Intelligent fire extinguishing system based on unmanned aerial vehicle

Abstract

The present application relates to a fire-fighting system based on unmanned aerial vehicle, comprising a rotatable multi-head monitoring system with adjustable head pitch angle installed on the indoor ceiling, at least one standby unmanned aerial vehicle in the unmanned aerial vehicle station and its path flight control device, an inward control window installed on the building facade, and a remote server in communication with the multi-head monitoring system; when the multi-head monitoring system detects a fire in the room, the unmanned aerial vehicle is mobilized through manual decision and request of the fire site personnel; the remote personnel control the unmanned aerial vehicle to reach the designated location of the building outside through the path flight control device, enter the building indoor through the opened inward control window, and realize fire extinguishing. The multi-head nozzle is changed into multiple groups of visible light, infrared or temperature measurement composite means for monitoring; the unmanned aerial vehicle is mobilized through on-site observation and real-time live combination of the priority strategy of the fire request, the overall scheme improves the flexibility and mobility, reduces the system matching cost, and the remote control picture is real-time, clear and accurate.

Description

Technical Field

[0001] This invention relates to an intelligent fire protection system, and more particularly to an intelligent fire protection system based on drone entry into a building, belonging to the field of intelligent fire protection. Background Technology

[0002] Indoor fires are a frequent type of fire, directly impacting personal and property safety. Existing indoor fire suppression solutions rely on mobile, patrolling sensors installed on walls during the interior decoration phase, combined with precision-controlled ceiling-mounted spray nozzles, to achieve in-situ monitoring and precise extinguishing of indoor fires.

[0003] However, for this method of fire suppression to be accurate and timely, sufficient computing power is required, and monitoring and fire control are challenging. Furthermore, since the location of indoor fires is unpredictable, especially in high-rise buildings, it often requires installing a matching system in every single room, resulting in significant maintenance costs. The consequences of a malfunction could be disastrous. In addition, the complex algorithms supported by the system require matching with controllable mechanical nozzles, placing high demands on the coordinated control of mechanical movement and water spray, thus only meeting the needs of a small number of customers facing special flammable and explosive environments.

[0004] On the other hand, when a fire breaks out, it is desirable to deliver firefighting materials or methods by opening windows. However, existing windows, whether they open outwards or tilt inwards, cannot create enough space for rescue supplies to enter. This means that current technology can only rely on drones hovering outdoors to provide remedial firefighting for fires that have already spread to the windows of high-rise building facades, resulting in very limited controllable economic losses.

[0005] While using indoor robots is an option, the cost remains high. Therefore, introducing drones indoors has become a solution to replace indoor systems.

[0006] There is an urgent need for a drone-based firefighting technology solution that can extinguish fires before they start, extinguish early-stage fires, and extinguish small fires in their early stages. Summary of the Invention

[0007] 1. Overview of the key points of this invention On the one hand, monitoring heads are installed on the indoor ceiling, and sensor arrays are deployed to enable the monitoring heads to intelligently identify the real-time situation triggered by the fire and remotely transmit it, thereby determining the fire extinguishing strategy.

[0008] On the other hand, the exterior facade features inward-folding control windows that provide access for drones and also serve as smoke extraction points.

[0009] Thirdly, a firefighting strategy based on real-time imagery using drones to control water spraying can significantly improve firefighting efficiency.

[0010] 2. The core inventive element of this invention The intelligent fire protection system based on drone entry includes a multi-head monitoring system installed on the indoor ceiling that can rotate and whose pitch angle of each head can be adjusted, at least one drone waiting in the drone station and its path flight control device, an inward-folding control window installed on the building facade, and a remote server that communicates with the multi-head monitoring system. When the multi-monitoring system detects a fire (fire point) indoors, it transmits the fire scene to a remote server. Remote personnel (i.e., staff around the remote server responsible for monitoring the large screen and making drone deployment decisions) observe the fire situation (whether a fire point has appeared) on the large screen and make a manual decision on whether to send a drone to the scene. When the monitoring system reports a request for fire fighting and rescue to the remote server, the decision on whether to go to the scene is still made manually. If the request is rejected and a request for scene rescue is received again, the drone is immediately dispatched to the scene to fight the fire, taking precedence over the manual decision. At this time, the remote personnel control the drone to reach the designated location outside the building through the path flight control device, and enter the building through the opened inward-folding control window to extinguish the fire.

[0011] It should be noted that the concept of "remote personnel" is introduced here for ease of description. This "remote personnel" can refer to a virtual digital person, utilizing an intelligent decision-making system, and does not simply refer to a real natural person. Those skilled in the art will understand that this intelligent fire protection system is a fully automated fire extinguishing technology solution that prioritizes intelligent decision-making while supplementing it with human decision-making; it is a fully self-operating intelligent fire protection system that requires no human intervention. The applicant's series of applications will provide a detailed description of the intelligent decision-making module.

[0012] 3. Specific details Optionally, the multi-head monitoring system is installed on the ceiling and includes at least one composite probe consisting of a visible light camera and an infrared thermometer and / or an infrared camera, a composite probe power supply system, a bearing-type base detachably connected to the wall and ceiling, a hollow sleeve rod, a rack rod, a composite probe bracket fixedly connected to the hollow sleeve rod, a rotary motor, and a lifting motor. The composite probe contains a chip that communicates with a remote server, and the chip stores an indoor floor plan atlas. In a further preferred embodiment, the sensors used by the composite probe can be arranged as a sensor array. More preferably, this sensor array has a three-dimensional precise positioning function, achieved by connecting to a satellite positioning system or communicating with a remote server.

[0013] The bearing-type base includes an inner ring and an outer ring. The inner ring is detachably and fixedly connected to the top of the wall. The hollow sleeve rod extends detachably from the bottom of the outer ring. The rack rod is vertically and flexibly fitted inside the hollow sleeve rod, and a hanging spring is fixedly connected between the top of the rack rod and the inner wall of the hollow sleeve rod. The composite probe bracket includes a ring and a composite probe seat that can be tilted and rotated on the ring. The ring is fixedly connected to the hollow sleeve rod by a spring or connecting rod (which can be detachable).

[0014] The outer surface of the rack rod is provided with one more straight rack than the number of composite probes. Each composite probe holder has an arc-shaped rack near the rotation axis of the hollow sleeve rod. The arc-shaped rack meshes with the corresponding straight rack, and the remaining straight rack meshes with the second drive gear at the output end of the lifting motor. The rack rod is driven to move up and down by the lifting motor, thereby adjusting the pitch angle of all the arc-shaped racks as a whole during the movement. The lifting motor bracket is detachably mounted on the hollow sleeve rod, and the lifting motor is detachably and fixedly placed on the lifting motor bracket. The lifting motor can switch between forward and reverse rotation, thereby enabling all the composite probes to move up and down. The composite probe mounted on the probe holder can swing back and forth around a set pitch angle. The rotary motor is detachably fixed by a rotary motor bracket that is detachably connected to the wall top. The side of the outer ring has a circumferential gear that meshes with the first drive gear on the output end of the rotary motor. Thus, the rotary motor drives the outer ring to rotate, causing the hollow sleeve rod, rack rod, composite probe bracket, lifting motor bracket, and lifting motor to rotate as a whole. Rotary encoders are installed at the output ends of the rotary motor and the lifting motor. The horizontal coordinate position of each composite probe holder is obtained by acquiring the rotary encoder signals through the control and analysis circuit.

[0015] It's easy to understand that the spring is not only a suspension and fixing component of the rack and pinion, but also a component that compresses and extends due to the forward and reverse rotation. Without the swing mechanism, the lifting motor would continuously output static torque to overcome the spring's elasticity and maintain a stable pitch angle, posing a risk of overheating. The forward and reverse rotation keeps the motor running, preventing overheating and expanding the pitch monitoring range. Because multiple composite probes are used, large-angle rotation is unnecessary, and the cables connecting the composite probes to the power system do not suffer excessive twisting or tangling due to large-angle rotation.

[0016] Preferably, both the lifting motor and the rotating motor are servo motors that are wirelessly remotely controlled by the control and analysis circuit to switch between rotation and reversal, and both the lifting motor and the rotating motor operate alternately in a preset periodic manner.

[0017] Optionally, the cycle is 5 min to 1 h.

[0018] Optionally, the chip has the capability to process and analyze visible light images and temperature and / or thermal images in real time to identify real-time fire conditions.

[0019] Optionally, the identification method includes inputting real-time visible light images and thermal images into a pre-trained convolutional neural network (CNN), and / or inputting real-time visible light images into a pre-trained convolutional neural network and referencing real-time temperature measurements from an infrared thermometer to identify the fire.

[0020] Optionally, if either the real-time visible light image or the thermal image is input into the pre-trained convolutional neural network and it identifies a fire (a fire point), a suspicious situation is reported to a remote server. If both are identified, the process immediately proceeds to the manual decision-making step; and / or, If a pre-trained convolutional neural network (CNN) detects a fire when a real-time visible light image is input, but the real-time temperature measurement does not exceed a threshold, it reports a suspicious situation to a remote server. If the CNN does not detect a fire when the visible light image is input, but the real-time temperature measurement exceeds the threshold, or if the CNN detects a fire when the visible light image is input, and the real-time temperature measurement exceeds the threshold, the process immediately proceeds to the manual decision-making step. In case of suspicious situations or when the process enters the manual decision-making stage, the chip is triggered to transmit real-time images of the scene back to the server, allowing remote personnel to observe the fire situation on a large screen.

[0021] Optionally, personnel at the fire scene (if conditions permit, this could be security personnel on the floor) can report to the remote server requesting firefighting and rescue by sending an application installed on a smart mobile device that communicates with the chip. They can also operate the application to retrieve images and identify the fire source.

[0022] Optionally, the inward-opening window includes a window frame embedded in the wall or fixed between the upper and lower floor slabs, and a window frame connected by hinges. Both sides of the window frame have inner grooves, and each inner groove is equipped with two motors with opposite rotation directions of their output shafts. The output shafts of the two motors are connected to lead screws, which pass through a slider. The connecting rod is rotatably connected to the slider and a connecting plate installed on the window frame on the corresponding inner groove side. A controller is installed on the side of the motor furthest from the hinge from the lead screw. The controller is networked with a handheld smart mobile device of a person in the building and can control the operation of the two motors through the handheld smart mobile device, thereby opening the window frame from a closed state to an open state.

[0023] Optionally, the designated location includes in front of the open window frame.

[0024] Preferably, when switching from the closed to the open state, the window frame rotates 90°, and the handheld smart mobile device can control the dual motors of any inward-opening window to open that window. This allows personnel outside the building to easily control a drone to the designated location.

[0025] Optionally, the path flight control device is equipped with a flight control operating system. Its outer shell has a screen area for displaying real-time images. The graphic area inside the screen area is used to load and display an indoor plan view of the location. The outer shell also has a control area for controlling the drone's flight by touching and moving the direction with a finger. When the control area does not sense a movement signal (including the finger leaving the control area or touching but not moving), the drone hovers at the current position.

[0026] It should be understood that the control area is equivalent to an electronic joystick, used to control the direction and flight of the drone from a first-person perspective.

[0027] Optionally, remote personnel can use the screen area to perform fingerprint recognition to access and take over the flight control operating system.

[0028] Optionally, the remote personnel control the drone to reach a designated location outside the building via the path flight control device, and enter the building interior through the opened inward-opening control window to extinguish the fire. This specifically includes the following steps: S1 has a camera mounted on the drone that communicates with the flight control device for the path; The S2 camera transmits real-time footage to the path flight control device for communication, so that the remote personnel can observe the first-person view of the drone through the display screen on the path flight control device and thus control the drone. The path flight control device described in S3 is equipped with a navigation system. When remote personnel determine to dispatch the drone, the drone is flown to the designated location outside the building based on the path navigation established between the drone stations and the fire location. When S4 determines to mobilize the drone, the remote server sends an indoor floor plan of the fire source location and a diagram indicating the fire source to the chip. The chip transmits the diagram to the remote server and downloads it to the local path flight control device via the remote service. Based on the diagram and the location of the flip-up control window, the S5 remote operator draws the path from the interior to the fire source on the diagram. Combining this with the first-person view from the camera inside the room, the flight controller reaches the vicinity of the fire source to achieve targeted fire suppression.

[0029] Optionally, after the illustration is downloaded, it is displayed in the illustration area. Remote users can zoom in and out of the illustration by double-clicking at a fixed point, simultaneously touching the illustration area with both fingers and simultaneously increasing or decreasing the distance between their fingers, or drawing a circle. They can select the area of ​​interest by using one of these three methods or a combination of these methods.

[0030] In one embodiment, the drone is carried by dispatched personnel into a motor vehicle and driven to the incident site (e.g., the ground outside a building marked with a designated fire zone sign). The personnel then disembark to control the drone and enter the building interior through the opened inward-opening control window to extinguish the fire.

[0031] This embodiment is suitable for situations where the fire area on site increases from the initial fire point or as a backup vehicle for a drone station, especially when there is no fire hose available on site, or when the extinguishing agent carried by the drone itself is insufficient, requiring an additional large amount of extinguishing agent to be loaded onto the vehicle.

[0032] In another embodiment, the drone is remotely controlled and follows the vehicle carrying the dispatched personnel (who may drive or assign another dedicated driver), or the vehicle carrying the dispatched personnel and the drone arrive at the scene independently. The dispatched personnel then disembark and control the drone to enter the building interior through the opened inward-folding control window to extinguish the fire.

[0033] 4. Beneficial effects The intelligent fire protection system based on drone entry into the building of the present invention uses multiple sets of visible light, infrared or temperature measurement composite methods for monitoring, realizes remote on-site real-time transmission triggered by intelligent fire identification, and reduces the amount of information interaction.

[0034] By combining on-site observation with a priority strategy for fire requests, drones can be remotely dispatched to the scene to extinguish fires, thus preventing the unnecessary waste of fire-fighting resources.

[0035] This invention's intelligent fire protection system based on drone entry utilizes inward-folding floor-to-ceiling windows to enable unobstructed drone entry. It uses on-site diagrams and fire source markers to guide the drone to the vicinity of the fire source for extinguishing. The solution improves mobility and flexibility, reduces system configuration costs, and provides clear, real-time remote control images for precise fire location and suppression. Furthermore, the drone can be deployed with personnel on vehicles carrying sufficient firefighting equipment to address fire spread and situations where additional fire hoses are unavailable.

[0036] If cost is not a factor, the array sensor of this invention can be connected to a satellite navigation system to provide three-dimensional precise positioning. In this way, the intelligent fire protection system based on drone entry of this invention can significantly improve the timeliness of fire fighting by combining array sensor with satellite precise positioning, and minimize fire losses.

[0037] The intelligent fire protection system based on drone entry into buildings of the present invention provides a one-stop intelligent fire extinguishing solution for public buildings by setting up fire extinguishing base stations. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the multi-head monitoring system structure of the intelligent fire protection system based on drone entry into the room according to Embodiment 1 of the present invention. a is a front view, b is a top view, and c is a front view of the composite probe. Figure 2 This is a flowchart illustrating the fire identification and fire extinguishing strategy according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the path flight control device according to an embodiment of the present invention, wherein a is a real-world illustration of the flight control reaching a designated location, and b is a real-world illustration of the flight control entering an indoor location; Figure 4 This is a schematic diagram showing the open and closed states of the inward-flipping control window, as well as the direction of the drone's flight and the direction of smoke exhaust, according to an embodiment of the present invention. Figure 5 Side view of the inward-folding control window structure and a site illustration of a drone being guided by personnel inside the building. Detailed Implementation

[0039] The embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are for illustrative purposes only and are not intended to be limiting.

[0040] Example 1 This embodiment provides an intelligent fire protection system based on drone entry into buildings, including a rotatable multi-head monitoring system installed on the indoor ceiling with adjustable pitch angle for each head, at least one drone waiting in a drone station and its path flight control device, an inward-folding control window installed on the building facade, and a remote server communicating with the multi-head monitoring system.

[0041] When the multi-monitoring system detects a fire (fire point) indoors, it transmits the fire scene to a remote server. Remote personnel observe the fire situation on a large screen and make a manual decision on whether to dispatch a drone to the scene. When the monitoring system or personnel at the fire scene report a request for firefighting and rescue to the remote server, the decision on whether to go to the scene is still made manually. If the request is rejected and a request is received again from the scene, the drone is dispatched to the scene immediately to extinguish the fire, taking precedence over the manual decision. At this time, the remote personnel control the drone to reach the designated location outside the building through the path flight control device, and enter the building through the opened inward-folding control window to extinguish the fire.

[0042] The following will focus on the multi-head monitoring system, fire identification and firefighting strategies, drones and their flight path control devices, and the structure of the inward-folding control window.

[0043] I. Multi-head monitoring system A schematic diagram of the multi-head monitoring system is shown below. Figure 1 As shown in a and b, Figure 1 Figure 'c' illustrates the parallel configuration of a composite probe consisting of multiple visible light cameras and infrared thermometers. The multi-head monitoring system in this embodiment specifically includes: at least one composite probe consisting of a visible light camera and an infrared thermometer and / or an infrared camera, mounted on the top plate. This embodiment may optionally include six (…). Figure 1 The composite probes (as shown in Figure a) are evenly spaced. Figure 1 The image in section c shows an example of one of the six composite probes.

[0044] The multi-head monitoring system also includes a composite probe power supply system, a bearing-type base detachably connected to the wall / top, a hollow sleeve rod, a rack rod, a composite probe bracket fixedly connected to the hollow sleeve rod, a rotary motor, a lifting motor, and other structures. The composite probe contains a chip (…). Figure 1 (Neither a nor b are shown in the diagram), used to communicate with a remote server, and the chip stores an indoor floor plan diagram set.

[0045] The bearing-type base includes an inner ring and an outer ring. The inner ring is detachably and fixedly connected to the top of the wall. The hollow sleeve rod extends detachably from the bottom of the outer ring. The rack rod is vertically and flexibly fitted inside the hollow sleeve rod, and a hanging spring is fixedly connected between the top of the rack rod and the inner wall of the hollow sleeve rod. The specific fixing method is as follows... Figure 1 As shown in Figure a, two straight rods are used. The circled part in the figure can be hooked to the top coil of the spring, and the same method can be used to hook it onto the inner wall of the hollow sleeve rod.

[0046] The composite probe holder includes a ring ( Figure 1 The image shows a partial cross-section near one of the composite probe mounts and a small section in the frontal view, as well as the composite probe mount on the ring that can be tilted and rotated. The ring is fixedly connected to the hollow sleeve rod by a connecting rod (specifically, it is fixedly connected to...). Figure 1 On the slope of the conical funnel of the hollow sleeve rod.

[0047] The outer surface of the rack rod is provided with seven straight racks. Each composite probe holder has an arc-shaped rack near the rotation axis of the hollow sleeve rod. The arc-shaped rack meshes with the corresponding straight rack. The remaining straight rack meshes with the second drive gear at the output end of the lifting motor. The rack rod is thus driven by the lifting motor. Figure 1The lifting motion indicated by the double straight arrows in section a drives all the arc-shaped racks to adjust their pitch angles during the movement. A lifting motor bracket is detachably mounted on the hollow sleeve rod, and the lifting motor is detachably and fixedly placed on the bracket. The lifting motor can switch between forward and reverse rotation, allowing all the composite probes mounted on the composite probe holders to move around the set pitch angle. Figure 1 The double-arrow symbol indicates a back-and-forth swinging motion. The rotary motor is detachably fixed via a rotary motor bracket detachably connected to the wall top. The outer ring has a circumferential gear on its side that meshes with the first driving gear on the output end of the rotary motor. Thus, the rotary motor drives the outer ring to rotate, causing the hollow sleeve rod, rack rod, composite probe bracket, lifting motor bracket, and lifting motor to rotate as a whole. Rotary encoders are installed at the output ends of both the rotary motor and the lifting motor. Figure 1 (Not shown), the horizontal coordinate position of each composite probe seat is obtained by acquiring rotary encoder signals through control and analysis circuits.

[0048] like Figure 1 The electrode signal lines of the rotary motor and lifting motor shown, and the rotary encoder signal lines ( Figure 1 (Not shown) All are connected to the wireless / battery module in the base to enable power supply and wireless acquisition of rotary encoder signals between the control and analysis circuits.

[0049] like Figure 1 As shown, the composite probe is connected to cables, and thus the six composite probes are connected to six batteries in the power supply box of the composite probe power supply system via six cables to provide power to the signal lines, enabling the composite probes to operate and move controllably. In this embodiment, the rotary motor only needs to rotate the composite probe holder 60° (once every 30 minutes), so the cables do not need to be too long, and the cables will not be twisted or overstretched due to larger rotation angles (exceeding 60°).

[0050] In an optional embodiment of the present invention, when there are multiple composite probes, the arc-shaped racks of each composite probe have the same radius of curvature and are arranged coaxially. The straight racks are parallel to each other and parallel to the axis of the hollow sleeve rod. When the rack rod is raised or lowered, all composite probe seats synchronously tilt and rotate by the same angle. Preferably, the six composite probes are distributed at 60° intervals, and the monitoring sector of each probe is 60°-90°. By periodically rotating 60° by a rotary motor, 360° monitoring without blind spots can be achieved. The lifting motor adjusts the tilt angle from -30° to +60° (with horizontal downward as 0°), covering the complete vertical field of view from the top of the head to the ground.

[0051] The hanging spring is installed using pre-tight compression, with the pre-tightening force set to be greater than the sum of the weights of the rack and pinion and the composite probe bracket. The rotary encoder records the reference position of the hanging spring under compression during system initialization, and subsequent position calculations are based on this reference for relative displacement compensation.

[0052] II. Fire Identification and Firefighting Strategies In such Figure 2 Within the chamfered dashed box shown, for fire situations (including two classification levels: entering manual decision-making and suspicious situations), each set of composite probes is equipped with a chip. When multiple sets of visible light cameras and infrared thermometers are identified, not identified, and infrared temperature exceeding or not exceeding the threshold respectively through pre-trained CNN, a suspicious situation and the step of entering manual decision-making are obtained. Figure 2 The system identifies three scenarios: identified fire exceeding the threshold, unidentified fire exceeding the threshold, and identified fire not exceeding the threshold, resulting in α, β, and γ cases respectively. α and β cases proceed to the manual decision-making stage, while γ is considered a suspicious case. This approach allows for accurate fire identification through the complementary use of two monitoring methods, without neglecting either one.

[0053] See also Figure 2 ,when Figure 1 When the multi-monitoring system on display detects a fire (fire point) indoors, it triggers the chip in the composite probe that identifies the fire and / or the temperature exceeding the threshold (including two classification levels: manual decision-making and suspicious situation). The system then transmits the fire scene to a remote server, where remote personnel can observe the fire situation on a large screen and make a manual decision on whether to send a drone to the scene.

[0054] Next, the remote server needs to determine whether the monitoring system or personnel at the fire scene have reported a request for firefighting and rescue to the remote server, that is, whether the request has been received. If so, the request is rejected, meaning that the decision to go to the scene is still made manually (indicated by the thick broken line process); if not, the decision is made manually again (indicated by the thin broken line process). This achieves interaction between the drone station (the remote server setting point) and the fire point. Regardless of whether a fire has started, the decision to take off and fight the fire is made manually to prevent false alarms or misreports.

[0055] When a request is rejected, the remote server needs to determine whether it receives another request. If so, it will immediately dispatch a drone to the scene to extinguish the fire, taking precedence over human decision-making. At this time, the remote personnel will control the drone to reach the designated location outside the building through the flight path control device and enter the building through the opened inward-folding control window to extinguish the fire. Otherwise, human decision-making will continue.

[0056] Among them, the way personnel at the fire scene report to the remote server and request fire fighting and rescue is through a smart mobile device that communicates with the chip, specifically an application app installed on a smartphone, which sends a request command to the remote server.

[0057] III. Unmanned Aerial Vehicles and Their Flight Control Devices The drone in this embodiment is a known drone carrying fire extinguishing agent, and it is equipped with a high-definition camera. Figure 3 The paths indicated by a and b in the diagram represent communication between the flight control device and the flight path.

[0058] like Figure 3 As shown, the flight control device has a housing with a display screen. The display screen has a screen area for viewing the flight control status. There is a control area in the lower right corner. The diagram illustrates the posture of a human finger touching the control area. By touching and sliding the finger, the drone's flight attitude and direction of movement can be controlled, which is equivalent to an electronic joystick.

[0059] The remote personnel control the drone via the control area of ​​the flight control device to reach the designated location outside the building, and enter the building through the opened inward-opening control window to extinguish the fire. Specifically, this includes the following steps: S1: Install a camera on the drone to communicate with the flight control device for the specified path; S2: The camera transmits the real-time image to the path flight control device for communication, so that the remote personnel can observe the first-person view of the drone through the display screen on the path flight control device, thereby controlling the drone; S3: The path flight control device is equipped with a navigation system. When remote personnel determine to dispatch the drone, the drone is flown to the designated location outside the building based on the path navigation established between the fire location and the drone station. S4: In such Figure 2 As shown in the diagram, when a drone is dispatched to the fire scene for firefighting, the remote server sends a request to a chip in a composite probe that has triggered the detection of a temperature exceeding a threshold. This request includes an indoor floor plan of the fire location and a map indicating the location of the fire. The chip then transmits the map to the remote server, which downloads it to the local flight control device via a remote service. The fire source is marked by personnel at the fire scene retrieving the map from the chip and marking the fire source using the app.

[0060] S5: Based on the diagram and the location of the inward-folding control window, remote personnel draw the path from the diagram to the fire source, and combined with the first-person view of the camera inside the room, fly-control to reach the vicinity of the fire source to achieve targeted fire suppression.

[0061] Figure 3 Example of an icon area in the upper right corner of the screen is given in section b. Remote users can zoom in and out, draw circles, or perform other operations in sequence by double-clicking at a fixed point, simultaneously touching the icon area with both fingers and simultaneously increasing or decreasing the distance between their fingers, and so on.

[0062] IV. Inward-opening control window structure like Figure 4 As shown, the inward-opening window has two states: closed and open (with a 90° angle between them), and the direction in which the drone flies in is opposite to the direction of smoke exhaust.

[0063] See details Figure 5 The inward-opening window includes a window frame fixed between floor slabs and a window body frame connected by hinges. Both sides of the window body frame have inner grooves (…). Figure 5 (Only one side is shown). Each inner groove is equipped with two motors with opposite output shaft rotation directions. The output shafts of the two motors are connected to lead screws. The lead screws pass through a slider. The connecting rods are rotatably connected to the sliders and the connecting plates installed on the window frame on the corresponding inner groove side. A controller is installed on the side of the motor furthest from the hinge from the lead screw. The controller is connected to a handheld smart mobile device of a person in the building. The controller can control the operation of the two motors through the handheld smart mobile device, which can be a smartphone, thereby opening the window frame from the closed state to the open state.

[0064] See you again Figure 3 a and Figure 3 b, Figure 3 A shows the live flight control scene in the display area, where the drone flies to the designated location via the path control device. It's visible that the inward-opening control window on the first floor of the building where the fire originated is open, demonstrating the entrance C for the drone to enter the building (also shown in...). Figure 3 (b in the diagram); while the inward-opening control windows downstairs are all in the closed state as indicated in the diagram. The diagram shows an example of a person at the fire scene who discovers a drone calling out at entrance C, holding a smartphone, which is making the request to the remote server through an app on the smartphone.

[0065] After flying indoors, the flight path diagram is downloaded to the local flight control device via remote service. At this time, Figure 3 The diagram shown in section b is the downloaded version of the floor plan, displayed after double-clicking and zooming in with two fingers. It shows the fire source marker A and the flight control path B drawn by the remote personnel in the diagram area. The remote personnel and... Figure 3 In the live flight control footage shown in b, smoke can be seen emanating from point D. Combined with the fire source marker A in the diagram, this indicates the fire originated in the stairwell area. The drone can then be controlled via the control area shown in the diagram to fly along route B. During actual flight, a drone icon flashes at its current position on route B (not shown in the diagram), which can also help check if the flight control has deviated from the intended path.

[0066] In an optional embodiment of the present invention, the flight control of the UAV includes three modes: automatic navigation mode, manual remote control mode, and hovering waiting mode. Automatic navigation mode: The UAV flies from the station along a preset path to a designated location outside the building; manual remote control mode: Remote personnel manually control the entry into the building and fire extinguishing operations through the control area; hovering waiting mode: The UAV hovers at a designated location or outside a window, waiting for the inward-opening window to open or for a command update. These three modes can be switched by remote personnel on the path flight control device. When the remote server forcibly opens the inward-opening window, it simultaneously sends alarm information to the building fire control center and property management personnel, and records the opening time, fire level, and operator information. In another embodiment, the UAV maintains heartbeat communication with the path flight control device. If communication is interrupted for more than a preset time (e.g., 10 seconds), the UAV automatically executes a return-to-home procedure, returning along the original path to a safe area outside the building and hovering; if the battery level is below a safe threshold, it prioritizes finding the nearest safe landing point (e.g., an open window sill) to land. The path control device can also match the real-time camera footage with the map. When it detects that the actual position of the drone deviates from the marked path by more than a threshold, it will display a correction prompt in the screen area or automatically correct the flight trajectory.

[0067] Multiple drones are on standby at the drone station. When the fire spreads or the area exceeds the fire extinguishing agent capacity of a single drone, the remote server can dispatch multiple drones to enter sequentially through the same inward-opening window, or through inward-opening windows on different floors, to form multi-point fire extinguishing or relay fire extinguishing.

[0068] Example 2 Example 1 illustrates the scenario of independent flight control of a drone. This example describes the drone being carried by dispatched personnel into a motor vehicle and transported to a location such as... Figure 3 At the designated location shown as 'a' in the diagram, disembark to control the drone, and enter through the opened inward-opening control window. Figure 3 The inlet C of 'a' in the embodiment extinguishes the fire. This embodiment is suitable for situations where the fire is in its early stages of spread or when the fire is just beginning to spread.

[0069] Example 3 In this embodiment, the drone is remotely controlled and follows the vehicle carrying the dispatched personnel, or the vehicle carrying the dispatched personnel and the drone independently reach their respective destinations. Figure 3 As shown in 'a', at the designated location of the incident, the dispatched personnel disembark before controlling the drone, entering through the opened inward-opening control window. Figure 3 The import of C in 'a' achieves fire extinguishing.

[0070] In an optional embodiment of the invention, a system reset procedure is also included after fire extinguishing. After the fire is extinguished, remote personnel control the drone to return to the inward-opening window and fly out, or if the indoor environment is not suitable for flight (such as when thick smoke has not dissipated), personnel are dispatched to enter the room to retrieve the drone. The inward-opening window is closed by a remote server or on-site personnel after the drone has flown out. The multi-monitoring system continuously monitors the temperature at the fire scene and lifts the alert status after confirming that there is no risk of reignition.

[0071] In other words, after the drone takes off, the remote server sends a window-closing command to the controller, or on-site personnel can control the closing of the inward-opening window via an app. Once the window frame rotates 90° back to the closed state, the controller sends a closing completion signal back to the remote server.

[0072] Subsequently, the multi-monitoring system continuously monitors the temperature of the fire area, with infrared thermometers sampling every 30 seconds. If the temperature at all monitoring points remains below 60°C within 30 minutes, and the visible light cameras do not detect new smoke or open flames, the system automatically de-alerts and sends a "fire suppression completed" report to the remote server. If a temperature rise or new smoke is detected, the fire identification process is retried. After confirming safety on-site, dispatched personnel can submit a "site suppression completed" confirmation to the remote server via an app. The system archives the fire rescue record (including the time of fire occurrence, drone deployment time, firefighting duration, fire extinguishing agent consumption, and operation logs of on-site and remote personnel) for subsequent analysis and accountability.

[0073] If each building is equipped with a drone station connected to the intelligent fire protection system of this invention, it can effectively extinguish most fires in public places at their initial stage, significantly reducing property damage. In private locations such as student dormitories where it is inconvenient to install cameras, the traditional sprinkler system combined with the sensor array of this invention using a drone station can still be used for fire suppression. If multiple buildings share a single drone station, at least one vehicle must be configured to guide the drone's flight control to save time in reaching the fire. Furthermore, this invention can be networked with other fire protection systems for joint fire suppression, demonstrating strong compatibility.

[0074] Although this invention involves manual control of the drone's flight and human decision-making, those skilled in the art will understand that all aspects can be achieved unmanned operation, enabling the drone to automatically trigger alarms, automatically make human decisions, and automatically fly to the fire point location. The term "human" in this invention should be understood broadly as a real person, digital person, or terminal capable of controlling the drone's flight path and fire point, and should not be limited to situations involving only human operation.

[0075] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent fire protection system based on drone-based indoor deployment, characterized in that, The system includes a rotatable multi-head monitoring system mounted on the indoor ceiling, with adjustable pitch angles for each head; at least one drone on standby in a drone station and its path control device; an inward-opening control window installed on the building facade; and a remote server communicating with the multi-head monitoring system. When the multi-head monitoring system detects a fire indoors, it transmits the fire scene to the remote server, where remote personnel observe the fire situation on a large screen and make a manual decision on whether to dispatch the drone to the scene. When personnel at the fire scene report to the remote server requesting firefighting and rescue, the decision on whether to proceed to the scene is still made manually. If a request is rejected but a subsequent request is received, the drone is dispatched immediately to the scene to extinguish the fire, taking precedence over manual decision-making. At this time, the remote personnel control the drone to reach a designated location outside the building via the path control device and enter the building through the opened inward-opening control window to extinguish the fire.

2. The system according to claim 1, characterized in that, The multi-head monitoring system is installed on the ceiling and includes at least one set of composite probes consisting of a visible light camera and an infrared thermometer and / or an infrared camera, a composite probe power supply system, a bearing-type base detachably connected to the ceiling, a hollow sleeve rod, a rack rod, a composite probe bracket fixedly connected to the hollow sleeve rod, a rotary motor, and a lifting motor. The composite probe contains a chip that communicates with a remote server, and the chip stores an indoor floor plan diagram set.

3. The system according to claim 2, characterized in that, The bearing-type base includes an inner ring and an outer ring. The inner ring is detachably and fixedly connected to the top of the wall. The hollow sleeve rod extends detachably from the bottom of the outer ring. The rack rod is vertically and flexibly fitted inside the hollow sleeve rod, and a hanging spring is fixedly connected between the top of the rack rod and the inner wall of the hollow sleeve rod. The composite probe bracket includes a ring and a composite probe seat that can be tilted and rotated on the ring. The ring is fixedly connected to the hollow sleeve rod by a spring or a connecting rod. The outer surface of the rack rod is provided with one more straight rack than the number of composite probes. Each composite probe holder has an arc-shaped rack near the rotation axis of the hollow sleeve rod. The arc-shaped rack meshes with the corresponding straight rack, and the remaining straight rack meshes with the second drive gear at the output end of the lifting motor. The rack rod is driven to move up and down by the lifting motor, thereby adjusting the pitch angle of all the arc-shaped racks as a whole during the movement. The lifting motor bracket is detachably mounted on the hollow sleeve rod, and the lifting motor is detachably and fixedly placed on the lifting motor bracket. The lifting motor can switch between forward and reverse rotation, thereby enabling all the composite probes to move up and down. The composite probe mounted on the probe holder can swing back and forth around a set pitch angle. The rotary motor is detachably fixed by a rotary motor bracket that is detachably connected to the wall top. The side of the outer ring has a circumferential gear that meshes with the first drive gear on the output end of the rotary motor. Thus, the rotary motor drives the outer ring to rotate, causing the hollow sleeve rod, rack rod, composite probe bracket, lifting motor bracket, and lifting motor to rotate as a whole. Rotary encoders are installed at the output ends of the rotary motor and the lifting motor. The horizontal coordinate position of each composite probe holder is obtained by acquiring the rotary encoder signals through the control and analysis circuit.

4. The system according to claim 2 or 3, characterized in that, Both the lifting motor and the rotating motor are servo motors that are wirelessly remotely controlled by the control and analysis circuit to switch between rotation and reversal. Both the lifting motor and the rotating motor are preset to work alternately periodically; the period is 5 minutes to 1 hour.

5. The system according to claim 4, characterized in that, The chip has the capability to process and analyze visible light images and temperature and / or thermal images in real time to identify real-time fire situations.

6. The system according to claim 5, characterized in that, The identification method includes inputting real-time visible light images and thermal images into a pre-trained convolutional neural network (CNN), and / or inputting real-time visible light images into a pre-trained convolutional neural network and referencing real-time temperature measurements from an infrared thermometer to identify the fire.

7. The system according to claim 5 or 6, characterized in that, When a real-time visible light image and a thermal image are input into a pre-trained convolutional neural network, if either one identifies a fire, a suspicious situation is reported to a remote server. If both are identified, the process immediately proceeds to the manual decision-making step; and / or, If a pre-trained convolutional neural network (CNN) detects a fire when a real-time visible light image is input, but the real-time temperature measurement does not exceed a threshold, it reports a suspicious situation to a remote server. If the CNN does not detect a fire when the visible light image is input, but the real-time temperature measurement exceeds the threshold, or if the CNN detects a fire when the visible light image is input, and the real-time temperature measurement exceeds the threshold, the process immediately proceeds to the manual decision-making step. In case of suspicious situations or when the process enters the manual decision-making stage, the chip is triggered to transmit real-time images of the scene back to the server, allowing remote personnel to observe the fire situation on a large screen.

8. The system according to claim 7, characterized in that, Personnel at the fire scene report to the remote server requesting firefighting and rescue by sending an application installed on a smart mobile device that communicates with the chip. The application can also retrieve diagrams from the chip and mark the fire source.

9. The system according to any one of claims 1-3, 5, 6, 8, characterized in that, The inward-opening window includes a window frame embedded in the wall or fixed between the upper and lower floor slabs, connected by hinges. Both sides of the window frame have inner grooves, each containing two motors with opposite output shaft rotation directions. The output shafts of each motor are connected to lead screws, which pass through a slider. A connecting rod is rotatably connected to the slider and a connecting plate mounted on the window frame on the corresponding inner groove side. A controller is installed on the side of the motor furthest from the hinge from the lead screw. This controller is networked with a handheld smart mobile device used by people inside the building, enabling control of the two motors to open the window frame from a closed state to an open state. The designated location includes in front of the open window frame. From closed to open, the window frame rotates 90°, and the handheld smart mobile device can specify the operation of the two motors for any inward-opening window to achieve the opening of that specified inward-opening window.

10. The system according to claim 9, characterized in that, The flight control device is equipped with a flight control operating system. Its outer shell has a display screen area for displaying real-time images. The graphic area inside the display screen area is used to load and display an indoor floor plan of the location. The control area on the outer shell is used to control the drone by touching and moving the direction with a finger. When the control area does not sense a movement signal, the drone hovers at the current position. Remote personnel can enter and take over the flight control operating system by fingerprint recognition through the display area. The remote personnel control the drone to reach a designated location outside the building via the path flight control device, and enter the building interior through the opened inward-opening control window to extinguish the fire. The specific steps include: S1 has a camera mounted on the drone that communicates with the flight control device for the path; The S2 camera transmits real-time footage to the path flight control device for communication, so that the remote personnel can observe the first-person view of the drone through the display screen on the path flight control device and thus control the drone. The path flight control device described in S3 is equipped with a navigation system. When remote personnel determine to dispatch the drone, the drone is flown to the designated location outside the building based on the path navigation established between the drone stations and the fire location. When S4 determines to mobilize the drone, the remote server sends an indoor floor plan of the fire source location and a diagram indicating the fire source to the chip. The chip transmits the diagram to the remote server and downloads it to the local path flight control device via the remote service. Based on the diagram and the location of the inward-folding control window, the S5 remote operator draws the path from the diagram to the fire source, and combines the first-person view of the camera inside the room with the flight control to reach the vicinity of the fire source to achieve targeted fire suppression. Once the illustration is downloaded, it will be displayed in the illustration area. Remote users can zoom in and out of the illustration by double-clicking at a fixed point, simultaneously touching the illustration area with both fingers and simultaneously increasing or decreasing the distance between their fingers, or drawing a circle. They can select the area of ​​interest by using one of these three methods or a combination of these methods.

11. The system according to claim 10, characterized in that, The drone was carried by dispatched personnel into a vehicle, transported to the incident site, and then the personnel disembarked to control the drone. They then entered the building through the opened inward-opening control window to extinguish the fire. The drone is remotely controlled by personnel and follows the vehicle carrying the personnel, or the vehicle carrying the personnel and the drone arrive at the scene independently. After the personnel get off the vehicle, they take control of the drone and enter the building through the opened inward-folding control window to extinguish the fire.

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