Apparatus and method for detecting a forest fire at an early stage

Abstract

The invention relates to a method for localising a forest fire at an early stage, comprising the following method steps: performing a first localisation of a seat of the fire using a first forest fire detection unit; performing a first localisation of the seat of the fire; starting a second mobile forest fire detection unit; scanning an area around the first position of the forest fire; performing a second localisation of the forest fire using the second forest fire detection unit; as well as a forest fire detection system for localising a forest fire at an early stage.

Description

[0001] DEVICE AND METHOD FOR THE DETECTION OF A FOREST FIRE IN AN EARLY STAGE

[0002] The invention relates to a method for locating a forest fire at an early stage, comprising the process steps of first localizing a fire source with a first forest fire detection unit, first localizing the fire source, starting a second movable forest fire detection unit, scanning an area around the first position of the forest fire, second localizing the forest fire with the second forest fire detection unit, and a forest fire detection system for locating a forest fire at an early stage.

[0003] Systems for detecting and locating forest fires are known. These systems monitor the area to be observed using optical sensors capable of detecting the smoke plumes produced by a forest fire. These sensors include, for example, rotating cameras, which, however, have the disadvantage of being less effective at night and prone to false detections, such as those caused by dust clouds resulting from agricultural activities. Furthermore, optical systems can generally only detect a forest fire once it has already progressed and the smoke plumes are visible over considerable distances. Monitoring using an infrared camera mounted on a satellite in high orbit has the disadvantage that the camera's resolution, over such long distances, prevents the early detection of forest fires. Satellites are also expensive to purchase and maintain, especially the initial launch.Monitoring by mini-satellites in low Earth orbit has the disadvantage that the satellites are not geostationary, meaning they require a certain amount of time to complete one orbit, during which the area is not monitored. Close monitoring requires a large number of satellites, the launch of which is also expensive. Satellite-based monitoring is also associated with high carbon dioxide emissions during launches. The larger a forest fire is, the more difficult it is to determine its direction and speed of spread. Weather, wind, soil conditions, and vegetation all influence its path and speed of spread, which can change rapidly. It is therefore crucial to detect a forest fire very early to minimize damage, keep the fire under control, and give firefighters a decisive advantage.

[0004] During a forest fire, the complex thermal decomposition processes (distillation, pyrolysis, carbonization, and the oxidation of the resulting gas products from flame combustion) occur simultaneously and often in close proximity to one another. The thermal decomposition of fuels takes place in front of and along the fire line, while enclaves of intermittent open flame often persist far behind the flame front.

[0005] Flame combustion generally occurs between 800°C and 1200°C. Smoldering ground fires occur between 300°C and 600°C. Combustible gases, especially volatile organic compounds (VOCs), are formed more rapidly at temperatures above 200°C and reach their peak at 320°C. VOCs are the collective term for organic, carbon-containing substances that vaporize into the gas phase at room temperature or higher, particularly terpenes. Various other organic compounds, such as methanol, as well as carbon dioxide, carbon monoxide, and molecular hydrogen are also formed. Flame combustion only begins at 425°C to 480°C. Flame temperatures of 700°C to 1300°C are most common. In this temperature range, primarily carbon dioxide, nitrogen oxides, and volatile sulfur compounds (VSCs), especially sulfur dioxide, are formed. Smoldering fires spread slowly, approximately...At 3 cm / h, they can generate ground temperatures exceeding 300°C for several hours, with peak temperatures reaching 600°C. Drones have already proven to be a valuable tool for detecting forest fires. In the event of a fire, drones are tasked with locating the source of the fire and, if necessary, searching for people. Drones used for locating and fighting forest fires typically have two cameras: a visual camera and a thermal imaging camera. The visual camera allows for the real-time observation and detection of various situations. The thermal imaging camera searches for sources of fire or for the heat signature of a person.

[0006] Drones fly lower than helicopters, providing a more nuanced view of the situation, and can navigate in confined or hazardous spaces. With thermal imaging capabilities, they can pinpoint hotspots at the source of a fire within seconds and even detect people trapped in areas of dense smoke. The information gathered from the air by drones allows incident commanders to make informed decisions.

[0007] Drones carrying firefighting equipment can be used to combat identified fires, especially in their early stages when the fire's spread is limited. This can prevent the fire from spreading and thus avoid a large-scale forest fire with immense damage to people and nature.

[0008] Another possibility 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 before they become visible from a distance using optical systems. However, due to the varying vegetation and soil composition of 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 alone generate different gases and gas concentrations. Therefore, the object of the present invention is to provide a method for locating forest fires at an early stage that operates reliably and automatically, is infinitely scalable, and is cost-effective to install and maintain.

[0009] It is also an object of the present invention to provide a forest fire detection system that works reliably and automatically, is infinitely expandable and is cost-effective in installation and maintenance.

[0010] Description of the invention

[0011] The problem is solved by means of the inventive method for locating forest fires at an early stage. Advantageous embodiments of the invention are set out in the dependent claims.

[0012] The inventive method for locating forest fires at an early stage comprises four process steps: In the first process step, a first location of a forest fire is located using a first forest fire detection unit.

[0013] For the purposes of this patent, the localization of forest fires at an early stage is understood to mean the localization of a forest fire and / or, in particular, the localization of a fire source, especially a smoldering fire, within the monitored area. A smoldering fire refers to the occurrence of a fire source in its early stages, i.e., the fire source has not yet developed into a full-blown fire and has only a small extent. Often, there is no open flame formation and / or the extent of the forest fire is still less than 25 m in diameter, preferably less than 15 m, particularly preferably less than 10 m, and especially preferably less than 5 m in diameter. In this patent, early forest fire detection includes not only the detection of a forest fire and / or fire source but also the determination of the position of a forest fire and / or fire source.

[0014] The first forest fire detection unit can be, for example, a stationary optical sensor, gas sensor, particle sensor, and / or temperature sensor. In the simplest case, localization is achieved via the position of the first forest fire detection unit, which performs the initial localization. For this to work, the position of the first forest fire detection unit must be known. Position determination can be carried out, for example, during the installation of the first forest fire detection unit. The first forest fire detection unit can, for example, be placed on a tree in the forest being monitored, and its position can be determined once using a navigation satellite system, such as GNSS (global navigation satellite system). A commercially available GPS system or a smartphone can be used for this purpose.

[0015] In the second step of the process, a second mobile forest fire detection unit is launched. This second mobile forest fire detection unit is optionally a drone capable of flight (UAV). In its parked position, the second mobile forest fire detection unit is optionally located in a weather-protected area, such as a drone station, where it can be serviced and refueled.

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

[0017] In the third step of the process, an area around the initial location of the forest fire is scanned. This scan is performed using the second mobile forest fire detection unit, which searches the area for the fire using a search pattern with the initial location as a reference point. In the fourth step, the forest fire is located a second time using the second forest fire detection unit. The fire's location can be determined, for example, by ascertaining the position of the second forest fire detection unit, which is also determined using a navigation satellite system, such as GNSS (global navigation satellite system).

[0018] According to the invention, the accuracy of the second localization is superior to that of the first. This second localization determines the location of the fire source with a lower error rate and / or better spatial resolution than the first localization due to the proximity of the second forest fire detection unit to the fire source. Because of the more precise localization and the additional information obtained from the second localization, targeted and early detection and subsequent fire suppression are possible.

[0019] This enables precise localization of the forest fire and / or its source, because the distance between the second forest fire detection unit and the fire source is so small that optionally arranged sensors in the second unit can detect the fire. Likewise, targeted firefighting of the forest fire and / or its source is achieved by allowing for the efficient application of extinguishing agents based on the precise location of the fire and / or its source.

[0020] In a further development of the invention, the combined mean square deviation (kRMS1) of the first localization is greater than or equal to 90 m. 4The mean squared error, also called expected squared error or mean squared error, and abbreviated as MQA, MQF, or MSE, is a concept in mathematical statistics. In estimation theory, it indicates how much a point estimator varies around the value to be estimated. The mean squared error of the first localization, for example, depends on the number of first forest fire detection units per unit area in the forest and the sensitivity of the forest fire detection sensors of the first forest fire detection unit.

[0021] In an advantageous embodiment of the invention, the combined mean square deviation (kRMS2) of the second localization is less than 3 m. 4 The second localization is therefore considerably more accurate than the first localization and enables targeted combating of the fire source even at an early stage.

[0022] In a further embodiment of the invention, the first localization of several forest fire detection sensors of the first forest fire detection unit is carried out. This results in greater accuracy of the first localization.

[0023] In a further embodiment of the invention, the second localization is performed within a radius of less than 150 m around the position of the first localization, preferably less than 100 m, particularly preferably less than 50 m, and especially preferably less than 25 m. This results in greater accuracy of the second localization.

[0024] In a further embodiment of the invention, the initial localization is achieved either via a triangulation method or via the position of the forest fire detection sensor. In the triangulation method for position determination, the distance to, for example, stationary elements of the forest fire detection system, such as the first forest fire detection sensors, is determined. Optionally, in the simplest case, the initial localization is achieved via the position of the first forest fire detection unit, which performs the initial localization. For this, the position of the first forest fire detection unit must be known.

[0025] In a further embodiment of the invention, the second localization of the forest fire's source is automated based on the evaluation of data acquired during the first localization. The second forest fire detection unit locates the fire's source without direct programming or direct human instruction. A direct connection to a central control unit and / or a human operator is therefore unnecessary.

[0026] In a further embodiment of the invention, sensor data for the first forest fire detection unit are automatically acquired for the initial localization by a forest fire detection sensor. The first forest fire detection unit comprises a first forest fire detection sensor, which is preferably arranged, for example, on a tree in the forest to be monitored. The sensor data are acquired by the first forest fire detection unit using, for example, gas sensors, optical and / or IR sensors.

[0027] In a further embodiment of the invention, the acquired sensor data are automatically evaluated to determine the existence of a forest fire. Sensor data are acquired by the first forest fire detection unit using, for example, gas sensors, optical and / or IR sensors. The first forest fire detection unit is optionally part of a forest fire detection system that comprises a network with an end device, gateway, network server, and a plurality of first forest fire detection units. The sensor data are sent to the network server, which uses suitable software to automatically check the sensor data for the existence of a fire source. Furthermore, the server performs the initial localization of the fire source once its existence has been verified.

[0028] In a further development of the invention, "automated" means that the automated process steps are started and / or executed without human intervention. In a further embodiment of the invention, a target area is defined when a forest fire is present. The target area comprises a region around the initial location of the fire's source.

[0029] In a further embodiment of the invention, a command is generated and / or used for the second forest fire detection unit when a forest fire is detected. The network server creates a command and sends it to the second forest fire detection unit. The command optionally includes the command to start the second forest fire detection unit and move it to the location of the first fire detection point.

[0030] In a further embodiment of the invention, the command automatically initiates the second localization. The generated command optionally includes control commands for detecting a fire source, for the second localization of a fire source, for moving the second forest fire detection unit, for navigating the second forest fire detection unit, and for steering the second forest fire detection unit.

[0031] In an advantageous embodiment of the invention, the second forest fire detection unit is capable of flight, wherein the second forest fire detection unit closely flies over a target area defined by the first localization for the second localization. The second forest fire detection unit is preferably designed as an autonomous flying drone and therefore has a drive unit with a plurality of motor-driven rotors. The motors are usually electric motors and are supplied with energy by a rechargeable energy storage device (battery). The close-range flight is such that the second forest fire detection unit flies over an area with the first localization as its center point, continuously detecting and secondly localizing a fire source.The mesh density of the overflight depends on the resolution of the ground-facing forest fire detection sensor (preferably an IR camera): The mesh density is chosen such that the individual meshes of the overflight overlap in such a way that the entire area being overflown is monitored without gaps. Optionally, the meshes of the overflight can be spaced less than 0.5 m apart.

[0032] In a further embodiment of the invention, the overflight takes place in rows and / or spirals within the target area. The overflight is such that the second forest fire detection unit flies over an area with the first localization point as its center, continuously detecting and locating a fire source during this flight.

[0033] In a further embodiment of the invention, the target area is scanned with image cameras and / or IR cameras while flying over the area. The second forest fire detection unit has an image camera and / or an IR camera and detects fire hotspots during its overflight of the target area.

[0034] In a further development of the invention, the second forest fire detection unit is positioned directly above the source of the forest fire upon detection of a forest fire. This allows the source of the fire to be optimally detected and located by the second forest fire detection unit.

[0035] In a further embodiment of the invention, the position of the second forest fire detection unit is determined, wherein the position is determined by means of GPS or another satellite-based positioning method. The second forest fire detection unit is positioned directly above the source of the fire in such a way that the second forest fire detection unit detects and locates the source of the fire by means of a suitable sensor, preferably an infrared camera.

[0036] In a further embodiment of the invention, the determined position of the second forest fire detection unit is transmitted by the communication unit of the second forest fire detection unit to a network server of a forest fire detection system. This determination of secondary positional data of the fire source identifies the location of the fire source with a low error rate due to the proximity of the second forest fire detection unit and the sensors arranged in the second forest fire detection unit to the fire source. By determining secondary positional data of the fire source, targeted and early localization and subsequent fire suppression are possible.

[0037] In a further embodiment of the invention, transmission takes place via communication channels of the forest fire detection system. The forest fire detection system preferably comprises a LoRaWAN network with a star-shaped architecture, in which message packets, in particular the position of the second forest fire detection unit, are exchanged between the first forest fire detection units, the second forest fire detection units, and a central network server via gateways.

[0038] In a further development of the invention, the second forest fire detection unit flies above the treetops when flying over the area and / or positioning itself above the forest fire. After takeoff, the second forest fire detection unit navigates its flight path to the fire and / or fire source at a flight altitude above the treetops in order to avoid as few obstacles as possible during its flight. An evasive maneuver around obstacles would increase the flight time.

[0039] In a further embodiment of the invention, the flight altitude for the second localization of the forest fire and / or positioning above the forest fire is between 20 m and 150 m, preferably between 30 m and 100 m, and particularly preferably between 40 m and 75 m. After takeoff, the second forest fire detection unit navigates its flight path to the fire and / or fire source at a flight altitude above the treetops in order to avoid as few obstacles as possible or even any obstacles during its flight. An evasive maneuver around obstacles would increase the flight time.

[0040] In a further embodiment of the invention, the flight altitude for the second localization and / or positioning above the forest fire is between 5 m and 100 m above the treetops, preferably between 10 m and 75 m above the treetops, and particularly preferably between 25 m and 50 m above the treetops. After takeoff, the second forest fire detection unit navigates its flight path to the fire and / or fire source at a flight altitude above the treetops in order to avoid as few obstacles as possible during its flight. An evasive maneuver around obstacles would increase the flight time.

[0041] The flight altitude for detection is between 10m and 100m above the treetops, preferably between 25m and 75m above the treetops and particularly preferably between 30m and 50m above the treetops.

[0042] In a further embodiment of the invention, the forest fire detection unit detects obstacles along a route. Obstacles are, for example, trees in the forest to be monitored, which may occur during the movement of the forest fire detection unit. The forest fire detection unit is therefore able to circumvent these obstacles.

[0043] In a further development of the invention, the forest fire detection unit determines an alternative route to the target. For this purpose, the forest fire detection unit has a control unit that determines the alternative route based on the detected obstacles, the current position of the forest fire detection unit, and the target position.

[0044] In a further embodiment of the invention, the forest fire detection unit continues its motorized movement along the alternative route. Obstacle detection, determination of an alternative route, and motorized movement along the alternative route are continuously repeated and executed during the movement of the forest fire detection unit.

[0045] In a further embodiment of the invention, the forest fire detection unit detects the source of the fire after reaching the target area. Based on the initial detection and localization of the forest fire, a forest fire detection unit is positioned in such a proximity to the source of the fire that the forest fire detection unit detects the source of the fire by means of a suitable sensor, preferably an infrared camera.

[0046] In a further embodiment of the invention, the forest fire detection unit locates the source of the fire after reaching the target area. Based on the initial detection and localization of the forest fire, a forest fire detection unit is positioned in close proximity to the source of the fire such that the unit detects the source of the fire using a suitable sensor, preferably an infrared camera.

[0047] In an advantageous embodiment of the invention, the forest fire detection unit extinguishes the fire by ejecting extinguishing agents. Alternatively, infrasound can also be used as the extinguishing agent. The forest fire detection unit has an extinguishing agent reservoir. The extinguishing agent is, for example, water or a foam extinguishing agent.

[0048] In a further embodiment of the invention, a control unit of the forest fire detection unit generates and / or executes control commands for detecting a fire source, locating a fire source, moving the forest fire detection unit, navigating the forest fire detection unit, steering the forest fire detection unit, and / or ejecting extinguishing agents. The control unit is designed as a microcontroller and includes memory and a microprocessor with control software.

[0049] In a further embodiment of the invention, one or more of the preceding process steps are carried out autonomously. The forest fire detection unit is preferably unmanned and designed as an autonomously controllable and flight-capable drone. Detection and extinguishing of a fire can therefore take place within a short time window after the fire's detection.

[0050] In a further embodiment of the invention, information is received from the forest fire detection station, wherein the information includes the detection of a forest fire, the position of the forest fire, a command to start a localization of the forest fire using the second forest fire detection unit, the propagation speed and / or propagation direction of the forest fire.

[0051] The forest fire detection station is a weatherproof housing for the second forest fire detection unit. In standby mode, the second forest fire detection unit is immobilized and connected to the forest fire detection station. The information includes, for example, the detection of a forest fire, its initial location, and, if applicable, its rate and direction of spread.

[0052] In a further development of the invention, after receiving the information, the forest fire detection station is opened to enable the start of the second forest fire detection unit. The forest fire detection station, which serves as a weatherproof housing for the forest fire detection unit, is normally closed in its resting state. To start the second forest fire detection unit, the forest fire detection station is opened.

[0053] In a further embodiment of the invention, after receiving the information, the second forest fire detection unit is decoupled from a forest fire detection station and / or the forest fire detection station is opened. In standby mode, the second forest fire detection unit is immobilely coupled to the forest fire detection station. The second forest fire detection unit is designed as an autonomous flying drone and is launched from the forest fire detection station at the beginning of the forest fire detection process. In a further embodiment of the invention, the forest fire detection station sends a message to the second forest fire detection unit indicating that the forest fire detection station is in a ready-to-launch state, wherein the ready-to-launch state includes the opening of the forest fire detection station and / or the decoupling of the second forest fire detection unit from the forest fire detection station.In standby mode, the second forest fire detection unit is immobilized and connected to the forest fire detection station. This connection includes a data line between the forest fire detection station and the second forest fire detection unit. The second forest fire detection unit is disconnected when it is started from the forest fire detection station.

[0054] In a further development of the invention, the motor of the second forest fire detection unit is started. The motor is preferably an electric motor that is supplied with electrical energy by means of an energy storage device (battery).

[0055] In a further development of the invention, the second forest fire detection unit is positioned within the forest fire detection station to facilitate its return. After the second localization of the fire source, the second forest fire detection unit returns to the forest fire detection station to be recharged and, if necessary, serviced. This involves reconnecting the second forest fire detection unit to the forest fire detection station.

[0056] In a further embodiment of the invention, the positioning of the second forest fire detection unit within the forest fire detection station is detected by the forest fire detection station using suitable sensors and / or, after positioning is complete, the second forest fire detection unit communicates this information to the forest fire detection station. This communication takes place via the data line between the forest fire detection station and the second forest fire detection unit. In a further embodiment of the invention, after positioning of the second forest fire detection unit within the forest fire detection station is complete, the forest fire detection station is closed and / or the second forest fire detection unit is coupled to the forest fire detection station. After coupling, the second forest fire detection unit is recharged and, if necessary, serviced and placed in a standby state.The forest fire detection station will be closed to protect the second forest fire detection unit from weather and vandalism.

[0057] In a further embodiment of the invention, information is received from the first forest fire detection station and / or the second forest fire detection unit for the detection and / or extinguishing of a forest fire. This information includes the ID of the terminal unit that detected a forest fire and / or the information that a potential forest fire has been detected. The second forest fire detection unit can optionally be used not only for the second localization of a fire source but also for fire suppression. In this case, the second forest fire detection unit also contains extinguishing agents, for example, in a tank. The ID of the terminal unit of the forest fire detection system also includes the position of the terminal unit that performs the initial localization of the fire source.The second forest fire detection unit therefore has the position of the first location of the fire source and can create a flight route to the first location and move to the position of the first location.

[0058] In another aspect of the invention, the position of the end device is read from a database using its ID. The forest fire station receives the ID of the end device of the forest fire detection system that performed the initial localization. The ID of the end device of the forest fire detection system also includes the position of the end device that, as the first forest fire detection unit, performed the initial localization of the fire source. The IDs of all end devices arranged in the forest fire detection system are stored in a database, preferably on the network server. The ID is sent from the forest fire station to the second forest fire detection unit and read by the control unit of the second forest fire detection unit. The second forest fire detection unit therefore has the location information of the end device of the forest fire detection system that, as the first forest fire detection unit, performed the initial localization of the fire source.

[0059] In a further embodiment of the invention, the received information includes commands for detecting a forest fire. The second forest fire detection unit has information on the location of the terminal unit of the forest fire detection system, which, as the first forest fire detection unit, performed an initial localization of the fire source. The received information also includes commands to launch the second forest fire detection unit from the forest fire detection station, to fly to the initial localization of the fire source, to detect and secondly locate the fire source, and optionally to combat the fire. This enables automatic and / or autonomous detection of a fire source.

[0060] In an advantageous embodiment of the invention, a control command is generated upon receipt of the information, and this control command serves to put the forest fire detection station into a ready-to-start state. In standby mode, the second forest fire detection unit is immobilely coupled to the forest fire detection station. The network server of the forest fire detection system receives the initial location data of the first forest fire detection unit, generates a control command, and sends the control command to the forest fire detection station containing the second forest fire detection unit. The forest fire detection station receives the control command and transmits it to the second forest fire detection unit. Putting the forest fire detection station into a ready-to-start state involves opening a cover that protects the second forest fire detection unit from the elements and vandalism.In a further embodiment of the invention, once the start-ready state is reached, a message is generated and / or sent to the second forest fire detection unit, signaling to the second forest fire detection unit that the second localization of the forest fire can be carried out. The second localization includes the start of the second forest fire detection unit, the flight of the second forest fire detection unit to the location of the first localization and detection, and the second localization of the forest fire.

[0061] In a further embodiment of the invention, after receiving the communication, the second forest fire detection unit performs the second localization of the forest fire. The second localization comprises the launch of the second forest fire detection unit, the flight of the second forest fire detection unit to the location of the first localization and detection, and the second localization of the forest fire.

[0062] In a further embodiment of the invention, the source of the fire is detected and / or located by the second forest fire detection unit, for example, by using a flying drone as the forest fire detection unit. Detection and / or localization of a fire source can therefore begin immediately after its detection. The drone is equipped with suitable sensors for this purpose, for example, a camera in the optical spectral range (visual imaging) and optionally an infrared camera. The visual imaging camera can be used to detect smoke, while the infrared camera can detect the source of the fire based on the heat generated. The sensor data is optionally evaluated in the navigation unit.

[0063] In an advantageous embodiment of the invention, one or more of the process steps are automated. The first and second localization stages locate the source of the fire without direct programming or human intervention. A direct connection to a central control unit and / or a human operator is therefore unnecessary. This enables the rapid and reliable detection and suppression of forest fires. The inventive forest fire detection system also achieves this goal by locating forest fires at an early stage. Advantageous embodiments of the invention are also described in the dependent claims.

[0064] The forest fire detection system according to the invention for locating forest fires at an early stage comprises several first forest fire detection units (terminals), wherein the first forest fire detection units are arranged stationary in the forest. An end device comprises a sensor unit, a logic unit, and a communication unit. The logic unit is designed and suitable for evaluating the signals acquired by the sensor unit. The logic unit is, for example, a microcomputer and comprises memory, a microprocessor, and suitable software. An end device comprises a sensor array for gas analysis and for measuring the temperature of the gases, with which a forest fire and / or a fire source can be detected. In this document, the terms "end device" and "first forest fire detection unit" are used synonymously.

[0065] The forest fire detection system according to the invention also includes a second forest fire detection unit, wherein the second forest fire detection unit is capable of flight and autonomous movement. The second forest fire detection unit has suitable sensors for locating 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 camera can be used to detect smoke in particular, while the IR camera can detect the fire source based on the heat generated.

[0066] The forest fire detection system according to the invention also includes a forest fire detection station. The forest fire detection station according to the invention, for early forest fire detection, is located directly in the forest. The forest fire detection station has at least one second forest fire detection unit in a parked position. Furthermore, the forest fire detection station has devices for supplying the second forest fire detection unit with power and, optionally, extinguishing agent. The forest fire detection station is designed to accommodate the drone and has all-around weather protection, which is designed to be openable or closable. The forest fire detection station optionally includes an energy conversion device (e.g., using solar cells). Additionally, an energy storage device (battery) is optionally provided, which is charged with electrical energy by the energy conversion device.The flight path of the second forest fire detection unit from the forest fire detection station to the fire is therefore short, as is the flight time. The second forest fire detection unit can thus reach the fire very quickly, locate its source, and optionally begin firefighting operations.

[0067] The forest fire detection system according to the invention also has several gateways, a network server and an application server, wherein the first forest fire detection units, the second forest fire detection unit, the forest fire detection station, the gateways, the network server and the application server have communication units for communication in the forest fire detection system, and wherein the forest fire detection system is designed as a mesh network.

[0068] The LoRaWAN mesh gateway network has a star-shaped architecture in which gateways exchange message packets between end devices and a central internet network server. The LoRaWAN mesh gateway network comprises numerous end devices connected to gateways via a single-hop connection. A mesh network also has a star-shaped architecture in which gateways distributed throughout the forest exchange message packets between the first and second forest fire detection units, and optionally between a network server and the first and second forest fire detection units. Such a mesh network is infinitely scalable and resilient to the failure of individual gateways.

[0069] LoRaWAN uses a star network architecture, where all end devices communicate via the most suitable gateway. These gateways handle routing and can redirect communication to an alternative gateway if more than one gateway is within range of an end device and the local network is congested.

[0070] In contrast, some other IoT protocols (such as ZigBee or Z-Wave) use so-called mesh network architectures to increase the maximum distance between a device and a gateway. The devices in the mesh network relay messages to each other until they reach a gateway, which then forwards them to the internet. Mesh networks are self-programming and dynamically adapt to environmental conditions without requiring a master controller or hierarchy. However, to relay messages, the devices in a mesh network must be either constantly or periodically ready to receive messages and cannot be put into sleep mode for extended periods. This results in higher energy consumption for the devices when forwarding messages to and from the gateways, and consequently, a reduction in battery life.

[0071] In contrast, LoRaWAN's star network architecture allows end devices (especially Class A and B) to enter a power-saving sleep mode for extended periods, thus minimizing battery drain and enabling operation for several years without a battery change. The gateway acts as a bridge between simple protocols optimized for battery life (LoRa / LoRaWAN), which are better suited for resource-constrained end devices, and the Internet Protocol (IP), used to provide IoT services and applications. After receiving data packets from the end device via LoRa / LoRaWAN, the gateway forwards them via the Internet Protocol (IP) to a network server and an application server, which in turn has interfaces to IoT platforms and applications.In a further embodiment of the invention, the second forest fire detection unit is positioned in a resting position within the forest fire detection station and coupled to it. During this coupling process, the second forest fire detection unit can be loaded and refueled with extinguishing agent, data and information are exchanged, and a software update can be performed if necessary. The second forest fire detection unit can be powered by an electrical supply located within the forest fire detection station.

[0072] In a further embodiment of the invention, the forest fire detection station is configured to accommodate the second forest fire detection unit, with the second forest fire detection unit being housed in a lockable compartment within the forest fire detection station. The lockable compartment protects the second forest fire detection unit from the elements and vandalism.

[0073] In a further embodiment of the invention, the forest fire detection station functions as a gateway for communication within the forest fire detection system. Gateways facilitate the exchange of message packets between the first and second forest fire detection units and a central network server within a LoRaWAN mesh gateway network. The end devices are connected to the gateways via a single-hop connection. Thus, a forest fire detection station simultaneously serves as a weatherproof housing for a second forest fire detection unit and functions as a gateway for communication with a network server.

[0074] In a further embodiment of the invention, the forest fire detection station can communicate via at least two different communication channels, wherein the communication channels include satellite communication, LPWAN, LoRaWAN, 4G, 5G, LTE, radio, or similar wireless or wired communication channels. Information is received via the communication channels, e.g., position data of a detected fire, and transmitted, e.g., data about the status of the forest fire detection station. Using multiple communication channels is more resilient and ensures reliable message transmission.

[0075] In a further embodiment of the invention, the wildfire detection station communicates with other gateways, end devices, the first and / or second wildfire detection unit, border gateways, and / or the network server of the wildfire detection system. The gateways of the wildfire detection system are typically frontend gateways. The frontend gateways are interconnected, connected to end devices, and sometimes to border gateways. Frontend gateways are not connected to a network or application server. A border gateway can also be combined with a frontend gateway to form a mesh gateway device within a single unit. The border gateways are connected to frontend gateways, end devices, and / or the network server, either via a wired connection and / or a wireless connection using Internet Protocol.

[0076] In a further embodiment of the invention, the forest fire detection station comprises a receiving unit, a landing platform for the second forest fire detection unit, a transmitting unit, a power supply unit, and / or a coupling unit for mobile forest fire detection units. The forest fire detection station is configured to accommodate a second forest fire detection unit, supply it with electrical power, and communicate with gateways, terminal devices, the first and / or second forest fire detection unit, and the network server.

[0077] In a further embodiment of the invention, the forest fire detection station includes sensors for detecting the second forest fire detection unit. The forest fire detection station uses these sensors to detect the presence and / or coupling of the second forest fire detection unit with the forest fire detection station. In a further embodiment of the invention, the forest fire detection station is configured to accommodate the second forest fire detection unit and has all-around weather protection, which is designed to be opened and closed at the top. The forest fire detection station is configured to accommodate a second forest fire detection unit in a weatherproof manner, to supply it with electrical power, and to communicate with gateways, end devices, the first and / or second forest fire detection unit, and the network server.

[0078] In a further aspect of the invention, the power supply unit comprises an energy conversion device arranged on the top of the forest fire detection station. The energy conversion device is preferably a photovoltaic system that provides the forest fire detection station with electrical energy without requiring maintenance.

[0079] In a further embodiment of the invention, the energy supply unit comprises an energy storage device (battery) arranged on the underside of the forest fire detection station, specifically beneath the landing platform of the forest fire detection station. The energy storage device is charged by the energy conversion unit. The electrical energy stored in the energy storage device can be used to charge the second forest fire detection unit and thus power the forest fire detection station.

[0080] In a further embodiment of the invention, the power supply unit is designed and suitable for supplying the forest fire detection station and / or the second forest fire detection unit with electrical energy. The second forest fire detection unit can be charged and the forest fire detection station powered by the electrical energy stored in the power supply unit's energy storage. In a further embodiment of the invention, the second forest fire detection unit is immobilely coupled to the forest fire detection station in standby mode. The forest fire detection station and the second forest fire detection unit are typically in standby mode to conserve energy. They are only activated upon receiving a signal to initiate a forest fire detection process.

[0081] In a further embodiment of the invention, the forest fire detection system is suitable and designed to automatically perform the detection, initial and / or secondary localization of a fire source. The forest fire detection and / or extinguishing process is initiated immediately after the initial localization of the fire source, for example, by using a flying drone as a second forest fire detection unit. Detection and / or extinguishing of a fire source can therefore begin immediately after the fire originates.

[0082] Description of the exemplary implementations

[0083] Exemplary embodiments of the forest fire detection system and the method according to the invention for locating forest fires at an early stage are shown schematically simplified in the drawings and are explained in more detail in the following description.

[0084] They show:

[0085] Fig. 1: Forest fire detection system

[0086] Fig. 2: Detailed view of the forest fire detection system according to the invention

[0087] Fig. 3: Second forest fire detection unit (drone)

[0088] Fig. 4a: Forest fire detection device, closed. Fig. 4b: Forest fire detection device, opening process.

[0089] Fig. 4c: Forest fire detection device, open

[0090] Fig. 5: Forest fire detection device above the fire source

[0091] Fig. 6: Search pattern of the forest fire detection device, spiral

[0092] Fig. 7: Search pattern of the forest fire detection device, grid

[0093] An embodiment of a forest fire detection system 1 according to the invention, arranged in a forest W to be monitored, is shown in Fig. 1. The forest fire detection system 1 has a mesh gateway network 10 that utilizes LoRaWAN network technology. The LoRaWAN network 10 has a star-shaped architecture in which message packets are exchanged between the first forest fire detection sensors ED and a central internet network server NS via gateways. The first forest fire detection sensor is part of an end device ED and is located within it. In this document, therefore, end device ED and first forest fire detection sensor are used synonymously with the same reference numeral.

[0094] The LoRaWAN mesh gateway network 10 features numerous initial forest fire detection sensors (ED) connected to gateways (G) via a single-hop connection (FSK). The gateways (G) are typically mesh gateways (MGD). The mesh gateways (MGD) are interconnected and, in some cases, linked to border gateways (BGD). The border gateways (BGD) are connected to the internet network server (NS), either via a wired connection (WN) or wirelessly using the internet protocol (IP).

[0095] A plurality of forest fire detection devices 100 are arranged in and around the forest W. Each forest fire detection device 100 comprises a forest fire detection station 200 and a movable second forest fire detection unit 300 (see Fig. 4). For the autonomous localization of a forest fire, an initial detection of a forest fire is carried out by one or more of the fixed first forest fire detection sensors ED. The first forest fire detection sensor ED has a sensor array for gas analysis, for measuring the temperature of the gases, and for measuring the prevailing wind direction and speed. Alternatively or additionally, the sensor array can also acquire or receive signals regarding the prevailing wind direction from external measuring devices.

[0096] In the next step of the process, the forest fire is located using an initial localization. This initial localization is performed using the first forest fire detection sensor (ED), which marks the location of the fire. The initial localization is further enhanced by multiple additional first forest fire detection sensors (EDs). Each of these sensors detects a signal originating from the gases produced by the forest fire, along with the precise timestamps of each signal's detection. Based on these three detected signals and their corresponding detection timestamps, the fire's position is determined. Additionally, wind speed and direction, which can be measured using the first forest fire detection sensor (ED), are incorporated into the initial localization.

[0097] To perform the initial localization, the position of each first forest fire detection sensor (ED) must be known as precisely as possible. Position determination can be carried out, for example, during the installation of the first forest fire detection sensor (ED). The first forest fire detection sensor (ED) can be placed, for example, on a tree in the forest (W) to be monitored, and its position can be determined once using a navigation satellite system, such as GPS (Global Positioning System). A commercially available GPS system or a smartphone can be used for this purpose. 25DRY02P-WQ

[0098] It is also possible to determine the position of a first forest fire detection sensor (ED) using a suitable receiver. For position determination, the first forest fire detection sensor (ED) receives signals from at least four, usually six, sources. In the case of using the GPS satellite navigation system, these are radio signals on the Li frequency (1575.42 MHz). The sources are satellites that continuously broadcast their current position and the exact time. The determined position of the first forest fire detection sensor (ED) is stored permanently on the network server (NS) and optionally also in the control unit of the first forest fire detection sensor (ED) whose position was determined in this way. Alternatively or additionally, the position of a first forest fire detection sensor (ED) can be determined continuously or at intervals using the satellite navigation system.The position of the first forest fire detection sensor (ED) is then regularly checked and updated. The network server (NS) has an initial control unit in the form of a software program stored in memory, which can be used to determine the position of a fire source.

[0099] Based on the initial localization of the forest fire BH by the first forest fire detection sensors ED, a second forest fire detection sensor 330 is positioned close to the fire source such that the distance of the second forest fire detection sensor 330 to the fire source BF is less than the distance of a first forest fire detection sensor ED at the time of the initial detection of the forest fire. For this purpose, the second forest fire detection sensor 330 is arranged in a movable and autonomously controllable, airborne second forest fire detection unit 300 (see Fig. 3). The second forest fire detection unit 300 is arranged as part of a forest fire detection device 100 (see Figs. 4, 5) in a forest fire detection station 200.

[0100] This second localization of the fire source is advantageously more accurate than the first localization using the first forest fire detection sensors ED. The fire source is therefore located more precisely and can be fought more effectively. In addition to the second localization, the forest fire detection unit 300 transmits further information, such as the extent of the fire, to the network server NS, either via a direct connection between the forest fire detection unit 300 and the internet network server NS and / or via a connection between the forest fire detection unit 300 and one or more gateways G, MGD, BGD. The forest fire detection unit 300 has a second control unit and a communication unit for this purpose.

[0101] The positioning of the second 330 forest fire detection sensor, the second detection, and the second localization of the fire source typically occur multiple times over a period of time. The position, extent, direction, and speed of spread of the fire are therefore continuously recorded and updated.

[0102] After the second localization, the fire can optionally be fought using the second Forest Fire Detection Unit 300. The Forest Fire Detection Unit 300 optionally includes an extinguishing unit. This extinguishing unit contains extinguishing agents, such as water or foam, which are ejected. Depending on the size of the fire and its direction and speed of spread, the extinguishing agent can be ejected multiple times. In particular, the extinguishing agent can be directed in different directions to contain the fire or extinguish it efficiently.

[0103] A detailed view of a forest fire detection system 1 according to the invention is shown in Fig. 2. The forest fire detection system 1 has a plurality of first forest fire detection sensors ED, wherein eight first forest fire detection sensors ED communicate with a gateway G via a single-hop connection FSK. The gateways FGD are interconnected and connected to border gateways BGD. The border gateways BGD are connected to the internet network server NS, either via a wired connection WN or via a wireless connection using the internet protocol IP. A plurality of forest fire detection devices 100 are arranged around the forest to be monitored. Fig. 3 shows an embodiment of the second forest fire detection unit 300 according to the invention. The second forest fire detection unit 300 is designed as an autonomous flying drone and 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). The forest fire detection unit 300 is steered by pivoting the rotors 322 and varying the rotational speed of the individual motors 321.

[0104] For the second localization of a fire source, the second forest fire detection unit 300 has the second forest fire detection sensor 330, which in this embodiment is an infrared camera. Additionally, in this embodiment, the second forest fire detection unit 300 has a further forest fire detection sensor 340, which is designed as a gas sensor.

[0105] The second forest fire detection unit 300 also includes a navigation sensor 350, which detects objects in the vicinity of the second forest fire detection unit 300. The navigation sensor 350 has one or more cameras and / or time-of-flight sensors (e.g., radar, ultrasound, lidar) that detect obstacles during the flight of the second forest fire detection unit 300. The obstacles are detected, recognized, and analyzed by the control unit located in the second forest fire detection unit 300 in such a way that the second forest fire detection unit 300 automatically avoids the obstacles during its flight. All of the aforementioned components are connected to and controlled by a second control unit of the second forest fire detection unit 300.

[0106] An embodiment of a forest fire detection device 100 is shown in Fig. 4. The forest fire detection device 100 comprises the main components forest fire detection station 200 and the second forest fire detection unit 300. In this and the following embodiments, the second forest fire detection unit 300 has two coaxial rotors with foldable rotor blades. The second forest fire detection unit 300 has all the components of the one presented in the preceding embodiment (see Fig. 3). The second forest fire detection sensor 330 is also designed as an IR camera, which, when the second forest fire detection unit 300 is activated (flying or hovering), is directed towards the ground essentially parallel to the vertical axis of the second forest fire detection unit 300.

[0107] The forest fire detection station 200 is designed to accommodate the forest fire detection unit 300 and features all-around weather protection 210, which can be opened or closed at the top (Fig. 4a). The forest fire detection station 200 has two interlocking half-shells that can be rotated relative to each other by means of hinges. The top side has an energy conversion device 220, which in this embodiment is a photovoltaic system. An energy storage device (battery) is arranged on the underside, which is charged with electrical energy by the energy conversion device 220.

[0108] The forest fire detection station 200 has a port 250 for receiving the second forest fire detection unit 300, via which the second forest fire detection unit 300 is coupled to the forest fire detection station 200. Port 250 is configured to be connected to the energy storage of the second forest fire detection unit 300 in order to charge the energy storage of the second forest fire detection unit 300 with electrical energy.

[0109] For the second localization of a forest fire, after the first detection and initial localization BH of a fire source by a fixed first forest fire detection sensor ED (see Fig. 1), the second forest fire detection sensor 330, and thus the second forest fire detection unit 300, is moved to the target area Z for the purpose of second detection, second localization, and forest fire detection. For this purpose, a route is first determined on the network server NS. The route includes the current position of the second forest fire detection unit 300 as part of the forest fire detection station 200, as well as the position of the target area Z, in particular the location of the first localization BH. The forest fire detection device 100 has a communication unit that is connected to the network server NS and receives and sends information about the extent of the fire source and position data. The weather protection 210 of the forest fire detection station 200 is opened (Fig.

[0110] 4 b). The second forest fire detection unit 300 is detached from the forest fire detection station 200 for start-up and the motor 321 of the second forest fire detection unit 300 is started (Fig. 4 c). The second forest fire detection unit 300 then moves under motorized power along the calculated route to the target area Z of the first location BH.

[0111] In addition, the forest fire detection station 200 also has a control unit that controls the energy conversion device 220, the launch or landing of the second forest fire detection unit 300, and the opening and closing of the weather protection 210.

[0112] Fig. 5 shows an embodiment of the second localization of a forest fire using the second forest fire detection unit 300. Having arrived in the target area Z around the first localization BH, the second forest fire detection unit 300 scans for a source of a forest fire using the forest fire detection sensors 330 and 340. After detecting a source of fire, the second forest fire detection unit 300 moves so that it hovers vertically at a distance E above the source of the fire. The source of the fire is thus located at the nadir of the second forest fire detection unit 300 and is continuously detected by the second forest fire detection sensor 330, which is designed as an IR camera. The distance E is greater than the treetop height of the forest W. The second forest fire detection unit 300 then continuously transmits its position to the network server NS via the forest fire detection system 1.

[0113] This second localization of the fire source is advantageously more accurate than the first localization using the first forest fire detection sensors ED. The fire source is therefore located more precisely and can be fought more effectively. In addition to the second localization of the fire source, the second forest fire detection unit 300 transmits additional information, such as the extent of the fire, to the network server NS, either via a direct connection between the forest fire detection unit 300 and the internet network server NS and / or via a connection between the forest fire detection unit 300 and one or more gateways G, MGD, BGD. The second forest fire detection unit 300 has a second control unit and a communication unit for this purpose.

[0114] The positioning of the second 330 forest fire detection sensor, the second detection, and the second localization of the fire source typically occur multiple times over a period of time. The position, extent, direction, and speed of spread of the fire are therefore continuously recorded and updated.

[0115] Depending on the size, direction and speed of spread of the fire, the positioning of the second forest fire detection sensor 330, the second detection and localization of the fire source and the forest fire detection can also be carried out simultaneously in parallel using a plurality of second forest fire detection units 300.

[0116] The second controller of the forest fire detection unit 300 has a memory in which an executable program is stored by the second controller, enabling the autonomous and / or automatic operation of the second forest fire detection unit 300. Second detection of the fire source and second localization of the fire source are advantageously carried out fully or at least partially autonomously by means of the described method according to the invention for detecting a forest fire.

[0117] Figures 6 and 7 show the flight paths of the second forest fire detection unit to the location of the first localization point BH. The forest area W is traversed by treeless roads R and a stream B and contains a clearing L and a lake S. The forest W itself consists of coniferous and deciduous trees (mixed forest), with the individual trees exhibiting varying tree heights, clearance heights, crown heights, and crown widths. The forest area W is surrounded by a treeless area P. The forest fire detection system 1, configured as shown in Figure 1 (see Figure 1), is located in the forest area W but is not shown here for clarity.

[0118] The route includes the current position of the second forest fire detection unit 300 as part of the forest fire detection station 200, as well as the position of the target area Z. The forest fire detection device 100 has a communication unit that is connected to the network server NS and receives and sends information about the extent of the fire and position data.

[0119] The second forest fire detection unit 300 then travels under motorized power along the calculated route to the target area Z of the first location. The second forest fire detection unit 300 flies at an altitude greater than the treetop height of the forest W, between 5 m and 100 m above the treetops, preferably between 10 m and 75 m above the treetops, and most preferably between 25 m and 50 m above the treetops. After takeoff, the second forest fire detection unit navigates its flight path to the fire and / or fire source at an altitude above the treetops to minimize or avoid obstacles during its flight. Maneuvering around obstacles would increase the flight time. The flight altitude for detection is between 10 m and 100 m above the treetops, preferably between 25 m and 75 m above the treetops and particularly preferably between 30 m and 50 m above the treetops.

[0120] The first location BH exhibits a combined mean squared deviation (MSE) depending on the number of first forest fire detection sensors ED per unit area. In this embodiment, the density of deployed devices ED is 1 device ED per hectare (ha) of forest area. The MSE is greater than or equal to 100 m. 4 , in this and all further embodiments 95 m 4 Due to the short distance of the second forest fire detection sensor 330 to the fire source, the combined mean squared deviation (MSE) of the second localization is significantly lower and less than 2.9 m. 4 , in this and all further embodiments 2.9 m 4 .

[0121] To detect a forest fire, the second forest fire detection unit 300 performs a close-meshed overflight of the target area Z. This close-meshed overflight is such that the second forest fire detection unit 300 flies over an area with the first localization point as its center, continuously detecting and locating a fire source during this flight. The area flown over here is 20 m x 20 m. In further embodiments, the area flown over is 25 m x 25 m, preferably 50 m x 50 m, particularly preferably 100 m x 100 m, and especially preferably 150 m x 150 m.

[0122] To detect a forest fire, the second forest fire detection unit 300 performs a closely spaced overflight of the target area Z. This closely spaced overflight is such that the second forest fire detection unit flies over an area with the first localization point at its center, continuously detecting and locating any fire source during this flight. The mesh density of the overflight depends on the resolution of the ground-facing forest fire detection sensor (preferably an IR camera): The mesh density is chosen so that the individual meshes of the overflight overlap to ensure complete coverage of the entire area. Optionally, the meshes of the overflight can be less than 0.5 m apart. The overflight of the target area Z can be performed in spirals (Fig. 6) or in lines (Fig. 7).

[0123] In target area Z, the second detection and localization of the fire source takes place, and optionally, the fire source is extinguished using the second forest fire detection unit 300. The second control unit of the second forest fire detection unit 300 generates and / or executes control commands for the second detection of a fire source, for the second localization of a fire source, for the movement of the forest fire detection unit 300, for the navigation of the forest fire detection unit 300, for the steering of the forest fire detection unit 300, and / or for the ejection of extinguishing agents 313.

[0124] After the detection and second localization of the fire source, the second forest fire detection unit 300 returns to the forest fire detection station 200 and connects to the receiver 250 in such a way that the forest fire detection unit 300 is connected to the power supply (energy storage 230) of the forest fire detection station 200. The forest fire detection unit 300 is then recharged with electrical energy. Additionally, the weather protection 210 is closed (Fig. 4), and the forest fire detection station 200 is ready for operation again. REFERENCE SIGN LIST

[0125] 1 Forest fire detection system

[0126] 10 LoRaWAN mesh gateway network

[0127] ED terminal / device for early detection of a forest fire G Gateway

[0128] BGD Bordergateway

[0129] NS Internet Network Server

[0130] IP Internet Protocol

[0131] MHF Multi-Hop Radio Network

[0132] FSK FSK modulation

[0133] WN Wired connection

[0134] 100 forest fire detection devices

[0135] 200 forest fire detection stations

[0136] 210 Weather protection

[0137] 220 energy conversion units

[0138] 300 drone

[0139] 320 Flight propulsion / drive unit

[0140] 321 Engine

[0141] 322 Rotor

[0142] 330 First sensor

[0143] 340 Second Sensor

[0144] 350 navigation sensor

[0145] 360 navigation unitBH Location of first localization W Forest area

[0146] L clearing

[0147] R Street

[0148] B Bach

[0149] See

[0150] P Non-forested area / Plain

Claims

PATENT CLAIMS 1. Methods for locating forest fires at an early stage, including the following procedural steps • Initial localization (BH) of an initial position of a forest fire using an initial forest fire detection unit (ED), • Launching a second mobile forest fire detection unit (300), • Scanning an area around the first location of the forest fire, • Second localization of the forest fire with the second forest fire detection unit (300), where the accuracy of the second localization is better than the accuracy of the first localization (BH).

2. Method for locating forest fires at an early stage according to claim 1 , characterized by the fact that the combined mean squared deviation (kRMS1) of the first localization (BH) greater than or equal to 90 m 4 is, 3. Method for locating forest fires at an early stage according to claim 1 or 2, characterized by the fact that the combined mean squared deviation (kRMS1) of the second localization less than 3 m 4 is.

4. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that 39The first localization (BH) of several forest fire detection sensors of the first forest fire detection unit (ED) is carried out.

5. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that The second localization is carried out within a radius of less than 150 m around the position of the first localization (BH).

6. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that The first localization (BH) is carried out via a triangulation procedure or via the position of the forest fire detection unit (ED).

7. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that The second localization is carried out automatically based on the evaluation of data obtained during the first localization (BH).

8. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that For the initial localization (BH) of a forest fire detection sensor, sensor data from the first forest fire detection unit (ED) are automatically recorded.

9. Method for locating forest fires at an early stage according to claim 8, characterized by the fact that 40% of the recorded sensor data will be automatically evaluated to determine the existence of a forest fire.

10. Method for locating forest fires at an early stage according to claim 9, characterized by the fact that In the event of a forest fire, a target area (Z) is defined.

11. Method for locating forest fires at an early stage according to claim 10, characterized by the fact that In the event of a forest fire, a command is generated and / or used for the second forest fire detection unit (300).

12. Method for locating forest fires at an early stage according to claim 10 or 11, characterized by the fact that The command automatically starts the second localization.

13. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that the second forest fire detection unit (300) is airworthy, wherein the second forest fire detection unit (300) closely flies over a target area (Z) determined as a result of the first localization (BH) for the second localization.

14. Method for locating forest fires at an early stage according to claim 13, characterized by the fact that The overflight takes place in rows and / or spirals, each within the target area (Z). 4115. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that The target area (Z) is scanned with image cameras and / or IR cameras while flying over the area.

16. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that The second forest fire detection unit (300) is positioned directly above the forest fire when a forest fire is detected.

17. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that the position of the second forest fire detection unit (300) is determined, whereby the position is determined using GPS or another satellite-based positioning method.

18. Method for locating forest fires at an early stage according to claim 17, characterized by the fact that The determined position of the second forest fire detection unit (300) is transmitted from the communication unit of the second forest fire detection unit (300) to a network server (NS) of a forest fire detection system (1).

19. Method for locating forest fires at an early stage according to claim 18, characterized by the fact that The transmission takes place via communication channels of the forest fire detection system (1).

20. Method for locating forest fires at an early stage according to one or more of claims 13 to 19, characterized by the fact that the second forest fire detection unit (300) flies over the area (W) and / or is positioned above the forest fire above the treetops of the forest (W).

21. Method for locating forest fires at an early stage according to claim 20, characterized by the fact that The flight altitude for the second localization of the forest fire and / or the positioning of both above the forest fire is between 20 m and 150 m.

22. Method for locating forest fires at an early stage according to claim 21, characterized by the fact that The flight altitude for the second localization and / or positioning above the forest fire is between 5 m and 100 m above the treetops.

23. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that Information is received from the forest fire detection station (100), the information including the detection of a forest fire, the position of the forest fire, a command to start a localization of the forest fire using the second forest fire detection unit (300), the propagation speed and / or propagation direction of the forest fire.

24. Method for locating forest fires at an early stage according to claim 23, characterized in that, after receiving the information, the forest fire detection station (100) is opened to enable the start of the second forest fire detection unit (300).

25. Method for locating forest fires at an early stage according to claim 24, characterized by the fact that After receiving the information, the second forest fire detection unit (300) is decoupled from a forest fire detection station (100) and / or the forest fire detection station (100) is opened.

26. Method for locating forest fires at an early stage according to claim 25, characterized by the fact that a message is sent from the forest fire detection station (100) to the second forest fire detection unit (300) that the forest fire detection station (100) is in a ready-to-start state, wherein the ready-to-start state includes the opening of the forest fire detection station (100) and / or the decoupling of the second forest fire detection unit (300) from the forest fire detection station (100).

27. Method for locating forest fires at an early stage according to one or more of claims 23 to 26, characterized by the fact that for the return of the second forest fire detection unit (300) to the forest fire detection station (100) the second forest fire detection unit (300) is positioned in the forest fire detection station (100).

28. Method for locating forest fires at an early stage according to claim 27, characterized by the fact that 44The positioning of the second forest fire detection unit (300) in the forest fire detection station (100) is detected by the forest fire detection station (100) by means of suitable sensors and / or is communicated from the second forest fire detection unit (300) to the forest fire detection station (100) after completion of the positioning.

29. Method for locating forest fires at an early stage according to claim 27 or 28, characterized by the fact that After the positioning of the second forest fire detection unit (300) in the forest fire detection station (100) is completed, the forest fire detection station (100) is closed and / or the second forest fire detection unit (300) is coupled with the forest fire detection station (100).

30. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that for the detection and / or extinguishing of a forest fire with a forest fire detection station (100) Information is received from the forest fire detection station (100) and / or the second forest fire detection unit (300), the information includes the ID of the terminal device (ED) that detected a forest fire and / or the information that a possible forest fire was detected.

31. Method for locating forest fires at an early stage according to claim 30, characterized by the fact that The position of the end device (ED) is read from a database using the ID of the end device (ED). 4532. Method for locating forest fires at an early stage according to claim 30 or 31, characterized by the fact that The information received includes commands for the detection of a forest fire.

33. Method for locating forest fires at an early stage according to one or more of claims 30 to 32, characterized by the fact that As a result of receiving the information, a control command is generated, the control command being used to put the forest fire detection station (100) into a ready-to-start state.

34. Method for locating forest fires at an early stage according to claim 33, characterized by the fact that Upon reaching the ready state, a message is generated and / or sent to the second forest fire detection unit (300), signaling to the second forest fire detection unit (300) that the second localization of the forest fire can be carried out.

35. Method for locating forest fires at an early stage according to claim 33, characterized by the fact that After receiving the notification, the second forest fire detection unit (300) will carry out the second localization of the forest fire.

36. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that 46The source of the fire is detected and / or located with the second forest fire detection unit (300), for example by using a flying drone as the second forest fire detection unit (300).

37. Method for locating forest fires at an early stage according to one or more of the preceding claims, characterized by the fact that One or more of the process steps are executed automatically.

38. Forest fire detection system (1) for locating forest fires at an early stage with • several initial wildfire detection units (EDs) (terminal devices), • wherein the first forest fire detection units (ED) are arranged stationary in the forest (W), • a second forest fire detection unit (300), the second forest fire detection unit (300) is capable of flight and can move autonomously, • a forest fire detection station (100), • multiple gateways (G), • a network server (NS) • an application server, wherein the first forest fire detection units (ED), the second forest fire detection unit (300), the forest fire detection station (100), the gateways (G), the network server (NS) and the application server have communication units for communication in the forest fire detection system (1), wherein the forest fire detection system (1) is designed as a mesh network (10).

39. Forest fire detection system (1) for locating forest fires at an early stage according to claim 38, characterized by the fact that 47The second forest fire detection unit (300) is positioned in rest position in the forest fire detection station (100).

40. Forest fire detection system (1) for locating forest fires at an early stage according to claim 38 or 39, characterized by the fact that the forest fire detection station (100) is equipped to accommodate the second forest fire detection unit (300), the second forest fire detection unit (300) is housed in a lockable room of the forest fire detection station (100).

41. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 40, characterized in that the forest fire detection station (100) acts as a gateway (G) for communication of the forest fire detection system (1).

42. Forest fire detection system (1) for locating forest fires at an early stage according to claim 41 , characterized by the fact that the forest fire detection station (100) can communicate via at least two different communication channels, including communication channels such as satellite communication, LP-WAN, LoRaWAN, 4G, 5G, LTE, radio or similar wireless or wired communication channels.

43. Forest fire detection system (1) for locating forest fires at an early stage according to claim 41 or 42, characterized by the fact that the forest fire detection station (100) with other gateways (G), terminals (ED), the first (ED) and / or second forest fire detection unit (300), 48 Border Gateways (BGD) and / or the network server (NS) of the forest fire detection system (1) communicates.

44. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 43, characterized in that The forest fire detection station (100) comprises a receiving unit, a landing platform for the second forest fire detection unit (300), a transmitting unit, a power supply unit and / or a coupling unit for mobile forest fire detection units (300).

45. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 44, characterized in that The forest fire detection station (100) has sensors for the detection of the second forest fire detection unit (300).

46. ​​Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 45, characterized in that the forest fire detection station (100) is equipped to accommodate the second forest fire detection unit (300), wherein the forest fire detection station (100) has all-round weather protection which is designed to be opened or closed at the top.

47. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 46, characterized in that The power supply unit comprises a power conversion device (220) located on the top of the forest fire detection station (100). 4948. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 47, characterized in that the power supply unit includes an energy storage device (battery) which is located on the underside of the forest fire detection station (100), the energy storage unit is located under the landing platform of the forest fire detection station (100).

49. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 48, characterized in that the power supply unit is designed and suitable to supply electrical energy to the forest fire detection station (100) and / or the second forest fire detection unit (300).

50. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 49, characterized in that In standby mode, the second forest fire detection unit (300) is immobilely coupled to the forest fire detection station (100).

51. Forest fire detection system (1) for locating forest fires at an early stage according to one or more of claims 38 to 50, characterized in that the forest fire detection system (1) is suitable and designed to allow the automated detection, first and / or second localization of a fire source. 50

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