A method and device for determining the deployment position of an unmanned aerial vehicle fire extinguishing system for cultural relic protection buildings, an electronic device and a storage medium

Abstract

The application provides a method and device for determining the deployment position of an unmanned aerial vehicle (UAV) fire extinguishing system for a cultural relic protection building, electronic equipment and a storage medium. The method comprises obtaining topological structure data of a target cultural relic protection building, then determining the geometric center of the target cultural relic protection building according to the topological structure data, then calculating the maximum allowable distance between the UAV base station and the geometric center based on a preset fire extinguishing time constraint model, wherein the fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing task from the UAV landing site does not exceed the critical time for the development of the fire, and then determining the deployment position of at least one UAV landing site within a spatial range centered on the geometric center and having a maximum allowable distance as a radius. Through the method, it can be ensured that the selected position is close to the center of the building space and strictly meets the fire response time threshold, thereby solving the problems of the prior art.

Description

Technical Field

[0001] This application relates to the intersection of fire protection technology and drone application technology. Specifically, it relates to a method, apparatus, electronic equipment, and storage medium for determining the deployment location of a drone fire-fighting system landing pad for protected cultural heritage buildings. Background Technology

[0002] Implementing effective fire protection for cultural heritage buildings such as ancient temples, palaces, libraries, and grottoes is a task that is both important and highly challenging. These buildings often house a large number of precious cultural relics, including wooden structures, painted murals, ancient books and documents, and silk embroidery. The historical and cultural value they embody is irreplaceable. Therefore, the core objective of fire protection for cultural heritage buildings is to quickly extinguish initial fires while minimizing secondary damage to the relics themselves, thus achieving the dual goals of efficient firefighting and preservation of cultural artifacts.

[0003] Current fire protection solutions typically include traditional water-based fire suppression systems, drone-borne fire suppression systems, and drone-mounted fire hose systems. Traditional water-based fire suppression systems, which extinguish fires by spraying water, can cause serious secondary damage to cultural relics within protected buildings, and therefore their use is generally strictly limited. Drone-borne fire suppression systems are susceptible to inaccurate deployment and environmental factors such as wind, often failing to accurately deliver fire extinguishing bombs to the core of the fire, resulting in poor fire suppression efficiency. Drone-mounted fire hose systems use drones to carry fire hoses for spraying water, and while commonly used in high-rise buildings, they are essentially similar to traditional water-based fire suppression systems, easily causing serious secondary damage to cultural relics within protected buildings, thus failing to meet the core requirement of non-destructive protection of cultural relics.

[0004] In response to the significant shortcomings of current fire protection solutions in meeting the dual requirements of efficient fire extinguishing and cultural relic protection, a drone-based fire extinguishing solution based on high-pressure fine water mist technology has emerged. This solution utilizes drones equipped with integrated high-pressure fine water mist generators, enabling them to move with high mobility to the fire point within the protected cultural relic building. The high-pressure fine water mist generator then sprays extremely small (typically in the micrometer range) fine water mist to extinguish the fire. Due to the extremely small particle size of the fine water mist, this method can largely avoid secondary damage to the cultural relic.

[0005] However, this new fire extinguishing technology also brings a new technical challenge. Specifically, since the fire extinguishing intensity per unit time of high-pressure fine water mist is lower than that of traditional high-flow water jets, the overall response time requirements for drones from detecting a fire to reaching the fire point and completing the fire extinguishing are more stringent. This makes the geographical location of the drone landing pad a key factor affecting the success or failure of fire extinguishing. Summary of the Invention

[0006] The purpose of this application is to provide a method, apparatus, electronic device, and storage medium for determining the deployment location of a drone firefighting system landing pad for protected cultural heritage buildings, which can solve the problems in the prior art.

[0007] In a first aspect, embodiments of this application provide a method for determining the deployment location of a landing pad for an unmanned aerial vehicle (UAV) firefighting system for a protected cultural relic building, including: Obtain the topological structure data of the target cultural relic protection building; Based on the topological data, the geometric centroid of the target cultural relic protection building is determined; Based on a preset fire extinguishing time constraint model, the maximum allowable distance between the UAV base station and the geometric center is calculated. The fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing mission from the UAV landing pad does not exceed the critical time for fire development. Within a spatial range centered on the geometric centroid and with the maximum permissible distance as the radius, determine the deployment location of at least one UAV landing pad.

[0008] Preferably, within a spatial range centered on the geometric center and with the maximum permissible distance as the radius, the deployment location of at least one UAV landing pad is determined, specifically including: Based on the topological data, the actual area of ​​the target cultural relic protection building is determined; Based on the preset area range to which the actual area belongs, determine the preset number of corresponding drone landing pads; Within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad is set up in an amount equal to the preset number.

[0009] Preferably, the preset quantity is specifically 1; within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad equal to the preset quantity is set up, specifically including: The deployment location of the drone landing pad is set at the location of the geometric center; or, If the location of the geometric center does not meet the physical deployment conditions of the drone landing pad, the location closest to the geometric center and meeting the physical deployment conditions shall be selected as the deployment location of the drone landing pad within a spatial range centered on the geometric center and with the maximum allowable distance as the radius.

[0010] Preferably, the preset number is greater than 1; within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad equal to the preset number is set up, specifically including: Based on the topological data and fire risk probability assessment, the target cultural relic protection building is divided into several protection zones, the same number as the preset number. Determine the centroid of the geometric region for each protection zone; Within a spatial range centered on the geometric center of each zone and with the maximum allowable distance as the radius, each drone landing pad is set up.

[0011] Preferably, each drone landing pad is set up within a spatial range centered on the geometric center of each partition and with the maximum allowable distance as the radius. Specifically, this includes: taking the geometric center of each partition as the initial position and satisfying the maximum allowable distance as the constraint, performing optimization calculations to minimize the distance from any point within the building to its nearest drone landing pad, so as to obtain the final deployment position of each drone landing pad.

[0012] Preferably, each UAV landing pad is set up within a spatial range centered on the geometric center of each partition and with the maximum allowable distance as the radius. Specifically, this includes setting the deployment location of each UAV landing pad at the location of the corresponding geometric center of the partition.

[0013] Preferably, determining the geometric centroid of the target cultural relic protection building based on the topological structure data specifically includes: Based on the topological data, the horizontal projection outline of the target cultural relic protection building is extracted; The geometric centroid of the horizontal projection outer contour is determined as the geometric centroid of the target cultural relic protection building.

[0014] Preferably, based on a preset fire extinguishing time constraint model, the maximum allowable distance between the UAV base station and the geometric centroid is calculated, specifically by calculating the maximum allowable distance using the fire extinguishing time constraint model T1 + (D / V) + T2 + ΔT ≤ T0; Wherein, T1 is the startup preparation time required for the drone to take off from the fire alarm; D is the maximum allowable distance to be calculated; V is the average flight speed of the drone; T2 is the single-drone spraying time required to extinguish the fire; ΔT is the additional time cost brought about by multi-drone relay scheduling; and T0 is the critical time from the fire ignition to the fire developing into an uncontrollable state.

[0015] Preferably, the method further includes: The total water demand required to extinguish the fire is determined based on the spray intensity of the high-pressure fine water mist generator carried by the drone and the single-drone spraying duration. Determine whether the total water demand exceeds the water capacity carried by a single drone. If the total water demand is greater than the water capacity of a single unit, the number of relays is determined based on the ratio between the total water demand and the water capacity of a single unit, so as to determine ΔT; If the total water demand is less than or equal to the water capacity carried by a single unit, then ΔT is determined to be 0.

[0016] Preferably, the single-drone spraying time is determined based on the actual area of ​​the fire and the reference time required for the drone to extinguish a fire per unit area.

[0017] Preferably, the critical time is estimated based on a fire growth model.

[0018] Secondly, embodiments of this application also provide an apparatus for determining the deployment location of a landing pad for an unmanned aerial vehicle (UAV) firefighting system for a protected cultural relic building, comprising: The acquisition unit is used to acquire the topological structure data of the target cultural relic protection building; The first determining unit is used to determine the geometric centroid of the target cultural relic protection building based on the topological structure data; The calculation unit is used to calculate the maximum allowable distance between the UAV base station and the geometric center based on a preset fire extinguishing time constraint model, wherein the fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing mission from the UAV landing pad does not exceed the critical time for fire development. The second determining unit is used to determine the deployment location of at least one UAV landing pad within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius.

[0019] Thirdly, embodiments of this application also provide an electronic device, including: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the methods provided in the embodiments of this application.

[0020] Fourthly, embodiments of this application also provide a computer-readable medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the method provided in embodiments of this application.

[0021] As can be seen from the above, the method provided in this application for determining the deployment location of a drone fire-fighting system landing pad for a protected cultural relic building includes acquiring the topological structure data of the target protected cultural relic building, determining the geometric centroid of the target protected cultural relic building based on the topological structure data, calculating the maximum allowable distance between the drone base station and the geometric centroid based on a preset fire-fighting time constraint model, wherein the fire-fighting time constraint model ensures that the total time for the drone to complete the fire-fighting task from the drone landing pad does not exceed the critical time for fire development, and then determining the deployment location of at least one drone landing pad within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius. By determining the geometric centroid of the target protected cultural relic building and then calculating the maximum allowable distance based on the fire-fighting time constraint model, the method ultimately selects a deployment location within the area defined by the spatiotemporal constraints, ensuring that the selected location is both close to the building's spatial center and strictly meets the fire response time threshold, thereby solving the problems of the prior art. Attached Figure Description

[0022] The above and other objects, features, and advantages of the present invention will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0023] Figure 1 This is a flowchart illustrating a method for determining the deployment location of a drone firefighting system landing pad for a cultural relic protection building, as disclosed in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a device for determining the deployment location of a drone firefighting system landing pad for cultural relic protection buildings, as disclosed in an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of the electronic device disclosed in the embodiments of the present invention. Detailed Implementation

[0024] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0025] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0028] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing the present invention, and therefore cannot be used to limit the scope of protection of the present invention.

[0029] As mentioned earlier, to address the significant shortcomings of current firefighting solutions in meeting the dual requirements of efficient fire suppression and cultural relic protection, a drone-based firefighting solution based on high-pressure fine water mist technology has emerged. This solution utilizes drones equipped with integrated high-pressure fine water mist generators, enabling them to maneuver to the fire point within the protected building and then spray extremely small (typically micron-sized) fine water mist particles to extinguish the fire. Due to the extremely small particle size of the water mist, this method largely avoids secondary damage to the cultural relics. However, this new firefighting technology also presents a new technical challenge. Specifically, because the fire suppression intensity per unit time of high-pressure fine water mist is lower than that of traditional high-flow water jets, the overall response time requirements for the drone from detecting the fire to reaching the fire point and completing the fire suppression are more stringent. This makes the geographical location of the drone's landing pad a crucial factor affecting the success or failure of firefighting efforts.

[0030] Firstly, this embodiment proposes a method for determining the deployment location of the landing pad for an unmanned aerial vehicle (UAV) firefighting system for protected cultural relics buildings, such as... Figure 1 The diagram shows the specific flow of this method, which includes the following steps: Step S11: Obtain the topological structure data of the target cultural relic protection building.

[0031] In this application embodiment, the target cultural relic protection building can be any cultural relic protection building that requires fire protection, specifically such as ancient temples, halls, libraries, grottoes, etc. This application does not specifically limit the type of the target cultural relic protection building.

[0032] The topological data can refer to digital descriptive information reflecting the connection and spatial adjacency relationships between the various components of the target cultural heritage building. This topological data does not depend on specific geometric dimensions or absolute coordinate system positions, but can fully characterize the connectivity, hierarchy, and regional division logic of the building. For example, the topological data can be spatial topological layer data in Building Information Modeling (BIM), building interior connectivity maps exported from a GIS platform, or corridor-room adjacency matrices extracted after reconstruction from laser scanning point clouds. In this application, the role of the topological data is to support subsequent geometric centroid calculation and spatial accessibility analysis, serving as the basic input for the entire deployment decision-making process.

[0033] In practical applications, when carrying out fire protection for a target cultural relic building, the topological structure data of the target cultural relic building can be established first through technologies such as 3D modeling, and the topological structure data can be stored in a database. In this way, in step S11, the topological structure data of the target cultural relic building can be obtained directly from the database using the identification of the target cultural relic building (such as the number and name of the target cultural relic building).

[0034] Step S12: Determine the geometric center of the target cultural relic protection building based on the topological data.

[0035] The geometric centroid can refer to the spatial coordinate point corresponding to the weighted average of the volumes of all entities of the target cultural heritage building in three-dimensional space, which represents the theoretical center position of the overall mass distribution of the building. For example, the geometric centroid can be a two-dimensional centroid calculated based on the horizontal projection outline of the target cultural heritage building, or it can be a three-dimensional centroid after integrating the vertical floor height and area weights. The geometric centroid serves as a spatial anchor point for the deployment area to ensure that the coverage range of the drone is balanced and representative in the architectural space.

[0036] In one embodiment of this application, step S12 can be implemented in the following way: firstly, the horizontal projection outer contour of the target cultural relic protection building can be extracted based on the topological structure data, and then the geometric centroid of the horizontal projection outer contour can be determined as the geometric centroid of the target cultural relic protection building.

[0037] The horizontal projection outline refers to the closed two-dimensional boundary line formed by orthogonally projecting the three-dimensional spatial structure of the target cultural relic building vertically (orthogonally projecting downwards) onto a horizontal reference plane (such as the ground or the first floor plan). This closed two-dimensional boundary line completely encloses the maximum horizontal extension of the target cultural relic building. Thus, the horizontal projection outline, as a geometric carrier reflecting the planar layout of the target cultural relic building, can abstract away the spatial complexity brought about by the building's height dimension, simplifying the three-dimensional topological relationship into a two-dimensional planar graphic, thereby simplifying subsequent centroid calculations. For example, if the topological data is specifically a building information model, the horizontal projection outline can be generated through orthogonal projection transformation based on the spatial coordinates of the external load-bearing and enclosing components such as walls, eaves, and colonnades in the building information model.

[0038] After obtaining the horizontal projection outline of the target cultural relic protection building, the geometric centroid of this horizontal projection outline can be further determined and used as the geometric centroid of the target cultural relic protection building. In this application, the horizontal projection outline is a closed two-dimensional boundary line, and its geometric centroid can be determined by existing methods. For example, the geometric centroid can be the arithmetic mean of the coordinates of each vertex of the polygon formed by the closed two-dimensional boundary line in the Euclidean plane. Therefore, the coordinates of each vertex of the polygon formed by the closed two-dimensional boundary line can be obtained first, and then the arithmetic mean of the coordinates of each vertex can be calculated as the geometric centroid of the horizontal projection outline. Of course, when the closed two-dimensional boundary line is an irregular shape, another way to determine the geometric centroid of the horizontal projection outline is to first determine the smallest circumscribed polygon of the horizontal projection outline, then obtain the coordinates of each vertex of the smallest circumscribed polygon, and then calculate the arithmetic mean of the coordinates of each vertex of the smallest circumscribed polygon as the geometric centroid of the horizontal projection outline.

[0039] Of course, the geometric centroid of the horizontal projection outer contour can also be determined by other methods. After obtaining the geometric centroid of the horizontal projection outer contour, it can be used as the geometric centroid of the target cultural relic protection building.

[0040] Step S13: Based on the preset fire extinguishing time constraint model, calculate the maximum allowable distance between the UAV base station and the geometric center.

[0041] In this embodiment, the fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing mission from its landing pad does not exceed the critical time for fire development. Therefore, the critical time can be estimated first based on a fire growth model. This fire growth model is a mathematical model used to describe the evolution of fire heat release rate over time. It is widely used in building fire protection engineering to predict the stages of fire development and key time points. Specifically, the fire growth model can refer to a t² fire model, an ultra-fast fire model, a fast fire model, or a medium-speed fire model based on fire development dynamics. Its classification is based on the fire heat release rate growth coefficient α (unit: kW / s²).

[0042] In this embodiment, the fire growth model can adopt the t² fire model, which is expressed as: Q(t) = α × t². In this formula, Q(t) is the heat release rate at time t, and α is the growth coefficient, the value of which is determined in advance according to the type of combustible material inside the target cultural relic protection building, the space ventilation conditions, and the structural airtightness. In this embodiment, the critical time T0 is defined as the time point corresponding to the heat release rate Q(t) reaching the preset uncontrollable threshold Qcrit, that is, the smallest positive real solution that satisfies Q(t0) = Qcrit. In practical applications, the preset uncontrollable threshold Qcrit is usually set based on the critical heat flux of the wooden components in the target cultural relic protection building, the initial heat flux of carbonization on the surface of the cultural relic, or the overall building instability heat release rate specified in the existing fire protection code. In this application, experts can evaluate the critical heat flux of the wooden components in the target cultural relic protection building, the initial heat flux of carbonization on the surface of the cultural relic, or the overall building instability heat release rate specified in the existing fire protection code, and then set the preset uncontrollable threshold Qcrit. Then, the preset uncontrollable threshold Qcrit is substituted into Q(t) = α × t² to calculate the critical time T0.

[0043] In this application, the fire extinguishing time constraint model can be specifically defined as T1 + (D / V) + T2 + ΔT ≤ T0. In this formula, T1 is the start-up preparation duration required for the UAV to take off from the time the fire alarm is triggered. For example, it can refer to the time period from when the fire sensor triggers the alarm signal until the UAV completes self-check, unlocks, takes off, and enters the predetermined flight path starting point. Therefore, the start-up preparation duration T1 reflects the UAV's own response delay. In practical applications, the value of the start-up preparation duration T1 can be a fixed empirical value or obtained based on actual measurements. Of course, the value of T1 can also be dynamically adjusted according to the UAV model, communication link stability, and preset emergency level. In this application, in this embodiment, since T1 reflects the UAV's own response delay, it can characterize the initial response capability of the UAV fire extinguishing system. Its numerical input is the first term, time cost, in the fire extinguishing time constraint model, which can directly affect the time budget that can be allocated to the flight phase.

[0044] In this firefighting time constraint model, D represents the maximum allowable distance to be calculated. V represents the average flight velocity of the UAV, which reflects the spatial distance covered per unit time when the UAV flies in a straight or near-straight line along the planned path under typical weather conditions and load conditions. This parameter does not depend on the specific path curvature or hovering action; it is only used to map the spatial distance (i.e., the maximum allowable distance D) to the equivalent flight time, thereby transforming the maximum allowable distance D that the UAV can deploy in space into a time-dimensional constraint D / V, thus achieving coupled modeling of spatial layout and mission timeliness.

[0045] T2 is the single-drone spraying duration required to extinguish a fire. It refers to the minimum continuous operating time required for a single drone carrying a high-pressure fine water mist generator to continuously spray at the target fire point and achieve effective fire control. The size of the single-drone spraying duration T2 depends on the heat release rate of the fire, the particle size distribution of the fine water mist droplets, and the spatial coverage efficiency. In this application, in this embodiment, T2, as the time consumption of the fire extinguishing action itself, constitutes a necessary component of the task closed loop, ensuring the entire cycle of model coverage arrival—operation—effectiveness.

[0046] In this embodiment, the single-drone spraying time T2 can be determined based on the actual area of ​​the fire and the reference time required for the drone to extinguish a fire per unit area. The actual area of ​​the fire can refer to the horizontally projected area of ​​the target protected historical building that has spread and is burning after the fire begins. The reference time required for the drone to extinguish a fire per unit area can refer to the constant time required for a single drone equipped with a high-pressure fine water mist generator to effectively control and extinguish a fire in a unit area (e.g., 1 m²) under standard test conditions. This reference time is derived from equipment performance calibration and historical fire extinguishing test data, and has domain universality, not dynamically changing with specific fire scenes. Thus, the ratio of the actual fire area to this unit area can be calculated, and then multiplied by the reference time to obtain the single-drone spraying time T2. In this application, the actual fire area can be obtained by extracting the pixel set of the continuous burning area using an image segmentation algorithm based on real-time infrared thermal imaging images or visible light video streams transmitted from the fire scene, and then converting this into a spatial calibration coefficient. This application can also, for example, estimate the spatial envelope of the fire area based on the distribution of sensor points and linkage logic triggered by the fire alarm system, and estimate the actual area of ​​the fire based on the geometric dimensions of the corresponding components in the building BIM model. Alternatively, it can construct the minimum convex hull coverage area based on the multi-point temperature threshold exceeding information reported by the fire detectors, and map it to the building plane coordinate system to calculate the actual area of ​​the fire.

[0047] It should be further explained that the parameters T1, (D / V) and T2 mentioned above are used to evaluate the time consumption in the drone take-off preparation stage (i.e., T1), drone flight stage (i.e., D / V), and single drone firefighting method, respectively. However, in practical applications, there is another situation, that is, the amount of water in the high-pressure fine water mist generator carried by a single drone is insufficient to complete the firefighting. In this case, the additional time cost brought about by the multi-drone relay scheduling is involved. In this case, ΔT is the additional time cost brought about by the multi-drone relay scheduling. In this application, the additional time overhead ΔT caused by the multi-drone relay scheduling can be determined in the following way: First, the total water demand required to extinguish the fire can be determined based on the spray intensity of the high-pressure fine water mist generator carried by the drone and the single-drone spraying time T2. Then, it is determined whether the total water demand is greater than the water capacity carried by a single drone. If the total water demand is greater than the water capacity carried by a single drone, the number of relays ΔT can be determined based on the multiple relationship between the total water demand and the water capacity carried by a single drone. Alternatively, if the total water demand is less than or equal to the water capacity carried by a single drone, it indicates that the water capacity carried by a single drone is sufficient to extinguish the fire, and there is no need for multi-drone coordination. Therefore, ΔT can be determined as 0.

[0048] The high-pressure fine water mist generator can atomize water mist through micro-orifice nozzles to form fine water mist with a particle size of micrometers. Its spray intensity is the volumetric flow rate of the water mist sprayed per unit time. In practical applications, this spray intensity can be any value within the range of 0.5 L / (min) to 2.0 L / (min). The total water demand serves as a quantitative representation of the total water resources required for firefighting, and its calculation results are directly used for subsequent comparison with the water capacity carried by a single drone. In this application, the total water demand required to extinguish a fire can be calculated based on the spray intensity of the high-pressure fine water mist generator carried by the drone and the single-drone spraying time T2. For example, the spray intensity and the single-drone spraying time T2 can be multiplied to obtain the total water demand required to extinguish the fire.

[0049] After obtaining the total water demand, it can be further determined whether this total demand exceeds the water capacity carried by a single drone. This single-drone water capacity is the maximum effective volume of the water tank or storage container mounted on the drone. Therefore, by determining whether the total water demand exceeds the single-drone water capacity, it can be determined whether multiple drones need to be coordinated. Specifically, if the total water demand is less than or equal to the single-drone water capacity, it indicates that the water capacity carried by a single drone is sufficient to extinguish the fire, and multiple drone coordination is not required. Therefore, ΔT can be set to 0.

[0050] Conversely, if the total water demand exceeds the capacity of a single unit, multiple units need to be connected. Therefore, the number of connections can be determined based on the ratio of the total water demand to the single unit's capacity. This ratio is the integer obtained by rounding down the ratio of the total water demand to the single unit's capacity. For example, if the total water demand is 19.2 L and the single unit's capacity is 15 L, the ratio is... 19.2 / 15 = 1, meaning the number of relays is 1 (at this time, two drones are needed to extinguish the fire, with one multi-drone connection between them), which means that only one relay is needed to meet the total water demand.

[0051] Therefore, the additional time overhead ΔT reflects the total scheduling delay caused by multi-drone collaborative operations, including time overhead during non-flight periods such as command issuance delay, airspace coordination delay, and handover position replanning delay. In this application, relevant experiments can be conducted in advance to test the basic time overhead required for a drone to perform one relay. For example, if there are multiple drone models, the basic time overhead for each model to perform a relay can be tested separately. Thus, in this application, based on the basic time overhead for each drone model to perform a relay, the basic time overhead corresponding to the drone model used in this application embodiment can be obtained, and then multiplied by the multiplier relationship to calculate the additional time overhead ΔT.

[0052] Step S14: Within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, determine the deployment location of at least one drone landing pad.

[0053] In step S14, the spatial range centered on the geometric centroid and with the maximum allowable distance as the radius can refer to a closed region in two-dimensional space formed by the geometric centroid and the maximum allowable distance as the radius. The intersection of this region with the interior of the target cultural relic protection building is the legal deployment area. The reason for determining this closed region is that all candidate deployment locations must simultaneously meet two basic conditions: first, spatial accessibility, that is, the distance from any candidate point to the geometric centroid must not exceed the maximum allowable distance D; second, mission timeliness, that is, the total time required for the UAV to take off from the UAV landing pad and reach any potential fire source point inside the target cultural relic protection building does not exceed the maximum allowable distance D. This forms a dual guarantee boundary that takes into account both geometric rationality and time reliability.

[0054] In this application, the deployment location of the drone landing pad in step S14 is at least one, such as one, two or other numbers. Therefore, before determining the deployment location of the drone landing pad, the number of deployment locations of the drone landing pad can be determined first. At this time, the actual area of ​​the target cultural relic protection building can be determined based on the topological structure data. Then, according to the preset area range to which the actual area belongs, the preset number of drone landing pads can be determined. Then, within the spatial range with the geometric center as the center and the maximum allowable distance as the radius, the drone landing pads equal to the preset number can be set up.

[0055] The actual area of ​​the target cultural relic protection building can refer to the two-dimensional planar coverage area obtained by spatial analysis and projection calculation based on the building outline coordinates, wall positioning information, and floor height information contained in the topological structure data. Specifically, this application may, for example, calculate the single-story projected area using a polygon area algorithm (such as the shoelace formula) based on the vertex coordinates of each closed polygon in the topological structure data, and then sum the projected areas of the floors corresponding to each effective fire compartment to obtain the actual area; this application may also, for example, sum the pre-labeled building area field in the topological structure data in combination with its spatial semantic tags (such as main hall, side hall, corridor), and then remove inaccessible areas (such as roof slopes, cantilever structures) before outputting the actual area.

[0056] In this application, the preset area interval is a set of mutually exclusive and continuously covering numerical intervals covering the entire area range. In practical applications, the common scale of cultural heritage buildings can be divided into several threshold segments set by different levels, such as [0 m², 500 m²), [500 m², 1,500 m²), [1,500 m², 2,500 m²), [2,500 m², 5,000 m²), [5,000 m², +∞), etc. The preset quantity is a set of positive integers that correspond one-to-one with each preset area interval. For example, the preset area intervals mentioned above correspond to the preset quantities {1, 2, 3, 4, 6}, respectively.

[0057] In this application, the common scale of cultural heritage buildings is pre-divided into several threshold segments (i.e., preset area intervals) of several levels, and a corresponding preset quantity is assigned to each preset area interval, thereby establishing a one-to-one correspondence between the preset area intervals and the preset quantity. In this way, after obtaining the actual area of ​​the target cultural heritage building, the preset area interval to which the actual area belongs can be determined. Then, based on the preset area interval to which the actual area belongs, the preset quantity of drone landing pads corresponding to it can be determined. Subsequently, within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, drone landing pads equal to the preset quantity are set up.

[0058] It should be further explained that, when the preset quantity is specifically 1, within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, setting up a drone landing pad equal to the preset quantity can specifically mean setting the deployment location of the drone landing pad at the location of the geometric center; or, when the location of the geometric center does not meet the physical deployment conditions of the drone landing pad, within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, selecting the location closest to the geometric center that meets the physical deployment conditions as the deployment location of the drone landing pad.

[0059] Therefore, when the preset quantity is specifically 1, it can be first determined whether the location of the geometric center meets the physical deployment conditions of the drone landing pad. The physical deployment conditions can refer to the objective constraints necessary for the implementation of the project, such as the bearing capacity of the supporting structure, ground flatness, clearance height, electromagnetic environment compatibility, lightning protection grounding conditions, weather exposure adaptability, and fire lane avoidance requirements. If the physical deployment conditions of the drone landing pad are met, the deployment location of the drone landing pad is directly set at the location of the geometric center. Conversely, if the physical deployment conditions of the drone landing pad are not met, the location closest to the geometric center and meeting the physical deployment conditions is selected within the spatial range centered on the geometric center and with the maximum allowable distance as the radius, as the deployment location of the drone landing pad. Among them, the closest to the geometric center is the candidate point with the smallest Euclidean distance. That is, among the feasible points that meet all physical deployment conditions, the point with the shortest straight-line distance to the coordinates of the geometric center is selected (because the drone flies in the air and can avoid obstacles on the ground, the straight-line distance is given priority). In this way, while strictly limiting the maximum allowable distance, the spatial proximity between the deployment point and the geometric center is maintained, thereby preserving the coverage performance of the original solution to the greatest extent and avoiding significant degradation of overall accessibility due to local unavailability.

[0060] This application may, for example, verify candidate grid points item by item according to a preset physical deployment condition list, filter out all compliant locations within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, and select the one closest to the geometric center as the deployment location of the drone landing pad.

[0061] Of course, if the preset number is greater than 1, within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad equal to the preset number can be set up. Specifically, this can be achieved by first dividing the target cultural relic protection building into several protection zones with the same number as the preset number based on the topological data and fire risk probability assessment, then determining the geometric center of each protection zone, and finally setting up each UAV landing pad within a spatial range centered on the geometric center of each zone and with the maximum allowable distance as the radius.

[0062] The fire risk probability assessment refers to a risk distribution map obtained by quantitatively analyzing the probability and intensity of fires in different areas within a target protected historical building, based on factors such as historical fire statistics, material combustion behavior, ventilation conditions, population density, and electrical wiring distribution. Its function is to reflect the non-uniform spatial occurrence of fire events. In this embodiment, the results of the fire risk probability assessment can be used as weighting factors in the zoning process, allowing high-risk areas to be allocated smaller single-zone areas or higher zoning priority, thereby ensuring that high-risk concentrated areas receive denser helipad coverage. In this application, the fire risk probability assessment of the target protected historical building can be conducted using existing technologies.

[0063] In this way, after conducting a fire risk probability assessment of the target cultural relic building, the target cultural relic building can be divided into several protection zones, the same number as the preset number, based on the topological data and the fire risk probability assessment. These protection zones can be sub-spatial units with clear geographical boundaries, independent risk attributes, and manageability, jointly generated based on the spatial partitioning capability of the topological data and the spatial weight distribution of the fire risk probability assessment. This establishes a basic management granularity for the multi-node deployment strategy relative to the overall target cultural relic building. Of course, each protection zone serves as the smallest responsible unit for subsequent UAV deployment location calculations, with each zone corresponding to a dedicated response domain for one UAV. The number of these zones is strictly equal to the preset number determined in this application, ensuring consistency between resource allocation and management logic.

[0064] After obtaining several protection zones, the geometric center of each protection zone can be determined (the method for determining the geometric center of the protection zone can be the same as the method for determining the geometric center of the target cultural relic protection building mentioned above, which will not be repeated here). Within the spatial range centered on the geometric center of each zone and with the maximum allowable distance as the radius, each drone landing pad can be set up. Specifically, one method is to set the deployment location of each drone landing pad at the location of the corresponding geometric center of the zone.

[0065] Within a spatial range centered on the geometric center of each zone and with a radius equal to the maximum allowable distance, various drone landing pads are designated. Specifically, the deployment locations of each drone landing pad can be determined by: 1) using the geometric center of each zone as the initial location and satisfying the maximum allowable distance as a constraint, performing optimization calculations to minimize the distance from any point within the building to its nearest drone landing pad, thus obtaining the final deployment locations of each drone landing pad. The optimization calculation, using the geometric center of each zone as the initial location and satisfying the maximum allowable distance as a constraint, involves performing optimization calculations under the condition of using the geometric center of each zone as the initial location and satisfying the maximum allowable distance constraint. This results in an iterative adjustment process driven by an objective function for multiple candidate deployment locations, thereby minimizing the distance from any point within the building to its nearest drone landing pad.

[0066] For example, this application could, based on the objective function of minimizing the maximum response distance, use an iterative redistribution algorithm to update the locations of each landing pad within a circular neighborhood with the geometric centroid of each partition as the starting point and the maximum allowable distance as the search radius. The Voronoi service domain is then redefined according to the current layout, and iteration stops when the maximum distance change between two adjacent iterations falls below a preset convergence threshold, thus obtaining the deployment locations of each UAV landing pad. Alternatively, this application could, based on the objective function of minimizing the maximum response distance, use a simulated annealing algorithm to randomly perturb the initial locations under the same constraints. With an acceptance probability mechanism, better solutions are retained, and iteration stops when the solution gradually approaches the global minimization objective, thus obtaining the deployment locations of each UAV landing pad.

[0067] The present application provides a method for determining the deployment location of a drone-based fire suppression system landing pad for a protected historical building. This method includes acquiring topological data of the target protected historical building, determining its geometric centroid based on the topological data, calculating the maximum permissible distance between the drone base station and the geometric centroid based on a preset fire suppression time constraint model, whereby the fire suppression time constraint model ensures that the total time for the drone to complete the fire suppression mission from the landing pad does not exceed the critical time for fire development, and then determining the deployment location of at least one drone landing pad within a spatial range centered on the geometric centroid and with the maximum permissible distance as the radius. By determining the geometric centroid of the target protected historical building and then calculating the maximum permissible distance based on the fire suppression time constraint model, this method allows for the selection of deployment locations within the area defined by the spatiotemporal constraints. This ensures that the selected location is both close to the building's spatial center and strictly meets the fire response time threshold, thus solving the problems of existing technologies.

[0068] Based on the same inventive concept as the method for determining the deployment location of a drone fire-fighting system landing pad for a cultural relic protection building provided in the embodiments of this application, the embodiments of this application can also provide an apparatus for determining the deployment location of a drone fire-fighting system landing pad for a cultural relic protection building. If there are any unclear points regarding the content of this apparatus embodiment, please refer to the content of the above-described embodiments of the invention. Figure 2 The diagram shows a schematic representation of the device (hereinafter referred to as device 20) used to determine the deployment location of a drone firefighting system for protected cultural relics buildings. Device 20 includes: an acquisition unit 201, a first determination unit 202, a calculation unit 203, and a second determination unit 204, wherein: Acquisition unit 201 is used to acquire the topological structure data of the target cultural relic protection building; The first determining unit 202 is used to determine the geometric centroid of the target cultural relic protection building based on the topological structure data; The calculation unit 203 is used to calculate the maximum allowable distance between the UAV base station and the geometric center based on a preset fire extinguishing time constraint model, wherein the fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing mission from the UAV landing pad does not exceed the critical time for fire development. The second determining unit 204 is used to determine the deployment location of at least one UAV landing pad within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius.

[0069] Since the device 20 adopts the same inventive concept as the method provided in the embodiments of this application, the device 20 can also solve the problems in the prior art if the method can solve the problems in the prior art, which will not be elaborated here.

[0070] Specifically, determining the deployment location of at least one UAV landing pad within a spatial range centered on the geometric centroid and with the maximum permissible distance as its radius can include: Based on the topological data, the actual area of ​​the target cultural relic protection building is determined; Based on the preset area range to which the actual area belongs, determine the preset number of corresponding drone landing pads; Within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad is set up in an amount equal to the preset number.

[0071] Specifically, the preset quantity is 1; within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius, setting up drone landing pads equal to the preset quantity can specifically include: The deployment location of the drone landing pad is set at the location of the geometric center; or, If the location of the geometric center does not meet the physical deployment conditions of the drone landing pad, the location closest to the geometric center and meeting the physical deployment conditions shall be selected as the deployment location of the drone landing pad within a spatial range centered on the geometric center and with the maximum allowable distance as the radius.

[0072] Wherein, the preset quantity is greater than 1; within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius, setting up drone landing pads equal to the preset quantity can specifically include: Based on the topological data and fire risk probability assessment, the target cultural relic protection building is divided into several protection zones, the same number as the preset number. Determine the centroid of the geometric region for each protection zone; Within a spatial range centered on the geometric center of each zone and with the maximum allowable distance as the radius, each drone landing pad is set up.

[0073] Specifically, setting up each drone landing pad within a spatial range centered on the geometric center of each partition and with the maximum allowable distance as the radius can include: taking the geometric center of each partition as the initial position and satisfying the maximum allowable distance as the constraint, performing optimization calculations to minimize the distance from any point within the building to its nearest drone landing pad, so as to obtain the final deployment position of each drone landing pad.

[0074] Specifically, setting up each UAV landing pad within a spatial range centered on the geometric center of each partition and with the maximum allowable distance as the radius can include setting the deployment location of each UAV landing pad at the location of the corresponding partition's geometric center.

[0075] Specifically, determining the geometric centroid of the target cultural relic protection building based on the topological data may include: Based on the topological data, the horizontal projection outline of the target cultural relic protection building is extracted; The geometric centroid of the horizontal projection outer contour is determined as the geometric centroid of the target cultural relic protection building.

[0076] Specifically, calculating the maximum allowable distance between the UAV base station and the geometric centroid based on the preset fire extinguishing time constraint model can include calculating the maximum allowable distance using the fire extinguishing time constraint model T1 + (D / V) + T2 + ΔT ≤ T0. Wherein, T1 is the startup preparation time required for the drone to take off from the fire alarm; D is the maximum allowable distance to be calculated; V is the average flight speed of the drone; T2 is the single-drone spraying time required to extinguish the fire; ΔT is the additional time cost brought about by multi-drone relay scheduling; and T0 is the critical time from the fire ignition to the fire developing into an uncontrollable state.

[0077] The device 20 may further include an additional time overhead determination unit, used to determine the total water demand required to extinguish the fire based on the spray intensity of the high-pressure fine water mist generator carried in the drone and the single-drone spray duration; determine whether the total water demand is greater than the water capacity carried by the drone; if the total water demand is greater than the water capacity carried by the drone, determine the number of relays based on the multiple relationship between the total water demand and the water capacity carried by the drone to determine the ΔT; if the total water demand is less than or equal to the water capacity carried by the drone, determine the ΔT as 0.

[0078] The device 20 may also include a single-machine spraying time determination unit, which is used to determine the single-machine spraying time based on the actual area of ​​the fire and the reference time required for the drone to extinguish a fire per unit area.

[0079] The device 20 may also include an estimation unit for estimating the critical time based on a fire growth model.

[0080] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3As shown, the electronic device may include a processor 310, a communications interface 320, a memory 330, and a communication bus 340. The processor 310, communications interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute the method for extracting structured information from text provided in this application embodiment. This method includes determining the attribute value of the text to be extracted based on its content classification tags; determining the user behavior value of a target data block based on its user operation records; determining the comprehensive value score of the target data block based on its attribute value and user behavior value; selecting a regular expression with a corresponding extraction granularity based on the comprehensive value score; extracting structured information from the target data block; and storing the extracted structured information in a structured storage system corresponding to the comprehensive value score. This method calculates the comprehensive value score of the target data block in the text to be extracted, selects the regular expression corresponding to the extraction granularity, extracts structured information from the target data block, and stores the structured information in the structured storage system corresponding to the comprehensive value score. Therefore, even if there are multiple data blocks in the text to be extracted, this method can extract the structured information from each data block and store it in the corresponding structured storage system, thus solving the problem in the prior art.

[0081] In practical applications, this electronic device can be either a user-side electronic device or a server-side electronic device.

[0082] Obviously, since the processor 310 can call the logical instructions in the memory 330 to execute the method provided in the embodiments of this application, it can also solve the problems in the prior art.

[0083] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for extracting structured information from text provided in the embodiments of this application. The method includes determining the attribute value of the text to be extracted based on the content classification tags of the text to be extracted; determining the user behavior value of the target data block based on the user operation records of the target data block; determining the comprehensive value score of the target data block based on the attribute value of the text to be extracted and the user behavior value score of the target data block; selecting a regular expression with a corresponding extraction granularity based on the comprehensive value score of the target data block; extracting structured information from the target data block; and storing the extracted structured information in a structured storage system corresponding to the comprehensive value score. This method calculates the comprehensive value score of the target data block in the text to be extracted, selects the regular expression corresponding to the extraction granularity, extracts structured information from the target data block, and stores the structured information in the structured storage system corresponding to the comprehensive value score. Therefore, even if there are multiple data blocks in the text to be extracted, this method can extract the structured information from each data block and store it in the corresponding structured storage system, thus solving the problem in the prior art.

[0085] Obviously, since the computer can execute the method provided in the embodiments of this application when the computer program is executed by the processor, it can also solve the problems in the prior art.

[0086] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, provides the method provided in the embodiments of this application.

[0087] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0088] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the deployment location of a landing pad for an unmanned aerial vehicle (UAV) firefighting system for a protected historical building, characterized in that, include: Obtain the topological structure data of the target cultural relic protection building; Based on the topological data, the geometric centroid of the target cultural relic protection building is determined; Based on a preset fire extinguishing time constraint model, the maximum allowable distance between the UAV base station and the geometric center is calculated. The fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing mission from the UAV landing pad does not exceed the critical time for fire development. Within a spatial range centered on the geometric centroid and with the maximum permissible distance as the radius, determine the deployment location of at least one UAV landing pad.

2. The method according to claim 1, characterized in that, Within a spatial range centered on the geometric centroid and with the maximum permissible distance as its radius, determine the deployment location of at least one UAV landing pad, specifically including: Based on the topological data, the actual area of ​​the target cultural relic protection building is determined; Based on the preset area range to which the actual area belongs, determine the preset number of corresponding drone landing pads; Within a spatial range centered on the geometric center and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad is set up in an amount equal to the preset number.

3. The method according to claim 2, characterized in that, The preset quantity is specifically 1; within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad equal to the preset quantity is set up, specifically including: The deployment location of the drone landing pad is set at the location of the geometric center; or, If the location of the geometric center does not meet the physical deployment conditions of the drone landing pad, the location closest to the geometric center and meeting the physical deployment conditions shall be selected as the deployment location of the drone landing pad within a spatial range centered on the geometric center and with the maximum allowable distance as the radius.

4. The method according to claim 2, characterized in that, The preset quantity is greater than 1; within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius, an unmanned aerial vehicle (UAV) landing pad equal to the preset quantity is set up, specifically including: Based on the topological data and fire risk probability assessment, the target cultural relic protection building is divided into several protection zones, the same number as the preset number. Determine the centroid of the geometric region for each protection zone; Within a spatial range centered on the geometric center of each zone and with the maximum allowable distance as the radius, each drone landing pad is set up.

5. The method according to claim 4, characterized in that, Within a spatial range centered on the geometric center of each partition and with the maximum allowable distance as the radius, each drone landing pad is set up. Specifically, this includes: taking the geometric center of each partition as the initial position and satisfying the maximum allowable distance as the constraint, performing optimization calculations to minimize the distance from any point within the building to its nearest drone landing pad, so as to obtain the final deployment position of each drone landing pad.

6. The method according to claim 4, characterized in that, Within a spatial range centered on the geometric center of each partition and with the maximum allowable distance as the radius, each UAV landing pad is set up. Specifically, this includes setting the deployment location of each UAV landing pad at the location of the corresponding geometric center of the partition.

7. The method according to claim 1, characterized in that, Based on the topological data, the geometric centroid of the target cultural relic protection building is determined, specifically including: Based on the topological data, the horizontal projection outline of the target cultural relic protection building is extracted; The geometric centroid of the horizontal projection outer contour is determined as the geometric centroid of the target cultural relic protection building.

8. The method according to claim 1, characterized in that, Based on a preset fire extinguishing time constraint model, the maximum allowable distance between the UAV base station and the geometric centroid is calculated. Specifically, the maximum allowable distance is calculated using the fire extinguishing time constraint model T1 + (D / V) + T2 + ΔT ≤ T0. Wherein, T1 is the startup preparation time required for the drone to take off from the fire alarm; D is the maximum allowable distance to be calculated; V is the average flight speed of the drone; T2 is the single-drone spraying time required to extinguish the fire; ΔT is the additional time cost brought about by multi-drone relay scheduling; and T0 is the critical time from the fire ignition to the fire developing into an uncontrollable state.

9. The method according to claim 8, characterized in that, The method further includes: The total water demand required to extinguish the fire is determined based on the spray intensity of the high-pressure fine water mist generator carried by the drone and the single-drone spraying duration. Determine whether the total water demand exceeds the water capacity carried by a single drone. If the total water demand is greater than the water capacity of a single unit, the number of relays is determined based on the ratio between the total water demand and the water capacity of a single unit, so as to determine ΔT; If the total water demand is less than or equal to the water capacity carried by a single unit, then ΔT is determined to be 0.

10. The method according to claim 8, characterized in that, The method further includes determining the single-drone spraying time based on the actual area of ​​the fire and the reference time required for the drone to extinguish a fire per unit area.

11. The method according to claim 8, characterized in that, The method further includes estimating the critical time based on a fire growth model.

12. A device for determining the deployment location of a landing pad for an unmanned aerial vehicle (UAV) firefighting system for protected cultural relics buildings, characterized in that, include: The acquisition unit is used to acquire the topological structure data of the target cultural relic protection building; The first determining unit is used to determine the geometric centroid of the target cultural relic protection building based on the topological structure data; The calculation unit is used to calculate the maximum allowable distance between the UAV base station and the geometric center based on a preset fire extinguishing time constraint model, wherein the fire extinguishing time constraint model ensures that the total time for the UAV to complete the fire extinguishing mission from the UAV landing pad does not exceed the critical time for fire development. The second determining unit is used to determine the deployment location of at least one UAV landing pad within a spatial range centered on the geometric centroid and with the maximum allowable distance as the radius.

13. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-11.

14. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-11.

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