall scheduling efficiency and task execution targeting of helicopter bucket firefighting operations.

[0018] II. This invention utilizes a dual-cavity isolated structure to construct a composite medium mixing module, enabling on-demand and uniform mixing of extinguishing media. Combined with an adjustable atomizing nozzle array and a proprietary algorithm, it constructs an atomization spraying execution module, achieving intelligent adaptation and precise control of spraying parameters. Simultaneously, relying on a closed-loop feedback optimization module, it achieves comprehensive collection and comparative analysis of fire scene data after spraying. The customized composite extinguishing media can accommodate multiple extinguishing effects, precisely adapting to the extinguishing needs of different fire points and improving the effectiveness of the medium. Intelligent atomization spraying allows the extinguishing media to cover the target fire area as needed, enhancing the interaction between the medium and the fire point. Closed-loop feedback enables dynamic parameter updates through data comparison and feeds back to each functional module, promoting dynamic optimization and adjustment of the entire firefighting operation process, continuously improving the extinguishing effect, reducing ineffective consumption of firefighting resources, and establishing a scientific control system for the entire process of helicopter bucket firefighting operations.

[0019] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0021] Figure 1 A flowchart of a helicopter bucket fire extinguishing system for identifying and distributing fire extinguishing materials; Figure 2 This is a data transmission diagram of a helicopter bucket fire extinguishing system for identifying and distributing fire extinguishing equipment. Figure 3 This is a schematic diagram of data transmission for the composite medium proportioning module of the present invention. Detailed Implementation

[0022] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0023] Example 1: Application of helicopter bucket fire suppression system with fire point identification and dispensing capabilities in mountainous forest fire scenarios This embodiment is applied to a mountain forest fire scenario. The area has undulating terrain with diverse slopes, and the fire is characterized by numerous scattered open flames, smoldering fires, and embers. Combustible materials mainly consist of trees, shrubs, dead branches and leaves, and herbaceous plants. The intermingling of these materials makes the fire susceptible to rapid spread due to terrain and wind direction. Furthermore, there is insufficient ground firefighting support in the surrounding mountainous area. Multiple specialized firefighting helicopters were deployed to form a firefighting formation, and the helicopter-borne bucket fire point identification and dispensing system of this invention was fully utilized for aerial firefighting operations. The system's modules work collaboratively to achieve precise and efficient handling of the mountain forest fire. Figure 1 As shown.

[0024] The 3D fire detection module is activated, and the integrated lidar, infrared thermal imager, and visible light camera are deployed on the command helicopter, allowing the helicopter to start up and debug the equipment in a safe airspace over the fire area. The lidar continuously emits laser beams into the fire area and surrounding mountainous regions, receiving laser signals reflected from fire obstacles and the surface of the fire point. It accurately acquires the 3D coordinates, fire point height, fire point coverage area, terrain slope, and obstacle distribution data of the fire point and surrounding terrain, providing precise terrain data support for subsequent flight path planning and deployment point delineation. The infrared thermal imager continuously captures images of the fire area's temperature distribution, meticulously collecting the average temperature, maximum temperature, and distribution range of different temperature zones at the fire point. It accurately distinguishes between open flames, smoldering fires, and embers, and monitors the temperature gradient changes of the flames in real time, providing temperature data for judging the fire situation. The visible light camera simultaneously acquires color images of the fire area, clearly capturing the appearance characteristics of combustibles, the distribution range of combustibles, the shape of the flames at the fire point, and the boundary contours of the fire head and fire line. Relying on image recognition capabilities, it accurately distinguishes different types of combustibles such as trees and shrubs. The module performs centralized preprocessing on all raw data collected by lidar, infrared thermal imager, and visible light camera. It uses professional algorithms to remove abnormal data and noise caused by the complex mountainous environment. Based on the processed effective data, it constructs an accurate 3D fire scene model. The module's built-in fire point feature library performs in-depth analysis on the 3D model and various types of data, accurately identifies the fire point types in different areas, and then normalizes all fire point-related parameters to output standardized fire point parameters, providing a unified and accurate data foundation for the subsequent work of each module.

[0025] The multi-aircraft collaborative scheduling module receives standardized parameters output from the fire point 3D perception module. Simultaneously, it uses onboard sensors on each helicopter to collect real-time 3D position coordinates, flight attitude angles, flight speeds, remaining fuel, remaining water in the buckets, onboard equipment status, and current operational flight path information for the command helicopter and all water-dropping helicopters within the formation. This real-time status data is rapidly transmitted to the command helicopter via a dedicated data link, providing comprehensive helicopter status support for multi-aircraft collaborative scheduling. The multi-aircraft collaborative scheduling module relies on a multi-aircraft task weight allocation algorithm, the mathematical expression of which is:

[0026] in, Assign weights to the j-th helicopter's mission to the i-th fire point; Let be the fire intensity of the i-th fire point; Let i be the spread rate of the i-th fire point; Let be the terrain complexity of the i-th fire point; Let be the real-time distance from the j-th helicopter to the i-th fire point; Let be the remaining resource coefficient of the j-th helicopter; , Using weighting coefficients, the system combines the fire intensity, spread speed, and terrain complexity of each fire point in the fire area, while also taking into account key factors such as the real-time distance of each helicopter to the corresponding fire point and the remaining resource coefficient. It accurately calculates the task allocation weight of each helicopter for different fire points, and sorts the operation priority of each helicopter according to the calculated task allocation weight value. It plans a scientific water drop sequence based on the wind direction changes and fire spread direction in the mountain fire area, and delineates key fire-fighting areas such as the fire head, fire wings, and fire spread front as core drop points based on the three-dimensional perception data of the fire points. At the same time, it optimizes the spatial distribution of drop points according to the characteristics of the mountain terrain, so that the drop areas of each helicopter can be connected. While taking into account the real-time status and operational capabilities of each helicopter, a scientific task allocation is completed. The command helicopter accurately sends exclusive operational instructions, including the designated fire point, operational priority, water drop sequence, three-dimensional coordinates of the drop point, flight path planning, water drop timing, bucket drop angle and speed, and status feedback requirements during the operation, to each water drop helicopter through a dedicated data link. This ensures that each water drop helicopter understands the operational requirements. At the same time, the command helicopter continuously receives instruction execution feedback from each water drop helicopter and monitors the overall firefighting operation progress in real time.

[0027] Upon receiving operational instructions from the command helicopter, each water-dropping helicopter immediately activates the composite medium mixing module. The module's dual-chamber, isolated buckets are already loaded with water and high-efficiency extinguishing agent separately. This dual-chamber design effectively prevents the water and agent from mixing before receiving operational instructions, preserving the original properties of both media. Based on the fire type and intensity specified in the operational instructions, the composite medium mixing module precisely adjusts the outflow ratio of water and high-efficiency extinguishing agent using its built-in mixing adjustment component. This ensures the medium ratio perfectly matches the combustion characteristics of combustibles in mountain forest fires. After the ratio adjustment, the two media enter the mixing component, where they are thoroughly and uniformly mixed to prepare a composite extinguishing medium suitable for extinguishing mountain forest fires. This composite extinguishing medium uses water as a base carrier, combined with a highly efficient extinguishing agent to form a water-based composite system. It can fully penetrate the interior of forest combustibles, and simultaneously possesses the dual functions of cooling and suffocating to inhibit fire spread. It can quickly suppress the spread of fire and interrupt the combustion chain reaction, providing a highly adaptable extinguishing medium for subsequent atomized spraying operations. Figure 3 As shown.

[0028] After the composite extinguishing medium is prepared, the atomization and spraying execution module is immediately activated. The module receives fire point parameters transmitted by the fire point three-dimensional perception module, medium state parameters fed back by the composite medium proportioning module, and operation instructions issued by the multi-machine collaborative scheduling module. Relying on the intelligent adaptation algorithm for spraying parameters deployed within the module, the mathematical expression of the intelligent adaptation algorithm for spraying parameters is:

[0029] in, Representing the Type of ignition point for the first The adaptability of the spraying parameters; Number the fire point type index; Index the spraying parameters; Representing the Combustion characteristic coefficient of the ignition point; Representing the The fire extinguishing efficiency of various spray parameters; Representing the Seed ignition point use Deviation in fire extinguishing effect after applying different spraying parameters; Representing the Environmental impact factors of ignition sites; , The system represents a weighting coefficient, accurately calculating the adaptability of various spraying parameters to different fire types. Based on the adaptability results output by the intelligent adaptation algorithm for spraying parameters, the spraying controller precisely controls the adjustable atomizing nozzle array equipped in the module, flexibly adjusting the atomized particle size, spray angle, and media outflow rate of the nozzle array to ensure that all parameters of the atomized spraying are highly matched to the actual situation of the target fire point. Before the atomized spraying operation, the spray angle and spraying range are preset according to the area characteristics of the mountain forest fire. The preset spray angles in the horizontal and vertical directions can be flexibly fine-tuned according to the actual location of the fire point, and the preset spraying range can also be precisely adapted according to the actual area of ​​the fire point, ensuring that the composite extinguishing medium is evenly atomized and accurately sprayed to the target fire point according to the preset angle and range. Each water-dropping helicopter carries out atomized spraying operations according to the planned drop points, and the drop areas are interconnected to form a continuous fire extinguishing coverage zone, achieving rapid suppression and effective coverage of open flames in the mountain forest fire, and significantly improving the utilization efficiency of the composite extinguishing medium.

[0030] After the atomized spraying operation is completed, the closed-loop feedback optimization module immediately enters the working state. The infrared thermal imager and data processor integrated in the module start up synchronously. The infrared thermal imager continuously collects various data of the fire site after spraying in the safe airspace of the fire site, including the real-time temperature of each area of ​​the fire site, the rate of temperature change, the specific location of the unextinguished area, the range of the extinguished area, the coverage and distribution of the composite extinguishing medium on the fire site, the real-time changes in the surrounding terrain and wind speed, the real-time decay of the fire intensity, and the reaction effect data of the composite extinguishing medium and the fire fuel. The data processor centrally extracts and analyzes all post-spray fire data collected by the infrared thermal imager, comprehensively compares the post-spray fire data with the original fire data before spraying, and updates relevant data such as fire point identification, task allocation, medium ratio, and spraying parameters through professional calculations. The closed-loop feedback optimization module feeds back the updated parameters to the fire point 3D perception module, multi-machine collaborative scheduling module, composite medium ratio module, and atomized spraying execution module in real time through a dedicated data link, driving each module to dynamically optimize and adjust according to the updated parameters, so that the working status of each module can be highly adapted to the actual situation of the fire after spraying.

[0031] To address the persistent smoldering fires in mountain forest fires, the multi-aircraft coordinated dispatch module, based on updated parameters from the closed-loop feedback optimization module, recalculates task allocation weights using a multi-aircraft task weighting algorithm. It then readjusts the operational priorities and water-dropping sequences of each helicopter in conjunction with the real-time fire situation. The composite medium mixing module optimizes the water-to-high-efficiency extinguishing agent ratio based on updated fire point parameters, making the composite extinguishing medium more suitable for handling smoldering fires. The atomization spraying execution module adjusts the atomization particle size, spray angle, and other spraying parameters of the adjustable atomizing nozzle array based on updated parameters. Each water-dropping helicopter then conducts a second, precise spraying operation according to the optimized operational requirements. The closed-loop feedback optimization module continuously collects fire data after the second spraying and updates and provides feedback on parameters. Each module continuously optimizes dynamically until all open fires, smoldering fires, and remaining embers in the mountain forest fire are effectively extinguished, ensuring a thorough and residue-free firefighting operation.

[0032] This embodiment applies the system to a mountain forest fire scenario, utilizing the coordinated operation of various modules to complete the entire firefighting process. The 3D fire point perception module, through multi-device collaborative data acquisition and processing, outputs standardized parameters, laying a solid data foundation for subsequent operations. The multi-machine collaborative scheduling module achieves scientific scheduling based on a multi-machine task weight allocation algorithm, making multi-machine formation operations more orderly and efficient. The composite medium mixing module prepares suitable composite extinguishing media as needed, enhancing the extinguishing effect on forest combustibles. The atomization and spraying execution module regulates spraying parameters through an intelligent parameter adaptation algorithm, achieving precise and efficient media spraying. The closed-loop feedback optimization module provides real-time feedback on operational effects and parameter updates, driving dynamic adjustments in each module. The system is fully adapted to the complex characteristics of mountain forest fire scenarios, solving many pain points of traditional aerial firefighting, achieving complete extinguishment of various fire points, and significantly improving the intelligence and precision of aerial firefighting in mountain forests.

[0033] Example 2: Application of helicopter bucket fire extinguishing system with fire point identification and dispensing in urban high-rise building fire scenarios This embodiment is applied to a fire scenario in a high-rise building in an urban area. Multiple open flames appeared on the exterior facade and interior of the high-rise building, with some areas forming hidden high-temperature zones due to fire containment. The combustibles mainly consisted of building decoration materials, furniture, plastic products, and electrical cables. The different combustion characteristics of these materials made reignition easy. The high altitude of the building made it difficult for ground-based firefighting equipment to reach the fire area, limiting ground firefighting forces to low-level protection and peripheral control. Furthermore, flight restrictions existed in the urban core area, and dense surrounding buildings created airspace obstacles. Multiple specialized firefighting helicopters adapted to urban airspace were deployed to form a firefighting formation. The helicopter-borne bucket fire extinguishing system of this invention was used to conduct precise high-altitude firefighting operations. Relying on the system's modular design and intelligent algorithms, efficient handling of fire points in high-rise buildings was achieved in the complex urban airspace environment. Figure 2 As shown.

[0034] The fire point 3D perception module is activated, and the module's lidar, infrared thermal imager, and visible light camera are deployed on the command helicopter. The command helicopter completes equipment debugging in the safe operating airspace designated by the urban airspace management department. The lidar continuously emits laser beams towards the high-rise building and its surrounding airspace and building area, accurately receiving signals reflected from the surface of the fire point on the high-rise building, the building facade, and surrounding obstacles. It obtains the three-dimensional coordinates of the fire point on the building, the height of the fire point, and the distribution data of surrounding obstacles, providing accurate airspace and building data support for subsequent helicopter flight route planning and drop point delineation, effectively avoiding airspace obstacles around urban high-rise buildings. The infrared thermal imager captures high-frequency temperature distribution images of the upper floors of the high-rise building, meticulously collecting the average temperature, maximum temperature, and distribution range of different temperature areas of the fire point, accurately locating the open flame point on the facade and inside the building, and effectively distinguishing hidden high-temperature areas inside the building, providing key temperature data for judging the fire spread trend and hidden fire points. The visible light camera simultaneously collects color images of the high-rise building fire scene, clearly capturing the appearance characteristics of combustibles and the distribution range of combustibles in the visible areas of the building facade and interior, determining the shape and boundary outline of the fire point flame, and accurately identifying different types of combustibles such as decorative materials and plastic products. The module performs centralized preprocessing on all raw data collected by lidar, infrared thermal imager, and visible light camera. It specifically removes abnormal data and noise caused by electromagnetic interference and building reflections in the complex urban environment, retaining effective data that reflects the true state of the fire. Based on the effective data, a high-precision 3D model of the high-rise building fire scene is constructed. The module's built-in fire point feature library performs in-depth analysis on the 3D model and various processed data, accurately identifying the fire point types in different areas of the high-rise building. Then, all fire point-related parameters are normalized to output standardized fire point parameters, providing unified and accurate data support for subsequent multi-machine collaborative scheduling, media mixing, and atomized spraying, ensuring that the work of each module can be carried out in an orderly manner based on the actual situation of the fire scene.

[0035] The multi-aircraft collaborative scheduling module receives standardized parameters from the fire point 3D perception module in real time. Simultaneously, it collects real-time 3D position coordinates, flight attitude angles, flight speeds, remaining fuel, remaining water in the water buckets, onboard equipment status, and current operational flight path information for all helicopters in the formation through their onboard sensors. This real-time data is rapidly transmitted to the command helicopter via a dedicated, interference-resistant data link. The module fully considers urban airspace flight restrictions and the distribution characteristics of surrounding buildings. Based on a multi-aircraft task weight allocation algorithm, it combines the fire intensity, spread speed, and urban terrain complexity of each fire point on high-rise buildings with key factors such as the real-time distance from each helicopter to the target fire point and remaining resource coefficients. It accurately calculates the task allocation weights for each helicopter to different fire points, scientifically prioritizes the helicopters' operations based on these weights, and plans a reasonable water-dropping sequence considering the structural characteristics of high-rise buildings and the direction of fire spread. The delineation of drop points carefully avoids obstacles such as building windows, balconies, and air conditioning units, focusing on covering open flames on building facades and high-temperature areas with smoke penetration indoors. Simultaneously, the spatial distribution of drop points is optimized by considering real-time helicopter flight attitude, safe flight altitude, and wind speed and direction in urban airspace. This ensures precise task allocation while balancing the operational capabilities of each helicopter and flight safety in urban airspace. The command helicopter precisely transmits operational instructions—including designated fire points, operational priorities, water drop sequence, three-dimensional coordinates of drop points, dedicated flight path planning, water drop timing, bucket drop angle and speed, and status feedback requirements during the operation—to each water-dropping helicopter via a dedicated data link. The command helicopter continuously receives feedback from each water-dropping helicopter, monitoring the progress of the firefighting operation in real time. In case of emergencies in urban airspace, operational instructions can be immediately adjusted via data link to ensure operational safety.

[0036] Upon receiving the operational instructions, each water-dropping helicopter quickly activates the composite medium mixing module. The module's dual-chamber isolated bucket has already been pre-loaded with water and a highly efficient, environmentally friendly extinguishing agent. This dual-chamber isolation design effectively ensures the stability of the two media's performance, preventing premature mixing that could reduce extinguishing effectiveness. Based on the specific fire type, combustible characteristics, and fire intensity requirements specified in the operational instructions, the composite medium mixing module precisely adjusts the outflow ratio of water and the highly efficient extinguishing agent through a mixing adjustment component. This ensures the medium ratio is accurately tailored to the extinguishing needs of combustibles such as plastic products and decorative materials. After the ratio adjustment, the two media enter the mixing component, where they are thoroughly and uniformly mixed to prepare a composite extinguishing medium suitable for extinguishing fires in urban high-rise buildings. This composite extinguishing medium is a water-based composite system that combines cooling and asphyxiation with flame retardancy. It can quickly interrupt the combustion chain reaction of flammable materials such as plastic products and cables. It is also highly efficient and environmentally friendly, with no secondary pollution, and fully meets the environmental protection requirements of urban fire protection. It provides a high-performance extinguishing medium for subsequent high-altitude atomized spraying operations.

[0037] After the composite extinguishing medium is prepared, the atomization and spraying execution module is immediately activated. The module simultaneously receives fire point parameters from the fire point 3D perception module, medium state parameters from the composite medium mixing module, and operational instructions from the multi-machine collaborative scheduling module. Relying on the intelligent adaptation algorithm for spraying parameters deployed within the module, it accurately calculates the adaptability of various spraying parameters to different fire point types in high-rise buildings. Based on the adaptability results, the spraying controller precisely controls the adjustable atomizing nozzle array, flexibly adjusting the atomized particle size, spray angle, and medium outflow rate. Specifically, it adjusts the medium outflow rate and atomized particle size to address the impact of wind at high altitudes in urban areas, preventing the composite extinguishing medium from being lost due to high-altitude winds during spraying and ensuring that the medium accurately reaches the target fire point. Before the atomized spraying operation, the spray angle and spraying range were preset according to the area characteristics of the fire point in the high-rise building. The preset spray angles of 0°-180° in the horizontal direction and 30°-90° in the vertical direction were flexibly and finely adjusted according to the actual location of the fire point in the building. The preset spraying range was also precisely adapted according to the actual area of ​​the fire point, so that the uniformly atomized composite fire extinguishing medium could be accurately sprayed to the target fire point in the high-rise building at the preset angle and range, so as to achieve rapid cooling and effective suppression of the open flame point in the high-rise building, while avoiding the fire extinguishing medium from splashing onto the ground personnel and equipment areas on the lower floors of the building, ensuring the safety of urban fire fighting operations.

[0038] After the atomized fire suppression operation is completed, the closed-loop feedback optimization module immediately starts working. The infrared thermal imager integrated into the module continuously collects various data of the high-rise building fire in the urban safe operation airspace after the suppression, including real-time temperature of each area of ​​the high-rise building, temperature change rate, specific location of unextinguished areas, range of extinguished areas, coverage and distribution of composite extinguishing media on the building facade, real-time changes in wind speed around the fire, real-time decay of fire intensity, and reaction effect data between composite extinguishing media and building combustibles. The data processor performs professional extraction and in-depth analysis on all the collected post-suppression fire data, comprehensively compares the post-suppression data with the original fire data before suppression, and updates relevant operating parameters such as fire point identification, task allocation, media ratio, and suppression parameters through precise calculations. The closed-loop feedback optimization module feeds back the updated parameters in real time to the fire point 3D perception module, multi-machine collaborative scheduling module, composite media ratio module, and atomized fire suppression execution module, driving each module to dynamically optimize and adjust according to the updated parameters, so that the working status of each module can accurately match the actual situation of the fire after suppression.

[0039] To address the risk of reignition in high-rise building fires, the multi-aircraft collaborative scheduling module, based on updated parameters from the closed-loop feedback optimization module and combined with real-time urban airspace conditions, recalculates task allocation weights using a multi-aircraft task weighting algorithm. This allows for timely adjustments to the operational priorities and water drop sequences of each helicopter, while also optimizing flight routes to enhance the safety of operations in urban airspace. The composite medium mixing module precisely optimizes the water-to-high-efficiency extinguishing agent ratio based on the updated combustion characteristics of reignited fires, making the composite extinguishing medium more suitable for handling reignited fires. The atomization and spraying execution module adjusts the spraying parameters, such as the spray angle and atomized particle size, of the adjustable atomizing nozzle array based on updated parameters, enabling precise secondary atomization and spraying operations targeting reignited fires. The closed-loop feedback optimization module continuously collects fire data after secondary spraying, updating and feeding back parameters. Each module continuously performs dynamic optimization and adjustments until all fire points in the high-rise building are completely extinguished, effectively preventing reignition.

[0040] This embodiment applies the system to urban high-rise building fire scenarios, achieving precise fire suppression by combining urban airspace and high-altitude fire characteristics. The 3D fire point perception module accurately identifies high-altitude fire points and hidden high-temperature areas, providing precise data support for fire suppression operations in complex urban airspace. The multi-aircraft collaborative scheduling module achieves scientific scheduling while considering urban airspace limitations, ensuring both operational efficiency and flight safety. The composite medium proportioning module prepares environmentally friendly composite fire extinguishing media that highly meets the needs and characteristics of urban firefighting. The atomization and spraying execution module uses algorithms to adjust parameters, effectively avoiding the influence of high-altitude winds to achieve precise spraying. The closed-loop feedback optimization module provides real-time feedback on operational effects and dynamically optimizes parameters, effectively addressing the problem of fire reignition. The system compensates for the shortcomings of ground-based firefighting in high-altitude fire suppression, solves various technical challenges in urban high-altitude fire suppression, and significantly improves the safety and efficiency of aerial fire suppression in urban high-rise building fires.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A helicopter bucket fire extinguishing system with fire point identification and dispensing capability, characterized in that, The system includes: Fire point 3D perception module: integrates lidar, infrared thermal imager and visible light camera to collect various data of the fire scene and preprocess them, and output standardized parameters; Multi-aircraft collaborative scheduling module: It adopts a master-slave formation architecture, deploys a multi-aircraft task weight allocation algorithm, receives standardized parameters, collects real-time status data of each helicopter, calculates task allocation weights and determines the operation priority, water drop sequence and drop point of each helicopter, completes task allocation and issues operation instructions. Composite medium proportioning module: includes a dual-chamber isolated bucket, equipped with proportioning adjustment and mixing components. The dual-chamber isolated bucket is loaded with water and high-efficiency fire extinguishing agent respectively. According to the operation instructions of the multi-machine coordinated dispatch module, the outflow ratio of the two media is adjusted by proportioning, and then the two media are fully and evenly mixed to provide a suitable composite fire extinguishing medium for atomized spraying. Atomization spraying execution module: Receives fire point parameters, medium state parameters and operation instructions, uses intelligent adaptation algorithm for spraying parameters to calculate the adaptability of spraying parameters, adjusts relevant spraying parameters and executes atomization spraying operation; Closed-loop feedback optimization module: Collects fire scene data after spraying, compares the data before and after spraying to calculate and update relevant parameters, and feeds the updated parameters back to other modules to drive each module to dynamically optimize parameters.

2. The helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the fire point 3D perception module, lidar, infrared thermal imager, and visible light camera are all deployed on the command helicopter. The lidar continuously emits laser beams into the fire scene and receives signals after the laser beams are reflected by obstacles and the surface of the fire point, acquiring data on the 3D coordinates of the fire point and surrounding terrain, fire point height, fire point coverage area, terrain slope, and obstacle distribution. The infrared thermal imager captures images of the fire scene temperature distribution, collecting the average temperature, maximum temperature, and distribution range of different temperature areas of the fire point, distinguishing between open flames, smoldering flames, and embers, and monitoring the flame temperature gradient. The visible light camera collects color images of the fire scene, collecting data on the appearance characteristics of combustibles, the distribution range of combustibles, the shape of the fire point flame, and the boundary contours of the fire head and fire line, identifying the type of combustibles, preprocessing the collected raw data to remove abnormal data and noise, and constructing a 3D model of the fire scene. The built-in fire point feature library analyzes the preprocessed data, identifies the fire point type, normalizes the parameters, and outputs standardized parameters.

3. The helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the multi-machine collaborative scheduling module, the mathematical expression of the multi-machine task weight allocation algorithm is: ,in, Assign weights to the j-th helicopter's mission to the i-th fire point; Let be the fire intensity of the i-th fire point; Let i be the spread rate of the i-th fire point; Let be the terrain complexity of the i-th fire point; Let be the real-time distance from the j-th helicopter to the i-th fire point; Let be the remaining resource coefficient of the j-th helicopter; , These are the weighting coefficients.

4. The helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the multi-aircraft collaborative scheduling module, the real-time status data of each helicopter includes the real-time three-dimensional position coordinates, flight attitude angles, flight speeds, remaining fuel, remaining water in the bucket, working status of airborne equipment, and current operational route information of the command helicopter and the water-dropping helicopter. This data is collected in real time by the airborne sensors of each helicopter and transmitted to the command helicopter via a data link to support the calculation of the multi-aircraft task weight allocation algorithm.

5. A helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the multi-aircraft collaborative scheduling module, the task priority is sorted according to the task allocation weight value calculated by the multi-aircraft task weight allocation algorithm. The higher the weight value, the higher the priority of the helicopter's operation on the target fire point. The priority sorting takes into account the fire intensity, spread speed, terrain complexity, real-time distance between the helicopter and the fire point, and the remaining resource coefficient of the helicopter. The water drop sequence is executed in descending order of task priority. At the same time, combined with the collaborative scheduling strategy under the master-slave formation architecture, helicopters that are closer to the fire point and have more remaining resources are given priority to perform the first round of water drop operations. The subsequent water drop sequence is dynamically adjusted according to the real-time changes in the fire and the effect of the previous water drop. The drop points are delineated based on the three-dimensional perception data of the fire point, focusing on covering the fire front, fire wings and key areas at the forefront of fire spread. At the same time, the spatial distribution of drop points is optimized by combining the real-time flight attitude of the helicopter, safe flight altitude and on-site wind speed and direction factors, so that the drop areas of each helicopter are connected to form a continuous fire extinguishing coverage zone.

6. A helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the multi-aircraft collaborative scheduling module, task allocation is completed through the command helicopter. Based on the task allocation weight of each helicopter calculated by the multi-aircraft task weight allocation algorithm, combined with the determined operation priority, water drop sequence and drop point, the fire-fighting operation task is allocated to each water-dropping helicopter. The allocation process takes into account the real-time status and operation capability of each helicopter. The operation instructions include the exclusive operation tasks of each water-dropping helicopter, specifically the designated fire point, operation priority, water drop sequence, three-dimensional coordinates of the drop point, flight path planning, water drop timing, bucket drop angle and speed, and status feedback requirements during the operation. The command helicopter issues the operation instructions to each water-dropping helicopter through a dedicated data link, guiding each water-dropping helicopter to carry out fire-fighting operations in an orderly manner, while simultaneously receiving the instruction execution feedback from each helicopter and controlling the operation progress in real time.

7. A helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the atomized spraying execution module, the composite extinguishing medium is a water-based composite system adapted to helicopter atomized spraying operations, which has both cooling and flame-retardant effects. It uses water as the base carrier and mixes it with a high-efficiency and environmentally friendly extinguishing agent in a specific ratio to meet the extinguishing needs of the fire point. It can quickly penetrate into the fire point, suppress the spread of fire and block the combustion chain reaction, and is suitable for extinguishing needs of different fire intensities.

8. A helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the atomization and spraying execution module, the mathematical expression of the intelligent adaptation algorithm for spraying parameters is: ,in, Representing the Type of ignition point for the first The adaptability of the spraying parameters; Number the fire point type index; Index the spraying parameters; Representing the Combustion characteristic coefficient of the ignition point; Representing the The fire extinguishing efficiency of various spray parameters; Representing the Seed ignition point use Deviation in fire extinguishing effect after applying different spraying parameters; Representing the Environmental impact factors of ignition sites; , This represents the weighting coefficient.

9. A helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the atomizing spraying execution module, the atomizing spraying operation is completed by an adjustable atomizing nozzle array under the control of the spraying controller. Relying on an intelligent adaptation algorithm for spraying parameters, it is carried out in an orderly manner, combining received fire point parameters, medium state parameters, and operation instructions. Before operation, a fixed spraying angle and range are preset. The preset spraying angle is 0°-180° horizontally and 30°-90° vertically, which can be flexibly fine-tuned according to the fire point location. The preset spraying range is set according to the fire point area, with a preset range of 5m for small fire points. 2 -15m 2 Medium-sized fire point 15m 2 -30m 2 Large fire point 30m 2 -50m 2 It can be flexibly adapted to the actual area of ​​the fire point. During operation, the spraying controller adjusts the atomization particle size, spray angle and medium flow rate of the nozzle array according to the adaptability of the spraying parameters output by the algorithm, so that the uniformly atomized composite fire extinguishing medium is sprayed to the target fire point at a preset angle and range.

10. A helicopter bucket fire extinguishing system for fire point identification and dispensing according to claim 1, characterized in that, In the closed-loop feedback optimization module, the post-dispensing fire data reflects the real-time status of the fire, the extinguishing effect, and the action of the media after the atomized dispensing operation, and supports parameter optimization. It mainly includes the real-time temperature of each area of ​​the fire, the rate of temperature change, the specific location of the unextinguished area, the range of the extinguished area, the coverage and distribution of the composite extinguishing medium on the fire, the real-time changes in the surrounding terrain and wind speed, the real-time decay of the fire intensity, and the reaction effect data between the composite extinguishing medium and the fire fuel. This data is collected collaboratively by the infrared thermal imager and data processor integrated in the closed-loop feedback optimization module to extract effective information reflecting the real state of the fire, and finally form complete post-dispensing fire data.

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