Method and device for forest fire fighting and / or forest fire early detection

Abstract

The invention relates to a method for forest fire fighting and / or forest fire early detection using a drone, comprising the method steps of receiving, in the navigation unit of the drone, first position data of a possible forest fire, calculating a first flight route of the drone to the position data by means of the navigation unit of the drone, starting the drone, navigating the drone to the position data, the calculation for a part of the flight route in the forest area being carried out taking into account the vegetation situation. The invention further relates to a device for forest fire fighting and / or forest fire early detection.

Description

[0001] Method and device for forest fire fighting and / or early forest fire detection

[0002] The invention describes a method for forest fire fighting and / or early forest fire detection using a drone with the method steps of receiving first position data of a possible forest fire in the navigation unit of the drone, calculating a first flight route of the drone to the position data by the navigation unit of the drone, starting the drone, navigating the drone to the position data, wherein the calculation is carried out for a part of the flight route in the forest area taking into account the vegetation situation, as well as a device for forest fire fighting and / or early forest fire detection.

[0003] State of the art

[0004] The larger a forest fire, the more difficult it is to determine its direction and speed of spread. Weather, wind, soil conditions, and vegetation determine its path and speed of spread, which can change within a short period of time. It is therefore very important to detect a forest fire very early in order to minimize damage and keep the fire manageable, as well as to give the fire department a decisive time advantage.

[0005] During a wildfire, the complex thermal decomposition processes (distillation, pyrolysis, charring, and the oxidation of the resulting gas products during flame combustion) occur simultaneously and often in close proximity to one another. The thermal decomposition of fuels occurs in front of and along the fire line, while pockets of intermittent open flame often persist far behind the flame front.

[0006] Flame combustion generally occurs between 800°C - 1200°C. Smoldering ground fires occur between 300°C - 600°C. Combustible gases, particularly volatile organic compounds (VOCs), are formed more quickly at temperatures above 200°C and reach their peak at 320°C. VOCs are the collective term for organic, carbon-containing substances that evaporate into the gas phase at room temperature or higher temperatures, particularly terpenes. Various organic compounds are also formed, such as methanol, carbon dioxide, carbon monoxide, and molecular hydrogen. Flammable combustion only begins at 425°C to 480°C. Flame temperatures of 700°C to 1300°C are the most common. In this temperature range, carbon dioxide, nitrogen oxides, and volatile sulfur-containing compounds (VSCs), particularly sulfur dioxide, are mainly formed. Smoldering fires spread slowly, approx.3 cm / h, they can generate ground temperatures above 300°C for several hours with peak temperatures of 600°C.

[0007] Drones have already proven to be a proven aid in detecting wildfires. In the event of a fire, drones are tasked with locating the source of the fire and, if necessary, searching for people. Drones used to locate and suppress wildfires typically have two cameras: a visual image camera and a thermal imaging camera. The visual image camera can observe and detect various situations in real time. The thermal imaging camera searches for fire sources or the heat signature of a person.

[0008] Drones fly lower than helicopters, providing a more nuanced picture of the situation, and can navigate in confined or dangerous spaces. Thermal imaging capabilities allow them to pinpoint fire hotspots within seconds and detect people trapped even in areas of thick smoke. Thanks to the information collected from the air by drones, incident commanders can make appropriate decisions.

[0009] Drones carrying extinguishing agents can be used to additionally combat identified fires, especially in their initial stages when the fire's extent is limited. This can prevent the fire from spreading and thus causing a large-scale forest fire with immense damage to people and nature.

[0010] Another option for detecting forest fires is to install a network of gas sensors directly in the forest. These sensors detect gases released during the development of forest fires, thus enabling early detection of forest fires before they can be detected by optical systems from a distance. However, due to the varying vegetation types and soil composition in forests, different gases and gas concentrations are produced, making accurate detection very difficult. Furthermore, the increasing temperatures during the different phases of forest fire development also result in different gases and gas concentrations.

[0011] It is therefore an object of the present invention to provide a method for early detection and / or fighting of forest fires which has improved detection accuracy, is expandable as required and is cost-effective to install and maintain.

[0012] It is also an object of the invention to provide a forest fire early detection and suppression system which has improved detection accuracy, is expandable as required and is cost-effective to install and maintain.

[0013] Description of the invention

[0014] This object is achieved by means of the inventive method for forest fire fighting and / or early forest fire detection using a drone. Advantageous embodiments of the invention are also set forth in the subclaims.

[0015] The method according to the invention for fighting forest fires and / or early detection of forest fires using a drone comprises four method steps: In the first method step, initial position data of a possible forest fire are received in the navigation unit of the drone.

[0016] A drone (UAV) as defined in this document is an unmanned aerial vehicle without a crew on board. The drone is controlled and navigated either remotely, along a pre-programmed flight path, and / or completely autonomously.

[0017] For the purposes of this patent specification, early forest fire detection refers to the detection of a forest fire and / or, in particular, the detection of a fire source, e.g., a smoldering fire, in the monitored area. In this specification, early forest fire detection includes not only the detection of a forest fire and / or fire source, but also the determination of the location of a forest fire and / or fire source.

[0018] Furthermore, for the purposes of this patent specification, forest fire fighting is understood to mean the detection, localization, containment, and / or extinguishing of a forest fire. Detection includes the recognition of a forest fire and / or the detection of a fire source in the monitored area. In this specification, the localization of forest fires includes not only the detection of a forest fire and / or the fire source, but also the determination of the position of a forest fire and / or the fire source.

[0019] The drone's navigation unit receives position data of a potential forest fire, e.g., from a forest fire early detection system, such as a satellite system, a monitoring system using high-altitude observation towers, and / or drones. In the second step, the drone's navigation unit calculates an initial flight path for the drone based on the position data. The drone's flight path takes into account, in particular, the drone's starting point and the position of the potential forest fire, which is the end point of the flight path.

[0020] The third step involves launching the drone. The drone is parked in a weather-protected area, such as a drone station, where it can be serviced and supplied with fuel.

[0021] In the fourth step, the drone navigates to the position data, with the calculation being carried out for part of the flight route in the forest area, taking into account the vegetation situation.

[0022] The vegetation situation within the meaning of the invention is the umbrella term for the ground cover of the forest to be monitored. The vegetation situation can include, in particular, plants (e.g., trees, bushes), but also built-up areas, e.g., roads, paths, buildings, power poles and lines, as well as areas with little or no vegetation, e.g., fallow land, clearings, waterways. The vegetation situation can vary from location to location within the forest to be monitored. In particular, the vegetation situation differs in its height, i.e., its maximum vertical extent, with the reference (height = 0) being the ground.

[0023] In a further development of the invention, the drone's flight altitude at the target point is below the treetop. The drone's target point is the position data of the forest fire and / or the fire source. The drone moves to the position data of the forest fire by flying.

[0024] The forest canopy, as defined by the invention, is the part of the tree formed by the branches, which as a whole has a more or less expansive shape. The canopy also has leaves and needles. The tree trunk connects the roots and the canopy. The distance from the lower edge of the canopy to the ground is called the clear height. The canopy itself has a vertical dimension called the crown height. The vertical tree height is therefore composed of the clear height and the crown height. The forest canopy has an average distance (clear height) of the canopy of all trees in the forest to the ground.

[0025] According to the invention, the drone navigates below the forest canopy for part of its flight path at a distance from the ground that is less than the distance from the lower edge of the forest canopy to the ground. The drone navigates below the lower edge of the forest canopy, particularly during takeoff and / or optionally during the final approach to the forest fire's position data.

[0026] This enables precise localization of the forest fire and / or the source of the fire, as the distance between the drone and the fire is so close that optional sensors installed on the drone can detect the source of the fire. Likewise, targeted extinguishing of the forest fire and / or the source of the fire is achieved, as the drone can efficiently apply the extinguishing agent thanks to the precise localization of the fire and / or the source of the fire.

[0027] In a further embodiment of the invention, the flight route includes a first section above the treetop and a second section below the treetop. The drone usually covers the first section of its flight route at a flight altitude above the treetop immediately after takeoff. At the flight altitude above the treetop, no obstacles are to be expected that the drone must avoid. Evasive maneuvers by the drone around obstacles would extend the flight time. On its second section, the drone's flight route runs below the treetop of the forest at a distance from the ground that is less than the distance of the lower edge of the forest canopy from the ground. In particular, during the final approach to the forest fire, the drone navigates using the position data below the lower edge of the forest canopy.This enables precise localization of the forest fire and / or the source of the fire, as the distance between the drone and the source of the fire is so short that optional sensors in the drone can detect the source of the fire. Likewise, targeted extinguishing of the forest fire and / or the source of the fire is achieved, as the exact localization of the fire and / or the source of the fire allows the drone to efficiently apply the extinguishing agent. In a further embodiment of the invention, the distance of the first section of the flight path to the source of the fire is greater than the distance of the second section of the flight path to the source of the fire. The drone therefore navigates to the...

[0028] Position data of the forest fire below the lower limit of the forest canopy.

[0029] In a further embodiment of the invention, the vegetation situation is taken into account on the last section of the calculated flight route. So that the drone can effectively fight the forest fire and / or fire source at a low altitude, it ideally flies on the last section of its flight route to the fire source at an altitude below the lower limit of the forest canopy. The vegetation situation is taken into account in that the drone's flight altitude changes in an area with sparse vegetation, e.g., clearings, roads, waterways. In addition, the drone detects and avoids obstacles depending on the vegetation situation: The drone avoids obstacles laterally by flying around the obstacle and / or over or under the obstacle.

[0030] In a further embodiment of the invention, the vegetation situation is taken into account when adjusting the drone's flight altitude. The vegetation situation is taken into account in that the drone's flight altitude changes in an area with sparse vegetation, e.g., clearings, roads, waterways. In addition, the drone detects and avoids obstacles depending on the vegetation situation: The drone avoids obstacles laterally by flying around the obstacle and / or over or under the obstacle.

[0031] In a further embodiment of the invention, the vegetation situation is taken into account when changing the flight altitude from a height above the existing tree canopy to a height below the existing tree canopy. The vegetation situation is taken into account in that the drone's flight altitude changes in an area with sparse vegetation, e.g., clearings, roads, or waterways.

[0032] In a further embodiment of the invention, stored information is retrieved to calculate the vegetation situation. The vegetation information includes maps containing information on clearings in the forest area. The maps are optionally generated, preferably from satellite images that map the forest area to be monitored from a bird's eye view. The information on the clearings includes, in particular, their position and extent.

[0033] In a further development of the invention, the clearings recorded on the maps have a diameter of less than or equal to 50 m, preferably less than or equal to 30 m, particularly preferably less than or equal to 15 m, and especially preferably less than or equal to 10 m. The clearings recorded on the maps optionally have larger dimensions than the drone. The drone is therefore able to change its flight altitude in the clearings from a height above the existing tree canopy to a height below the existing tree canopy.

[0034] In a further embodiment of the invention, sensor data is collected by the drone to locate clearings and / or gaps in the treetops. The drone optionally retrieves stored maps to locate the clearings. Additionally, the drone collects sensor data, preferably using a camera, for example. The locations of the clearings recorded on the stored maps may be outdated. It is therefore advisable for the drone itself to update the clearings using sensor data. The drone therefore uses current locations of the clearings during its flight.

[0035] In a further development of the invention, the drone is launched in a forested area. Due to the short distance to the fire source, the drone requires only a short time to fly along the calculated flight path to the fire source's position data, thus enabling effective localization and extinguishing of the forest fire.

[0036] In a further aspect of the invention, the drone is launched below the treetop. When in idle, the drone is usually parked in a weather-protected area, e.g., a drone station, where the drone can be serviced and supplied with fuel. The drone's parking position is therefore usually located below the treetop of the forest. The drone is therefore also usually launched below the treetop of the forest in order to navigate to the position data of the forest fire. In an advantageous embodiment of the invention, the drone is launched autonomously. Within the scope of the invention, a method and / or device is referred to as "autonomous" if it can reach a predetermined destination independently and in a manner adapted to the situation without human control or detailed programming.Autonomous processes and / or systems can operate without direct human instruction, make decisions, optionally learn independently, and react to unforeseen events. The drone launches to navigate to the forest fire's location data autonomously, without direct human command.

[0037] In a further embodiment of the invention, obstacle detection methods are performed by the drone during its flight. For this purpose, the drone optionally has navigation sensors for detecting objects in the environment. The navigation sensors detect, in particular, obstacles that may occur during the drone's movement.

[0038] In a further embodiment of the invention, collision avoidance methods are performed by the drone during its flight. For this purpose, the drone optionally has navigation sensors for detecting objects in the environment. The navigation sensors comprise, for example, one or more cameras and / or time-of-flight sensors that detect obstacles during the drone's movement. The obstacles are detected, recognized, analyzed, and converted into control commands by a control unit arranged in the drone in such a way that the drone avoids a collision with a detected obstacle during its flight.

[0039] Based on this information, as soon as an obstacle is detected, collision avoidance can be activated as a consequence of the detected object. In its simplest form, obstacle detection in a moving drone ensures that the drone comes to a stop in front of the obstacle and does not touch it. If the drone is merely hovering, collision avoidance ensures that the drone cannot move in the direction of the obstacle at all. For this purpose, certain distances can optionally be set in the navigation unit. In a further embodiment of the invention, the method for collision avoidance includes the calculation and / or execution of an evasive maneuver around the detected obstacle. The drone optionally has navigation sensors for detecting objects in the environment. The navigation sensors have, for example,One or more cameras and / or time-of-flight sensors that detect obstacles while the drone is moving. The obstacles are detected, recognized, analyzed, and converted into control commands by a control unit located in the drone, allowing the drone to automatically avoid the obstacles during its flight.

[0040] In a further development of the invention, the collision avoidance method includes calculating and / or executing a new flight route. The drone is equipped with a navigation unit that determines the alternative route based on the detected obstacles, the current position of the drone, and position data of the forest fire. The advanced stage of collision avoidance involves proactively changing the flight path around the obstacle. To do this, the drone autonomously calculates a new flight path that passes to the side, above, or below the obstacle.

[0041] In a further embodiment of the invention, the flight route in the forest area runs at least 5%, preferably at least 10%, particularly preferably at least 15% and especially preferably at least 25% and / or at least 5 m, preferably at least 10 m, particularly preferably at least 25 m and especially preferably at least 50 m below the treetop. The drone navigates below the treetop of the forest, particularly during takeoff. After takeoff, the drone navigates on its flight route to the fire and / or source of the fire, optionally at a flight altitude above the treetop in order to have to avoid as few obstacles as possible, or ideally no obstacles at all, during its flight. During the final approach to the position data of the forest fire, the drone's flight route optionally runs below the treetop of the forest.

[0042] In a further embodiment of the invention, the approach to the forest fire occurs within the last 0.5%, preferably within the last 1%, particularly preferably within the last 5%, and especially preferably within the last 10% of the flight path below the forest canopy. This enables precise localization of the forest fire and / or the source of the fire, because the distance between the drone and the source of the fire is so short that optional sensors arranged in the drone can detect the source of the fire. Likewise, targeted extinguishing of the forest fire and / or the source of the fire is achieved, as the exact localization of the fire and / or the source of the fire allows the drone to efficiently apply the extinguishing agent.

[0043] In a further embodiment of the invention, sensor data is collected by the drone to locate the source of the fire. The drone is equipped with suitable sensors for this purpose, e.g., a camera in the optical spectral range (visual image) and, optionally, a camera in the IR range. A visible image camera can detect smoke, in particular, while the IR camera can detect the source of the fire based on the heat generated. The sensor data is optionally evaluated in the navigation unit. In a further embodiment of the invention, the sensor data allows the source of the fire to be determined with an accuracy of less than 10 m, preferably less than 5 m, particularly preferably less than 2 m, and especially preferably less than 1 m.

[0044] In a further aspect of the invention, the fire is fought by the drone from a distance of less than 25 m, preferably less than 15 m, more preferably less than 10 m, and especially preferably less than 5 m from the source of the fire. Different extinguishing agents can be used. The extinguishing agent can, for example, be a foam extinguishing agent filled in a plurality of droppable containers. One or more containers are dropped onto the source of the fire by the drone; the heat generated causes the plastic wall of the container to burst, and the extinguishing agent is applied. Another possibility is the use of water-filled containers. Alternatively, the drone can have an acoustic cannon as an extinguishing agent, which fights the source of the fire using the air pressure fluctuations caused by the sound pressure.The shorter the distance between the drone and the source of the fire at the moment of firefighting, the more effectively the extinguishing agent is applied and the effectiveness is increased.

[0045] In a further embodiment of the invention, the drone flies autonomously. The drone flies to its target, the fire source, without direct programming and without direct human instructions. A direct connection to a central control unit and / or a human operator is therefore not necessary. In a further embodiment of the invention, the location of the forest fire's source is located autonomously. The drone locates the fire source without direct programming and without direct human instructions. A direct connection to a central control unit and / or a human operator is therefore not necessary.

[0046] In a further embodiment of the invention, the forest fire is extinguished autonomously. The drone fights the fire with a suitable extinguishing agent without direct programming and without direct human instructions. A direct connection to a central control unit and / or a human operator is therefore unnecessary.

[0047] In a further embodiment of the invention, the drone locates the source of the forest fire. The drone is equipped with suitable sensors for this purpose, e.g., a camera in the optical spectral range (visual image) and, optionally, an IR camera. A visual image camera can detect smoke, in particular, while the IR camera can detect the source of the fire based on the heat generated. The sensor data is optionally evaluated in the navigation unit.

[0048] In a further embodiment of the invention, the drone flies above the treetops when locating the source of the forest fire. After takeoff, the drone navigates its flight path to the fire and / or source of the fire at an altitude above the treetops in order to avoid as few or no obstacles as possible during its flight. Avoiding obstacles would increase the flight time.

[0049] In a further embodiment of the invention, the drone performs the localization using an IR sensor. A sensor located in the drone that is sensitive to IR radiation can detect and locate the source of the fire based on the heat generated.

[0050] In an advantageous development of the invention, the method is carried out with two or more drones. A plurality of drones locates the source of the fire and / or performs extinguishing operations. This allows for more effective and faster localization and, in particular, extinguishing of the source of the fire.

[0051] In a further embodiment of the invention, the first drone locates the source of the fire. Optionally, the first drone locates the source of the fire without the first drone actually fighting the fire. Instead, the first drone optionally flies at a safe altitude above the fire and locates the source of the fire while the second drone extinguishes the fire.

[0052] Optionally, the first drone flies above the treetop when locating the fire source. After takeoff, the drone navigates its flight path to the fire and / or fire source at an altitude above the treetop to minimize or eliminate obstacles during its flight. Avoiding obstacles would extend the drone's flight time.

[0053] In a further embodiment of the invention, the first drone transmits position data of the fire source to a second drone. The second drone receives position data of the fire source, optionally continuously during its flight on its flight route to the fire source. For this purpose, the first drone is optionally directly connected wirelessly to the second drone.

[0054] Communication between the first and second drones optionally takes place via a mesh network. A mesh network has a star-shaped architecture in which message packets are exchanged between the first and second drones, and optionally between a network server and the drones, via gateways distributed throughout the forest. Such a mesh network is infinitely expandable and resilient to the failure of individual gateways.

[0055] In a further embodiment of the invention, the second drone covers part of its flight route below the treetops. The second drone navigates below the treetops of the forest, particularly during takeoff. After takeoff, the second drone navigates its flight route to the fire and / or source of the fire, optionally at a flight altitude above the treetops, in order to avoid as few obstacles as possible, or ideally no obstacles at all, during its flight. During the final approach to the position data of the forest fire, the flight path of the second drone runs below the treetops of the forest. This enables precise localization of the forest fire and / or source of the fire, because the distance between the second drone and the source of the fire is so short that optional sensors arranged in the second drone can detect the source of the fire.Likewise, targeted fighting of the forest fire and / or fire source is achieved by more precisely locating the fire and / or fire source, allowing the extinguishing agent to be applied efficiently by the second drone.

[0056] In a further embodiment of the invention, the second drone carries out firefighting. Different extinguishing agents (e.g., water, foam) can be used, which are located in containers on the second drone. The first drone continuously updates the position of the fire source and sends it to the second drone. Firefighting by the second drone is therefore very efficient.

[0057] The problem is further solved with the forest fire early detection and / or fire fighting system according to the invention.

[0058] The forest fire early detection and / or suppression system according to the invention comprises a first drone station and a second drone station. A drone station is a weatherproof station for accommodating at least one drone.

[0059] The forest fire early detection and / or suppression system also comprises a detection drone, wherein the detection drone is suitable for locating a forest fire.

[0060] Furthermore, the forest fire early detection and / or fighting system comprises a firefighting drone, wherein the firefighting drone is suitable for fighting a forest fire.

[0061] The first drone station has at least one detection drone, and the second drone station has at least one firefighting drone. One drone station is configured to house the drone and has all-round weather protection that can be opened or closed. The drone station optionally has an energy conversion device (e.g., solar cells). Additionally, an energy storage device (battery) is optionally installed, which is charged with electrical energy by the energy conversion device.

[0062] In the parking position, the detection drone is coupled to the first drone station, and the firefighting drone is coupled to the second drone station in the parking position. While coupled to the drone station, the drone can be loaded with extinguishing agent and refueled, data and information can be exchanged, and a software update can be performed if necessary. The drone can be supplied with electrical power via a power supply located in the drone station.

[0063] The detection drone is equipped with suitable sensors to locate a forest fire and / or fire source, e.g., a camera in the optical spectral range (visual image) and, optionally, an IR camera. A visual image camera can detect smoke, in particular, while the IR camera can detect the fire source based on the heat generated.

[0064] The firefighting drone carries extinguishing agents (e.g. water, foam) in suitable containers, which are applied to the fire source and / or optionally dropped onto the fire source.

[0065] In a further development of the invention, the detection drone and the firefighting drone have communication means suitable for the drones to communicate with each other, wherein the communication takes place autonomously.

[0066] In a further embodiment of the invention, a mesh network is used for communication between the drones. A mesh network has a star-shaped architecture in which message packets are exchanged between the detection drone and the firefighting drone, and optionally between a network server and the drones, via gateways distributed throughout the forest. Such a mesh network is infinitely expandable and resilient to failures of individual gateways. In a further embodiment of the invention, the mesh network comprises terminal devices, gateways, and a network server. The terminal devices are stationary in the forest and have sensors for fire detection.

[0067] A mesh network features a star-shaped architecture in which message packets are exchanged between the end devices and a network server, as well as between the network server and the drones, via gateways distributed throughout the forest. Such a mesh network is infinitely expandable and resilient to the failure of individual gateways.

[0068] In a further embodiment of the invention, the detection drone is intended and suitable for coordinating one or more firefighting drones in firefighting operations. The firefighting drone optionally receives position data of the fire source continuously, particularly during its flight route to the fire source, as well as during firefighting operations by the firefighting drone. For this purpose, the detection drone is optionally wirelessly connected directly to the firefighting drone.

[0069] In a further embodiment of the invention, the firefighting drone is suitable and intended to receive and / or execute commands as a slave drone from a master drone, with the master drone being the detection drone. The slave drone receives position data of the fire source, in particular optionally continuously during its flight on its flight route to the fire source. For this purpose, the master drone is optionally directly wirelessly connected to the slave drone.

[0070] In a further embodiment of the invention, the detection drone has an IR sensor. The sensor located in the detection drone is sensitive to IR radiation and can detect and localize the source of the fire based on the heat generated.

[0071] In a further aspect of the invention, the firefighting drone comprises extinguishing agents. The extinguishing agent (e.g., water, foam) is arranged in suitable containers that are applied to the source of the fire and / or optionally dropped onto the source of the fire. In a further embodiment of the invention, the detection drone differs from the firefighting drone in its size, equipment, speed, range of functions, and / or other properties. The firefighting drone, in particular, comprises extinguishing agents in suitable containers; the detection drone optionally has a higher top speed, more sensitive sensors, and a navigation unit with a software program for coordinating the firefighting drone.

[0072] Fig. 1 : Forest fire early detection and / or fire suppression system in a forest area

[0073] Fig. 2: Forest fire early detection and / or suppression system in a

[0074] Forest area, drone flight routes with flight altitudes

[0075] Fig. 3: Altitude profile of flight route R4

[0076] Fig. 4: Three different paths of the flight route R5

[0077] Fig. 5 a: Altitude profile of flight route R5.1

[0078] Fig. 5 b: Altitude profile of flight route R5.2

[0079] Fig. 5 c: Altitude profile of flight route R5.3

[0080] Fig. 6: Forest fire early detection and / or suppression system in a forest area, detection drone as master drone

[0081] Fig. 7 a: Altitude profile of flight route MD, time t1

[0082] Fig. 7 b: Altitude profile of flight route R5.2, time t1

[0083] Fig. 7 c: Altitude profile of flight route MD, time t2

[0084] Fig. 7 d: Altitude profile of flight route R5.2, time t2

[0085] Fig. 7 e: Altitude profile of flight route MD, time t3

[0086] Fig. 7 f: Altitude profile of flight route R5.2, time t3

[0087] Fig. 7 g: Altitude profile of flight route MD, time t4

[0088] Fig. 7 h: Altitude profile of flight route R5.2, time t4

[0089] Fig. 8: Forest fire early detection system comprising a LoRa radio network

[0090] Fig. 9 a: Example of a firefighting drone

[0091] Fig. 9 b: Example of a detection drone

[0092] Fig. 1 shows an exemplary embodiment of the arrangement of a forest fire early detection and / or suppression system 1 in a forest area W, which is traversed by unforested roads R and a stream B, as well as a clearing L and a lake S. The forest W itself comprises coniferous and deciduous trees (mixed forest), with the individual trees having different tree heights, clearances, crown heights, and crown widths. The forest area W is surrounded by an unforested area P.

[0093] A network of eight drone stations D1, D2, D3, D4, D5, D6, D7, D8 is arranged in and around the forest area W, with the drone stations D1, D3, D7, D8 located in the unforested area P and the drone stations D2, D4, D5, D6 located in the forest area W. The individual drone stations Dn are wirelessly connected to each other and to a radio tower via a radio link (G5).

[0094] Each drone station Dn has a second drone KD. A drone station Dn is a weatherproof station for accommodating the drone KD. A drone station Dn is designed to accommodate the drone KD and has all-round weather protection, which can be opened or closed on the top. The top has an energy conversion device (solar cells). An energy storage device (battery) is located on the bottom, which is charged with electrical energy by the energy conversion device.

[0095] In this exemplary embodiment, every second drone KD is a firefighting drone and a detection drone in one unit. A second drone KD has sensors S2 for detecting and recognizing a forest fire or fire source (see Fig. 9 a). In addition, a second drone KD has firefighting means (see Fig. 9 b). Furthermore, a second drone KD has navigation sensors 350, with which obstacle detection methods can be performed during the flight of the second drone KD.

[0096] In the parked position, the KD drone is immobilely coupled to a Dn drone station. By coupling it to the Dn drone station, the KD drone can be loaded with extinguishing agent and refueled, data and information can be exchanged, and a software update can be performed if necessary. The KD drone can be supplied with electrical power via a power supply located in the Dn drone station.

[0097] Fig. 2 shows, by way of example, the flight routes Rn to the fire seat BH of the drones KD launched from all drone stations D1, D2, D3, D4, D5, D6, D7, D8, with a second drone KD launched from each drone station D1, D2, D3, D4, D5, D6, D7, D8. The flight routes Rn each have different flight directions and different flight altitudes on a flight route Rn, i.e. a drone KD also changes its flight altitude on its flight route Rn depending on the topography and the vegetation situation on the ground. The respective flight routes Rn run at least 50%, preferably at least 30%, particularly preferably at least 20% and especially preferably at least 10% below the tree canopy.

[0098] The drone KD, launched from drone station D1, flies on its way to the fire site BH along flight path R1, with the flight altitude on section R1a being above the unforested area P at the height of the treetops of forest area W. On section R1b, the flight altitude is below the treetops of forest area W.

[0099] The drone KD launched from the drone station D2 flies on its way to the fire source BH on the flight route R2, the flight altitude is below the treetop of the forest area W on the entire flight route R2.

[0100] The drone KD, launched from drone station D3, is flying on its way to the fire site BH on flight route R3 at an altitude above the treetops of forest area W.

[0101] Drone KD, launched from drone station D4, is flying along flight path R4 on its way to the fire site BH. On section R4a, the flight altitude is below the treetops of forest area W, and on section R4b, the flight altitude is above the treetops of forest area W.

[0102] The drone KD, launched from drone station D5, is flying on its way to the fire site BH on flight route R5 at an altitude below the treetops of forest area W.

[0103] The drone KD, launched from drone station D6, is flying on its way to the fire site BH along flight path R6. On section R6a, the flight altitude is above the treetops of forest area W, and on section R6b, the flight altitude is below the treetops of forest area W. The drone KD, launched from drone station D7, is flying on its way to the fire site BH along flight path R7. On section R7a, the flight altitude is above the treetops of forest area W, and on section R7b, the flight altitude is below the treetops of forest area W.

[0104] Drone KD, launched from drone station D8, is flying along flight path R8 on its way to the fire site BH. On section R8a, the flight altitude is above the treetops of forest area W, and on section R8b, the flight altitude is below the treetops of forest area W.

[0105] During the flight of the drones KD along the flight route Rn, each drone KD continuously detects any obstacles that may occur using the navigation sensor 350 arranged in a drone KD (see Fig. 9), determines an alternative route to the target area when obstacles occur and continues the flight along the alternative route to the target area of ​​the fire source BH, whereby detection of obstacles, determination of an alternative route and motorized movement along the alternative route are continuously repeated and carried out during the movement of the drone KD.

[0106] The approach of the drones KD to the forest fire BH takes place on the last 0.5%, preferably on the last 1%, particularly preferably on the last 5% and especially preferably on the last 10% of the route of the respective flight route Rn below the tree canopy of the forest W such that the flight altitude of the drones KD at the target point (fire source BH) is below the tree canopy. The calculation for part of the flight route Rn in the forest area W is carried out taking the vegetation situation into account. In particular, the vegetation situation on the last section Rn is taken into account when the flight altitude changes from a flight altitude H3 above the existing tree canopy to a flight altitude H1 below the existing tree canopy of the calculated flight route Rn in such a way that the flight altitude H of a drone KD takes place in an area in which the vegetation situation is sparse, e.g. in clearings, gaps in the tree canopy, roads, etc.

[0107] Stored information is retrieved to determine the vegetation situation. This information is summarized in maps of the forest W to be monitored, which were generated from satellite images. The clearings shown in the maps have a diameter of less than or equal to 50 m, preferably less than or equal to 30 m, particularly preferably less than or equal to 15 m, and especially preferably less than or equal to 10 m. In addition, sensor data is collected by the drone KD to locate clearings and / or gaps in the tree canopy in order to record the current vegetation situation in real time during the drone KD's flight.

[0108] Fig. 3 shows a flight altitude profile of flight route R4 of drone KD, launched from drone station D4 on its way to fire BH. Drone KD launches from drone station D4 in the wooded area W and flies in section R4a at a flight altitude H1 below the treetops. In the area of ​​road R, drone KD changes its flight altitude from H1 to H3 and flies in section R4b within the wooded area W at a height H3 above the treetops. In the area of ​​stream B, drone KD changes its flight altitude from H3 to H1 and flies in section R4c within the wooded area W at a height H1 below the treetops to fire BH. During its flight along flight route R4, drone KD also performs obstacle detection and collision avoidance procedures.

[0109] After arriving in the vicinity of the fire source BH, the drone KD autonomously collects sensor data to locate the fire source BH and its position, wherein the sensor data allow a positioning accuracy of the fire source BH of less than 10 m. Optionally, the sensor data allow a positioning accuracy of the fire source BH of preferably less than 5 m, more preferably less than 2 m, and especially preferably less than 1 m. In addition, the fire source BH is extinguished autonomously by the drone KD by dropping the extinguishing agent 313 from the drone KD from a distance of less than 25 m, preferably less than 15 m, more preferably less than 10 m, and especially preferably less than 5 m from the fire source BH. In this exemplary embodiment, the extinguishing agent 313 is a foam extinguishing agent that is filled into a plurality of droppable containers.One or more containers are dropped onto the fire BH by the drone KD. Due to the heat generated, the plastic wall of the container bursts and the extinguishing agent 313 is applied. Another possibility is the use of water-filled containers. Alternatively, the drone KD can have an acoustic cannon as extinguishing agent 313, which fights the fire BH using the air pressure fluctuations caused by the sound pressure. Fig. 4 and Fig. 5 show an embodiment of the drone KD launched from the drone station D5, which flies to the fire BH on three different flight routes 5.1, 5.2, 5.3 (Fig. 4). The drone KD launches from the drone station D5 in the wooded area W. On the flight route R5.1 (Fig. 5 a), the drone KD flies in the section R5.1a in the wooded area W at a flight altitude H1 below the treetops. In the area of ​​road R, the drone KD changes its flight altitude from H1 to H2 and flies in section R5.1b at altitude H2, at the height of the treetop. Also in the area of ​​road R, drone KD changes its flight altitude from H2 to H1 and flies in section R5.1c at altitude H1 to the fire source BH.

[0110] On flight route R5.2 (Fig. 5 b), drone KD flies in section R5.2a in the wooded area W at altitude H1 below the treetops. In the area of ​​road R, drone KD changes its altitude from H1 to H3 and flies in section R5.2b at altitude H3 above the treetops. In the area of ​​clearing L, drone KD changes its altitude from H1 to H1 and flies in section R5.2c at altitude H1 below the treetops to the fire source BH.

[0111] On flight route R5.3 (Fig. 5 c), drone KD flies in section R5.3a in the wooded area W at altitude H1 below the treetops. In the area of ​​road R, drone KD changes its altitude from H1 to H3 and flies in section R5.3b both above road R and above the wooded area W at altitude H3 above the treetops. Drone KD changes its altitude in the area of ​​road R from H3 to H1 and flies in section R5.3c at altitude H1 below the treetops to the fire source BH.

[0112] The drone KD approaches the fire source BH in the last 0.5%, preferably in the last 1%, particularly preferably in the last 5% and especially preferably in the last 10% of the flight path below the treetop of the forest W. Once it has arrived at the fire source BH, the drone KD autonomously extinguishes the fire source BH.

[0113] An advantageous embodiment of a forest fire early detection and / or extinguishing system 1 according to the invention arranged in the environment already described is shown in Fig. 6. A network of eight drone stations D1, D2, D3, D4, D5, D6, D7, D8 is arranged in and around the forest area W, wherein the drone stations D1, D3, D7, D8 are arranged in the unforested area P and the drone stations D2, D4, D5, D6 are arranged in the forest area W (see Fig. 1). Each drone station Dn has a second drone KD, wherein the second drones KD are firefighting drones. The firefighting drones KD have firefighting means, in particular a foam extinguishing agent.

[0114] In addition, a drone station MD with a first drone DD is located in the unforested area P. The first drone DD is a detection drone and does not have any firefighting equipment. The detection drone DD differs from the firefighting drone KD in its size, equipment, speed, range of functions, and / or other characteristics. The detection drone DD is designed to be smaller and lighter than a firefighting drone KD in order to achieve a higher top speed. A firefighting drone KD carries extinguishing agents and is therefore more robust and heavier.

[0115] The flight routes Rn to the fire seat BH of the drones KD launched from all drone stations D1, D2, D3, D4, D5, D6, D7, and D8 are described in an earlier embodiment (see Fig. 3). The drone DD launched from the drone station MD is a master drone DD, which, unlike the slave drones KD launched from the drone stations D1, D2, D3, D4, D5, D6, D7, and D8, flies on a flight route Rm to the fire seat BH. Except for the launch process from the drone station MD itself, the master drone DD flies above the treetops of the forest W, not below the treetops (see Fig. 5).

[0116] The master drone DD, launched from drone station MD, does not fight the fire itself but locates the source of the fire BH by hovering at a safe height above the source of the fire BH. It is also connected to all other slave drones KD launched from drone stations D1, D2, D3, D4, D5, D6, D7, D8 and optionally to the drone stations D1, D2, D3, D4, D5, D6, D7, D8 themselves. Upon arrival at the source of the fire BH, the master drone DD, launched from drone station MD, autonomously locates the source of the fire BH with an accuracy of less than 1 m. Depending on the extent of the source of the fire BH, the firefighting of the source of the fire BH is coordinated by the drones KD launched from drone stations D1, D2, D3, D4, D5, D6, D7, D8 using the master drone DD. Firefighting by the slave drones KD is terminated by the master drone DD when the fire source BH is extinguished.The master drone DD is connected to the slave drones KD via a radio link. Alternatively or additionally, the connection is established via a mesh gateway network 10 (see Fig. 8).

[0117] Fig. 7 shows an embodiment of the flight route of the master drone DD launched from the drone station MD in comparison to the slave drone KD launched from the drone station D5 on the flight route R2 (see Fig. 5 b) at four different times t1, t2, t3, t4. It is assumed that the average flight speed of a slave drone KD at an altitude H1 below the treetop is % of the average flight speed of a master drone DD at an altitude H3 above the treetop. At an altitude H1 below the treetop, a drone KD, DD carries out obstacle detection procedures and evasive maneuvers, e.g. around vegetation (trees), whereas at an altitude H3 above the treetop, a drone KD, DD also carries out obstacle detection procedures but does not carry out any evasive maneuvers due to the lack of obstacles, e.g. trees.

[0118] At the first time t1, the master drone DD has just taken off from drone station MD in the non-forested area P and has reached its altitude H3 above the treetop (Fig. 7 a). At the same time t1, the slave drone KD has also just taken off from drone station D5 in the forested area W and has reached an altitude H1 below the treetop (Fig. 7 b).

[0119] At time t2, later than time t1, the master drone DD, launched from drone station MD at altitude H3, has covered approximately 1% of its flight path Rm to fire source BH (Fig. 7 c). The slave drone KD, launched from drone station D5, has only covered approximately 14% of its flight path to fire source BH, reached the area of ​​road R, and changed its flight altitude from H1 to H3 (Fig. 7 d).

[0120] At time t3, which is later than time t2, the master drone DD, launched from drone station MD at altitude H3, has reached the fire source BH (Fig. 7 e) and taken up a position above the fire source BH at altitude H3. The master drone DD, launched from drone station MD, has arrived at the fire source BH and located the fire source BH. The slave drone KD, launched from drone station D5, has only reached approximately % of its

[0121] Distance to the fire source BH (Fig. 7 f).

[0122] At time t4, later than time t3, the master drone DD, launched from drone station MD, has taken up a position above the fire source BH at altitude H3 (Fig. 7 g), continues to locate the fire source BH, and transmits the located position of the fire source BH to the slave drone KD. The slave drone KD, launched from drone station D5, has also reached the fire source BH at altitude H1 (Fig. 7 h) and begins the extinguishing process. The slave drone KD, launched from drone station D5, has changed altitude from H3 to H1 above the clearing L. The master drone DD coordinates the extinguishing process of the slave drone KD.

[0123] Fig. 8 shows an embodiment of a forest fire early detection and / or suppression system 1 according to the invention, arranged in a forest W to be monitored. The forest fire early detection and / or suppression system 1 has a mesh gateway network 10 that uses the technology of a LoRaWAN network. The LoRaWAN network 10 has a star-shaped architecture in which message packets are exchanged between the terminal devices ED and a central internet network server NS via gateways G. A terminal device ED has a sensor array for gas analysis and for detecting the temperature of the gases, with which a forest fire and / or a fire source can be detected.

[0124] The mesh gateway network 10 comprises a plurality of end devices ED connected to gateways G via a single-hop connection FSK. The gateways G are typically mesh gateways. The mesh gateways G are interconnected and, in some cases, connected to border gateways G. The border gateways G are connected to the internet network server NS, either via a wired connection WN or via a wireless connection using the Internet Protocol IP.

[0125] The fire source BH is located using an initial localization. The initial localization is performed autonomously by the ED devices detecting the fire source BH. In other words, the position of the ED device detecting the forest fire marks the location of the fire source BH. Furthermore, the localization is performed using a plurality of ED devices: A plurality of ED devices each detects a signal whose source is the gases generated by the forest fire. The signals contain position data of the fire source BH and are forwarded to the network server NS via the mesh gateway network 10.

[0126] The network server NS is connected via a wireless connection to the drone stations D1, D2, D3, D4, D5, D6, D7, D8, with each drone station D1, D2, D3, D4, D5, D6, D7, D8 having a drone KD in a parked position. The position data of the fire source BH is sent from the network server NS to the drone stations D1, D2, D3, D4, D5, D6, D7, D8, which are distributed in and around the forest W below the treetops of the forest W.

[0127] Fig. 9 shows exemplary embodiments of drones DD, KD according to the invention for early detection and / or suppression of forest fires. A drone DD, KD is designed as an autonomously flight-capable drone and, for this purpose, has a drive unit 320 with a plurality of rotors 322 driven by motors 321. The motors 321 are typically electric motors and are powered by a rechargeable energy storage device (battery). A drone DD, KD is steered by pivoting the rotors 322 and varying the speed of the individual motors 321.

[0128] To locate the source of a fire BH, a drone DD, KD has a first forest fire detection sensor S1, which in this exemplary embodiment has four sensors S1.1, S1.2, S1.3, S1.4. The sensors S1.1, S1.2, S1.3, S1.4 are arranged at four different positions on the underside of the drone 300. The four sensors S1.1, S1.2, S1.3, S1.4 are each identically constructed infrared cameras for detecting the heat of the source of the fire BH. In addition, a drone DD, KD in this exemplary embodiment has a further second forest fire detection sensor S2, which in this exemplary embodiment also has four sensors S2.1, S2.2, S2.3, S2.4. The four sensors S2.1, S2.2, S2.3, S2.4 are gas sensors, which are also arranged at different positions on the drone DD, KD.

[0129] The drone DD, KD according to the invention also has a navigation sensor 350 that detects objects in the environment of the drone 300. The navigation sensor 350 has one or a plurality of cameras and / or time-of-flight-based sensors (e.g., radar, ultrasound, lidar) that detect obstacles during the flight of the drone DD, KD. The obstacles are detected, recognized, and analyzed by the navigation unit 360 arranged in the drone DD, KD such that the drone DD, KD automatically avoids the obstacles during its flight. All of these components are connected to a navigation unit 360 of the drone DD, KD and are controlled by the navigation unit 360.

[0130] To combat a fire source BH, the firefighting drone KD (Fig. 9 a) has the extinguishing unit 310, which has the extinguishing agent receptacle 311 for receiving the extinguishing agent 313. The extinguishing agent 313 can be released to extinguish a fire source BH by means of the extinguishing agent ejection device 312.

[0131] In this embodiment, the extinguishing agent 313 is a foam extinguishing agent filled in a plurality of droppable containers. One or more containers are dropped onto the fire source BH by the drone KD to fight the fire source BH. Due to the heat generated, the plastic wall of the container bursts, and the extinguishing agent 313 is applied. Another possibility is the use of water-filled containers. Alternatively, the drone KD can have an acoustic cannon as the extinguishing agent 313, which fights a fire source using the air pressure fluctuations caused by sound pressure. The sound waves, with a frequency of 30 to 60 Hz, trigger mechanical vibrations in the area surrounding the fire source BH, which influence both the burning material and the oxygen supply.Extinguishing fires using an acoustic cannon is particularly sustainable, produces no waste during extinguishing, requires no water or chemicals that may be harmful to forest soil, and can be carried out as long as the energy storage system of the KD drone has energy.

[0132] The detection drone DD (Fig. 9 b) differs from the firefighting drone KD in this embodiment by the absence of the extinguishing unit 310, as the detection drone DD serves exclusively to locate the fire source BH and to coordinate a plurality of firefighting drones KD that are fighting the fire source BH. Optionally, the detection drone DD can have a more powerful navigation unit 360 to enable the software program for coordinating the firefighting drones KD. Also optionally, the detection drone DD can have more powerful motors 321, which enable the detection drone DD to travel at higher speeds.

[0133] LIST OF REFERENCE SYMBOLS

[0134] 1 forest fire early detection and / or suppression system

[0135] 10 LoRaWAN mesh gateway network

[0136] ED terminal / device for early detection of a forest fire

[0137] G Gateway

[0138] NS Internet Network Server

[0139] IP Internet Protocol

[0140] MHF multi-hop radio network

[0141] FSK FSK modulation

[0142] WN Wired connection

[0143] MD Detection Drone / Master Drone

[0144] KD Firefighting Drone / Slave Drone

[0145] 310 extinguishing unit

[0146] 311 recording

[0147] 312 Detachable connection

[0148] 313 extinguishing agents

[0149] 320 Flight propulsion / propulsion unit

[0150] 321 engine

[0151] 322 Rotor

[0152] 330 First Sensor

[0153] 340 Second Sensor

[0154] 350 navigation sensor

[0155] 360 navigation unit

[0156] 51, S1.1, 51.2, S1.3, First Sensor

[0157] S1.4

[0158] 52, S2.1, 52.2, S2.3, Second Sensor

[0159] S2.4

[0160] 53, S3.1, S3.2, S3.3, Third Sensor

[0161] S3.4 H Height

[0162] H1, H2, H3 1st, 2nd, 3rd height

[0163] Ko Upper limit of the tree crown

[0164] Ku Lower limit of the tree crown tn nth time point

[0165] BH fire source

[0166] W forest area

[0167] L Clearing

[0168] R Street

[0169] B Bach

[0170] S Lake

[0171] P Non-forested area / plain

[0172] The drone station

[0173] Rn flight route

[0174] Rna, Rnb, Rnc section of a flight route

[0175] R5.na, R5.nb, R5.nc Partial section of the nth alternative flight route of the fifth flight route or partial section of the fifth flight route at time tn

Claims

PATENT CLAIMS 1 . Procedure for forest fire fighting and / or early forest fire detection using a drone (DD, KD) with the following procedural steps: • Reception of position data of a possible forest fire in the navigation unit (360) of the drone (DD, KD), • Calculating a first flight route (Rn) of the drone (DD, KD) to the position data by the navigation unit (360) of the drone (DD, KD), wherein the flight route (Rn) also includes the respective flight altitude, • Starting the drone (DD, KD), • Navigating the drone (DD, KD) to the position data, whereby the calculation is carried out for a part of the flight route (Rn) in the forest area (W) taking into account the vegetation situation.

2. Method for fighting forest fires and / or early detection of forest fires using a drone (300) according to claim 1, characterized in that the flight altitude (H) at the target point is below the treetop.

3. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to claim 1 or 2, characterized in that the flight route (Rn) includes a first section (Rna) above the treetop and a second section (Rnb) below the treetop.

4. Methods for forest fire fighting and / or early detection of forest fires using a drone (DD, KD) according to one or more of the preceding Claims, characterized in that the distance of the first section (Rna) of the flight route (Rn) to the source of the fire (BH) is greater than the distance of the second section (Rnb) of the flight route (Rn) to the source of the fire (BH).

5. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to one or more of the preceding claims, characterized in that the vegetation situation on the last section (Rnb) of the calculated flight route (Rn) is taken into account.

6. Method for forest fire fighting and / or early detection of forest fires using a drone (DD, KD) according to one or more of the preceding claims, characterized in that the vegetation situation is taken into account when adjusting the flight altitude (H) 7. Method for forest fire fighting and / or early detection of forest fires using a drone (DD, KD) according to claim 6, characterized in that the vegetation situation is taken into account when changing the flight altitude (H) from a flight altitude (H) above the existing tree crown to a flight altitude (H) below the existing tree crown.

8. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to one or more of the preceding claims, characterized in that stored information is retrieved to calculate the vegetation situation, wherein the information on the vegetation situation comprises maps containing information on clearings (L) in the forest area (W).

9. Method for fighting forest fires and / or early detection of forest fires using a drone (DD, KD) according to one or more of the preceding claims, characterized in that the clearings (L) recorded in the maps have a diameter of less than or equal to 50 m, preferably less than or equal to 30 m, particularly preferably less than or equal to 15 m and especially preferably less than or equal to 10 m.

10. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to one or more of the preceding claims, characterized in that sensor data are recorded by the drone (300) to locate clearings (L).

11. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to one or more of the preceding claims, characterized in that the drone (DD, KD) is launched autonomously.

12. Method for fighting forest fires and / or early detection of forest fires using a drone (DD, KD) according to one or more of the preceding claims, characterized in that during the flight of the drone (DD, KD) collision avoidance procedures are carried out by the drone (DD, KD) 13. Method for fighting forest fires and / or early detection of forest fires using a drone (300) according to one or more of the preceding claims, characterized in that of the flight route (Rn) in the forest area (W) at least 5%, preferably at least 10%, particularly preferably at least 15% and especially preferably at least 25% and / or at least 5 m, preferably at least 10 m, particularly preferably at least 25 m and especially preferably at least 50 m of the path runs below the treetop of the forest (W).

14. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to one or more of the preceding claims, characterized in that the approach to the forest fire (BH) takes place on the last 0.5%, preferably on the last 1%, particularly preferably on the last 5% and especially preferably on the last 10% of the distance of the flight route (Rn) below the treetop of the forest (W).

15. Method for forest fire fighting and / or early detection of forest fires using a drone (DD, KD) according to one or more of the preceding claims, characterized in that sensor data are collected by the drone (DD, KD) to locate the source of the fire (BH).

16. Method for fighting forest fires and / or early detection of forest fires using a drone (DD, KD) according to one or more of the preceding claims, characterized in that the flight of the drone (DD, KD) is autonomous and / or the localization of the source of the fire (BH) of the forest fire is autonomous and / or the fighting of the source of the fire (BH) of the forest fire is autonomous.

17. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to claim 16, characterized in that the drone (DD, KD) locates the source (BH) of the forest fire.

18. Method for forest fire fighting and / or early forest fire detection using a drone (DD, KD) according to claim 16 or 17, characterized in that the method is carried out using two or more drones (DD, KD).

19. Method for forest fire fighting and / or early detection of forest fires using a drone (DD, KD) according to claim 18, characterized in that the first drone (DD) locates the source of the fire (BH), wherein the first drone (DD) flies above the treetop when locating the source of the fire (BH).

20. A method for fighting forest fires and / or early detection of forest fires using a drone (DD, KD) according to claim 19, characterized in that the first drone (DD) transmits position data of the source of the fire to a second drone (KD), wherein communication between the first drone (DD) and the second drone (KD) takes place via a mesh network (10).

21. Method for forest fire fighting and / or early forest fire detection with a drone (300) according to one or more of claims 19 to 20, characterized in that the second drone (KD) carries out the fire fighting.

22. Forest fire early detection and / or suppression system (1) comprising: • a first (DS1) and a second drone station (DS2) • a detection drone (DD) suitable for locating a forest fire • a firefighting drone (KD) suitable for fighting a forest fire.

23. Forest fire early detection and / or fire fighting system (1) according to claim 22, characterized in that the detection drone (DD) and the firefighting drone (KD) Have means of communication suitable for the drones (DD, KD) to communicate with each other, with communication taking place autonomously.

24. Forest fire early detection and / or fighting system (1) according to claim 22 or 23, characterized in that a mesh network (10) is used for communication between the drones (DD, KD).

25. Forest fire early detection and / or fighting system (1) according to one or more of claims 22 to 24, characterized in that the mesh network (10) comprises terminal devices (ED), gateways (G) and a network server (NS), wherein the terminal devices (ED) are arranged stationary in the forest (W), wherein the terminal devices (ED) have sensors for fire detection.

26. Forest fire early detection and / or fighting system (1) according to one or more of claims 22 to 25, characterized in that the detection drone (DD) is intended and suitable for transmitting position data of a forest fire (BH) to the firefighting drone (KD), and the firefighting drone (KD) is intended and suitable for receiving position data of a detected forest fire (BH).

27. Forest fire early detection and / or fighting system (1) according to one or more of claims 22 to 26, characterized in that the detection drone (DD) is intended and suitable for coordinating one or more firefighting drones (KD) in firefighting.

28. Forest fire early detection and / or fighting system (1) according to one or more of claims 22 to 27, characterized in that the firefighting drone (KD) is suitable and intended to receive and / or execute commands as a slave drone from a master drone, the master drone being the detection drone (DD).

29. Forest fire early detection and / or fighting system (1) according to one or more of claims 22 to 28, characterized in that the detection drone (DD) has an IR sensor.

30. Forest fire early detection and / or fighting system (1) according to one or more of claims 22 to 29, characterized in that the firefighting drone (KD) has extinguishing agents.

31. Forest fire early detection and / or fire fighting system (1) according to one or more of claims 22 to 30, characterized in that that the detection drone (DD) differs from the firefighting drone (KD) in its size, equipment, speed, range of functions and / or other characteristics.

32. Drone station (Dn) for early detection and / or fighting of forest fires according to claims 29 to 31, characterized in that the drone stations (Dn) are part of a forest fire early detection and / or fighting system (1) with a mesh network (10), wherein the mesh network (10) comprises terminal devices (ED), gateways (G) and a network server (NS).

33. Drone (300) for early detection and / or fighting of forest fires, characterized in that the drone (300) is arranged directly in the forest (W).

34. Drone (300) for early detection and / or fighting of forest fires according to claim 33, characterized in that the parking position of the drone (300) is arranged below the treetop of the forest (W).

35. Drone (300) for early detection and / or fighting of forest fires according to claim 33 or 34, characterized in that the drone (300) is part of a network of drones (300) in this forest (W).

36. Drone (300) for early detection and / or fighting of forest fires according to claims 33 to 35, characterized in that the drone (300) is part of a forest fire early detection and / or fighting system (1) with a mesh network (10), wherein the mesh network (10) comprises terminal devices (ED), gateways (G) and a network server (NS).

Images