CN107029374A - Clustered control fire-fighting method and device - Google Patents
Clustered control fire-fighting method and device Download PDFInfo
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- CN107029374A CN107029374A CN201710297338.1A CN201710297338A CN107029374A CN 107029374 A CN107029374 A CN 107029374A CN 201710297338 A CN201710297338 A CN 201710297338A CN 107029374 A CN107029374 A CN 107029374A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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Abstract
The present invention provides a kind of clustered control fire-fighting method and device.Unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, and methods described includes：Reconnaissance UAV receives the condition of a fire detecting instruction that dispatching control center is issued, and flies to target fire area to carry out condition of a fire scouting.Reconnaissance UAV will be sent to dispatching control center to the condition of a fire situation that target fire area is scouted.Multi rack fire-fighting unmanned plane receives the fire dispatch instruction that dispatching control center is issued based on condition of a fire situation, and the target fire point that flies to is put out a fire.When occurring fire, reconnaissance UAV can obtain the actual condition of a fire of fire place accurately and in time, and fire-fighting unmanned plane can put out a fire according to the actual condition of a fire to fire place.Thus, the loss that fire is caused can be reduced, meanwhile, appear in scene of fire without fireman and carry out extinguishing operation, it is to avoid fire produces threat to the life security of fireman.
Description
Technical field
The present invention relates to fire-fighting equipment technical field, in particular to a kind of clustered control fire-fighting method and device.
Background technology
In the prior art, mainly put out a fire by modes such as aerial ladder, fire-fighting lance, water cannons.Above-mentioned fire extinguishing side
Formula is both needed to fireman and wears protective gear, carries fire-fighting equipment and is put out a fire into fire place.However, such as, petroleum storage tank
The regions such as region, natural gas storage tank region, dangerization warehouse, forest, port and pier are the regions occurred frequently of fire, and these places are once
Generation fire, fire fighting difficulty is big, and danger coefficient is high, and fire fighting easily causes incalculable damage not in time.And fireman due to by
To muscle power and carry equipment influence, translational speed reduction, possibly can not put out a fire in time, also, also can not be to fireman life
Life safety is ensured.
Thus it can be put out a fire in time there is provided one kind, while the fire protection for not interfering with the life security of fireman is this
Art personnel's urgent problem.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, the present invention provides a kind of clustered control fire-fighting method and device, its
The place for occurring fire can in time be put out a fire, while carrying out extinguishing operation in scene of fire without fireman, it is to avoid on
The dangerous fire for stating region generation produces threat to the life security of fireman.
The first object of the present invention is to provide a kind of clustered control fire-fighting method, communicated applied to dispatching control center
The unmanned plane of connection, the unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, and methods described includes：
The reconnaissance UAV receives the condition of a fire detecting instruction that the dispatching control center is issued, and flies to target fire area
Carry out condition of a fire scouting；
The reconnaissance UAV will be sent in the scheduling controlling to the condition of a fire situation that the target fire area is scouted
The heart；
Fire-fighting unmanned plane described in multi rack receives the fire dispatch that the dispatching control center is issued based on the condition of a fire situation
Instruct, and the target fire point that flies to is put out a fire.
The second object of the present invention is to provide a kind of clustered control fire-fighting method, applied to what is be connected with UAV Communication
Dispatching control center, the unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, the reconnaissance UAV
On be provided with monitoring device and thermal imaging apparatus, the fire-fighting unmanned plane and be equipped with fire extinguisher bomb, methods described includes：
The condition of a fire issued to the reconnaissance UAV detects instruction, so that the reconnaissance UAV flies to target fire area
Condition of a fire detecting is carried out to the target fire area, wherein, the condition of a fire detecting instruction includes：It is handed down to the monitoring device
Condition of a fire monitoring instruction and the condition of a fire seizure instruction for being handed down to the thermal imaging apparatus；
The condition of a fire situation detected to the target fire area that the reconnaissance UAV is sent is received, wherein, institute
Stating condition of a fire situation includes：The graphic images of the thermal imaging apparatus collection and the monitored picture of monitoring device collection；
Based on the condition of a fire situation to fire-fighting unmanned plane described in multi rack issue fire dispatch instruction so that the fire-fighting nobody
The fire extinguisher bomb carried on machine is put out a fire to target fire point.
The third object of the present invention is to provide a kind of clustered control fire plant, applied to what is be connected with UAV Communication
Dispatching control center, the unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, the reconnaissance UAV
On be provided with monitoring device and thermal imaging apparatus, the fire-fighting unmanned plane and be equipped with fire extinguisher bomb, described device includes：
Sending module, the condition of a fire for being issued to the reconnaissance UAV, which is detected, to be instructed, so that the reconnaissance UAV flies
Condition of a fire detecting is carried out to the target fire area to target fire area, wherein, the condition of a fire detecting instruction includes：It is handed down to
The condition of a fire monitoring instruction of the monitoring device and the condition of a fire seizure instruction for being handed down to the thermal imaging apparatus；
Receiving module, for receiving the condition of a fire detected to the target fire area that the reconnaissance UAV is sent
Situation, wherein, the condition of a fire situation includes：What the graphic images and the monitoring device of the thermal imaging apparatus collection were gathered
Monitored picture；
Sending module, is additionally operable to issue fire dispatch instruction to fire-fighting unmanned plane described in multi rack based on the condition of a fire situation,
So that the fire extinguisher bomb carried on the fire-fighting unmanned plane is put out a fire to target fire point.
In terms of existing technologies, the invention has the advantages that：
The present invention provides a kind of clustered control fire-fighting method and device.Applied to the nothing communicated to connect with dispatching control center
Man-machine, the unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, and methods described includes：The scouting nothing
The condition of a fire detecting instruction that the man-machine reception dispatching control center is issued, flies to target fire area to carry out condition of a fire scouting.It is described
Reconnaissance UAV will be sent to the dispatching control center to the condition of a fire situation that the target fire area is scouted.Disappear described in multi rack
Anti- unmanned plane receives the fire dispatch instruction that the dispatching control center is issued based on the condition of a fire situation, and the fiery point of target of flying to
Put out a fire.When occurring fire, reconnaissance UAV can obtain the actual condition of a fire of fire place accurately and in time, fire-fighting without
It is man-machine fire place to be put out a fire according to the actual condition of a fire.Thus, the loss that fire is caused can be reduced, meanwhile, without fire-fighting
Member appears in scene of fire and carries out extinguishing operation, it is to avoid fire produces threat to the life security of fireman.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the block diagram for the clustered control fire-fighting system that present pre-ferred embodiments are provided.
Fig. 2 is the block diagram of the reconnaissance UAV shown in Fig. 1.
Fig. 3 is the block diagram of the fire-fighting unmanned plane shown in Fig. 1.
Fig. 4 is the block diagram of the dispatching control center shown in Fig. 1.
Fig. 5 is the structural representation of the elevating mechanism shown in Fig. 4.
Fig. 6 is the structural representation of the centralized charging cabinet shown in Fig. 4.
Fig. 7 is the block diagram of the computing device shown in Fig. 4.
The schematic flow sheet for the clustered control fire-fighting method that Fig. 8 provides for first embodiment of the invention.
Fig. 9 is the sub-step schematic flow sheet of the step S110 shown in Fig. 8.
Figure 10 is the sub-step schematic flow sheet of the step S130 shown in Fig. 8.
One of schematic flow sheet of clustered control fire-fighting method that Figure 11 provides for second embodiment of the invention.
Figure 12 is the sub-step schematic flow sheet of the step S230 shown in Figure 11.
The two of the schematic flow sheet for the clustered control fire-fighting method that Figure 13 provides for second embodiment of the invention.
The high-level schematic functional block diagram for the clustered control fire plant that Figure 14 provides for third embodiment of the invention.
Icon：10- clustered control fire-fighting systems；100- dispatching control centers；110- elevating mechanisms；111- supports；112-
Platform；130- computing devices；131- display screens；133- flight control rocking bars；135- memories；136- storage controls；137-
Processor；140- clustered control fire plants；142- sending modules；144- receiving modules；146- control modules；150- centralizations
Charging cabinet；151- charging caskets；170- antennas；200- unmanned planes；210- reconnaissance UAVs；The communication equipments of 212- first；214- is supervised
Control equipment；216- thermal imaging apparatus；230- fire-fighting unmanned planes；The communication equipments of 232- second.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Generally herein
The component of the embodiment of the present invention described and illustrated in place's accompanying drawing can be arranged and designed with a variety of configurations.Therefore,
The detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit the model of claimed invention below
Enclose, but be merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
There is the every other embodiment made and obtained under the premise of creative work, belong to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.Meanwhile, the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relative importance.
Fig. 1 is refer to, Fig. 1 is the block diagram for the clustered control fire-fighting system 10 that present pre-ferred embodiments are provided.
The clustered control fire-fighting system 10 includes the dispatching control center 100 and unmanned plane 200 of communication connection.In the scheduling controlling
The heart 100 is used for the condition of a fire situation for controlling the unmanned plane 200 to obtain target fire area and target fire point is put out a fire.Institute
Stating unmanned plane 200 is used to carry out fire extinguishing of dropping a bomb according to the fire-fighting control instruction issued of the dispatching control center 100.
In the present embodiment, the unmanned plane 200 may be, but not limited to, multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane
Deng.Parachute landing system is equipped with the unmanned plane 200, it is described to be able to ensure that when the unmanned plane 200 is in emergency rating
Personal security in the equipment safety of unmanned plane 200 and ground, when the unmanned plane 200 in working flight state because failure is stopped
Only during flight, the unmanned plane 200 can be under the protection of parachute landing system, safely landing.
Referring once again to Fig. 1, the unmanned plane 200 includes reconnaissance UAV 210 and fire-fighting unmanned plane 230.It is described to scout
The quantity that unmanned plane 210 is set is at least a frame, and the quantity that the reconnaissance UAV 210 is set can be according to actual conditions (ratio
Such as, big, fire place situation complexity in target fire area etc.) setting.The quantity that the fire-fighting unmanned plane 230 is set is multi rack,
The specific setting quantity of the fire-fighting unmanned plane 230 can be set according to the condition of a fire situation of target fire area.
Fig. 2 is refer to, Fig. 2 is the block diagram of the reconnaissance UAV 210 shown in Fig. 1.The reconnaissance UAV 210 is wrapped
Include：First communication equipment 212, monitoring device 214 and thermal imaging apparatus 216.
In the present embodiment, the reconnaissance UAV 210 passes through in first communication equipment 212 and the scheduling controlling
The heart 100 is communicated to connect, and first communication equipment 212 electrically connects with the monitoring device 214 and the thermal imaging apparatus 216
Connect.Thus, the fire that first communication equipment 212 can issue the dispatching control center 100 to the reconnaissance UAV 210
Feelings detecting instruction conveys to the monitoring device 214 and the thermal imaging apparatus 216, to be carried out to the condition of a fire of target fire area
Scout.
Fig. 3 is refer to, Fig. 3 is the block diagram of the fire-fighting unmanned plane 230 shown in Fig. 1.The fire-fighting unmanned plane 230 is wrapped
Include：Second communication equipment 232.
In the present embodiment, the fire-fighting unmanned plane 230 passes through in second communication equipment 232 and the scheduling controlling
The heart 100 is communicated to connect.Thus, the fire dispatch that second communication equipment 232 can issue the dispatching control center 100 refers to
Order conveys to the fire-fighting unmanned plane 230, so that the fire-fighting unmanned plane 230 for being equipped with fire extinguisher bomb goes out to target fire point
Fire.
Fig. 4 is refer to, Fig. 4 is the block diagram of the dispatching control center 100 shown in Fig. 1.The dispatching control center
100 include：Elevating mechanism 110, computing device 130, centralized charging cabinet 150 and antenna 170.
Fig. 5 is refer to, Fig. 5 is the structural representation of the elevating mechanism 110 shown in Fig. 4.The unmanned plane 200 is positioned over institute
State on elevating mechanism 110, the dispatching control center 100 controls the elevating mechanism 110 corresponding to unmanned plane 200 to be flown,
So that the unmanned plane 200 to be flown is moved to out of described dispatching control center 100 outside the dispatching control center 100.
In the present embodiment, the elevating mechanism 110 includes support 111 and platform 112.Between multiple supports 111
It is detachably connected, the platform 112 is fixedly connected with the support 111.Thus, by controlling the support 111, the platform
112 can rise or fall, so that the unmanned plane 200 is moved to the scheduling control out of described dispatching control center 100
Outside center 100 processed.
Fig. 6 is refer to, Fig. 6 is the structural representation of the centralized charging cabinet 150 shown in Fig. 4.The dispatching control center
100 can also include a centralized charging cabinet 150.The unmanned plane 200 includes being used for the electricity that electric energy is provided for unmanned plane 200
Pond.The centralized charging cabinet 150 is used to charge to the battery of unmanned plane 200.The centralized charging cabinet 150 includes many
Individual charging casket 151, each charging casket 151 houses one piece of battery to charge to accommodating battery.Wherein, the battery can be with
It is, but is not limited to, nickel-cadmium cell, Ni-MH battery, lithium ion battery, lithium polymer battery, fuel cell and lead-acid battery etc..
In the present embodiment, the dispatching control center 100 can also include generator.The centralized charging cabinet 150
It is connected, the battery being placed in the charging casket 151 is charged with the generator with obtaining electric energy.
Referring once again to Fig. 4, the dispatching control center 100 also include antenna 170, the computing device 130 with it is described
Antenna 170 is communicated to connect.The computing device 130 is set up by the antenna 170 and the unmanned plane 200 and communicated to connect, with
Receive the condition of a fire situation for the target fire area that the reconnaissance UAV 210 is sent and sent to the unmanned plane 200 and disappeared
Anti- control instruction (such as, sends the instruction of condition of a fire detecting to the reconnaissance UAV 210, sends fire-fighting to fire-fighting unmanned plane 230
Dispatch command etc.).Wherein, the antenna 170 may be, but not limited to, deployable and collapsible communication antenna, radar etc..
Fig. 7 is refer to, Fig. 7 is the block diagram of the computing device 130 shown in Fig. 4.The computing device 130 includes aobvious
Display screen 131 and flight control rocking bar 133.Wherein, the display screen 131 is used to show that map, the unmanned plane 200 to be on ground on the spot
The condition of a fire situation image information that position and the reconnaissance UAV 210 in figure are detected.The flight control rocking bar 133 is used for
The flight attitude of the unmanned plane 200 is controlled, the flight attitude includes the flying speed of the unmanned plane 200, heading
And state of flight.
Referring once again to Fig. 7, the computing device 130 also includes：Memory 135, processor 137 and clustered control fire-fighting
Device 140.
In the present embodiment, directly or indirectly it is electrically connected between each element of the memory 135 and processor 137,
To realize the transmission or interaction of data.For example, these elements can pass through one or more communication bus or signal wire each other
Realize and be electrically connected with.Be stored with clustered control fire plant 140 in memory 135, and the clustered control fire plant 140 includes
At least one can be stored in the software function module in the memory 135, institute in the form of software or firmware (firmware)
Software program and module that processor 137 is stored in by operation in memory 135 are stated, various function application and number is performed
According to processing.
Wherein, the memory 135 may be, but not limited to, random access memory (Random Access
Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM) etc..
The processor 137 can be a kind of IC chip with signal handling capacity.Above-mentioned processor 137
Can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit
(Network Processor, NP) and logic programmable array circuit etc..
It is appreciated that the structure shown in Fig. 7 be only signal, computing device 130 may also include it is more more than shown in Fig. 7 or
Less component, or with the configuration different from shown in Fig. 7.Each component shown in Fig. 7 can using hardware, software or its
Combination is realized.
In the present embodiment, the fire extinguisher bomb includes：Automatically controlled detonator and the fire extinguisher bomb body for being mounted with extinguishing chemical.It is described to adjust
Degree control centre 100 also includes being used to store the storage rack of the fire extinguisher bomb body and for storing the explosion-proof of the automatically controlled detonator
Safety cabinet.The dispatching control center 100 can by the storage rack and explosion-proof safety cabinet respectively to the fire extinguisher bomb body and
The automatically controlled detonator carries out longer-term storage, the convenient carrying to the fire extinguisher bomb.
In the present embodiment, the dispatching control center 100 may be provided at a moveable vehicle (such as, fire fighting truck)
In.The device in the dispatching control center 100, unmanned plane 200 and fire extinguisher bomb can also be arranged on not according to actual conditions
With in vehicle.Such as, by dispatching control center 100, reconnaissance UAV 210 (such as, 1 frame) and fire-fighting unmanned plane 230 is (such as,
20 framves) it is arranged in same vehicle, by the fire extinguisher bomb storage cabinet for the fire extinguisher bomb body that is stored with and for depositing delay electric detonator
Special explosion-proof safety cabinet is arranged in another vehicle, thus, and two vehicles constitute a clustered control fire-fighting system 10.May be used also
So that in the case where the condition of a fire is serious, clustered control fire-fighting system 10 is constituted by many vehicles.
First embodiment
It refer to Fig. 8, the schematic flow sheet for the clustered control fire-fighting method that Fig. 8 provides for first embodiment of the invention.Institute
Clustered control fire-fighting method is stated, applied to the unmanned plane 200 communicated to connect with dispatching control center 100, the unmanned plane 200 is wrapped
An at least frame reconnaissance UAV 210 and multi rack fire-fighting unmanned plane 230 are included, the idiographic flow of the clustered control fire-fighting method is such as
Under.
Step S110, the reconnaissance UAV 210 receives the condition of a fire detecting instruction that the dispatching control center 100 is issued,
Fly to target fire area to carry out condition of a fire scouting.
In the present embodiment, the first communication equipment 212, monitoring device 214 and heat are provided with the reconnaissance UAV 210
Imaging device 216.Fig. 9 is refer to, Fig. 9 is the sub-step schematic flow sheet of the step S110 shown in Fig. 8.
Sub-step S111, the reconnaissance UAV 210 is received in the scheduling controlling by first communication equipment 212
The condition of a fire detecting instruction that the heart 100 is issued.
In the present embodiment, the condition of a fire detecting instruction includes：It is handed down to the condition of a fire monitoring instruction of the monitoring device 214
And it is handed down to the condition of a fire seizure instruction of the thermal imaging apparatus 216.
Sub-step S112, the reconnaissance UAV 210 detects the position that instruction obtains target fire area according to the condition of a fire
Confidence ceases, and flies to the target fire area to carry out condition of a fire scouting.
In the present embodiment, the positional information of target fire area of the reconnaissance UAV 210 based on acquisition, flies to institute
State target fire area.The monitoring device 214 receives the condition of a fire monitoring instruction, and the target fire area is supervised
Control, to obtain the monitored picture of the target fire area.The thermal imaging apparatus 216 receives the condition of a fire and catches instruction, and
Gather the graphic images of the target fire area.
In the present embodiment, the thermal imaging apparatus 216 can be used, but be not limited to, 640 × 480 infra-red thermal imaging
Equipment.The monitoring device 214 can be used, but be not limited to, X30 times of high-definition monitoring monitoring device.
Step S120, the reconnaissance UAV 210 will be sent to institute to the condition of a fire situation that the target fire area is scouted
State dispatching control center 100.
In the present embodiment, the reconnaissance UAV 210 by first communication equipment 212 by the monitoring device
The graphic images that 214 monitored pictures obtained and the thermal imaging apparatus 216 are gathered are sent to the dispatching control center
100。
Step S130, fire-fighting unmanned plane 230 described in multi rack receives the dispatching control center 100 and is based on the condition of a fire situation
The fire dispatch issued is instructed, and the target fire point that flies to is put out a fire.
In the present embodiment, fire extinguisher bomb and the second communication equipment 232 are provided with the fire-fighting unmanned plane 230.It refer to
Figure 10, Figure 10 are the sub-step schematic flow sheet of the step S130 shown in Fig. 8.
Sub-step S131, fire-fighting unmanned plane 230 described in every frame receives the scheduling by second communication equipment 232 and controlled
The fire dispatch instruction that center 100 processed is issued based on the condition of a fire situation.
In the present embodiment, the fire dispatch instruction includes：The dispatching control center 100 is based on target fire area
Condition of a fire situation issue target fire point positional information and the fire-fighting unmanned plane 230 default departure time information.
Sub-step S132, fire-fighting unmanned plane 230 described in every frame flies to the fiery point of the target according to the default departure time.
In the present embodiment, fire-fighting unmanned plane 230 described in adjacent two frame is in the flight course of the target fire point that flies to
Predetermined interval distance flight is kept, the predetermined interval distance is calculated by the dispatching control center 100 based on condition of a fire situation
Arrive.
Sub-step S133, when fire-fighting unmanned plane 230 described in every frame is flown to target fire point one drop altitude of top, by institute
Fire extinguisher bomb is stated to drop to the fiery point of the target, to be put out a fire.
In the present embodiment, the fire extinguisher bomb includes：Automatically controlled detonator and the fire extinguisher bomb body for being mounted with extinguishing chemical.Every frame institute
State fire-fighting unmanned plane 230 fly to the target fire point top one drop altitude when, by the fire extinguisher bomb drop to the target fire
Point, with the ignition delay time for coordinating the automatically controlled detonator make the fire extinguisher bomb enter target fire point fire extinguishing scope when, ignite
The fire extinguisher bomb body, realizes the fire extinguishing to target fire point.
In the present embodiment, the ignition delay time of the automatically controlled detonator includes：2 seconds, 4 seconds, 6 seconds, 8 seconds, 10 seconds etc., can
The drop altitude is set according to the ignition delay time of the automatically controlled detonator of selection.
In addition, the fire-fighting unmanned plane 230 can set the automatically controlled detonator according to the drop altitude being presently in
Ignition delay time, when the fire extinguisher bomb enters the fire extinguishing scope that target fire is put, to ignite the fire extinguisher bomb body, realization pair
The fire extinguishing of target fire point.
Thus, the fire-fighting unmanned plane 230 casts fire extinguisher bomb after flying to target fire point, and the fire extinguisher bomb enters target fire
(such as, target fire point overhead 1-2m) blast during the fire extinguishing scope of point, the intrinsic extinguishing chemical of fire extinguisher bomb is spread in the form of the domain of face
Open (area coverage after every piece of fire extinguisher bomb blast is at 100-150 square metres or so).Produced because the fire extinguisher bomb body explodes
Anaerobic blast air is completely cut off, while extinguishing chemical has fire extinguishing function, the dual fire extinguishing function causes extinguishing effect more
Substantially.
The fire-fighting unmanned plane 230 sets the ignition delay time of the automatically controlled detonator according to the location information, with
When the fire-fighting rocket bomb enters the fire extinguishing scope of target fire point, the rocket projectile body is ignited, realizes and the fiery point of target is gone out
Fire.
Second embodiment
Refer to Figure 11, the schematic flow sheet of the clustered control fire-fighting method that Figure 11 provides for second embodiment of the invention it
One.The clustered control fire-fighting method, applied to the dispatching control center 100 communicated to connect with unmanned plane 200, the unmanned plane
200 include being provided with monitoring on an at least frame reconnaissance UAV 210 and multi rack fire-fighting unmanned plane 230, the reconnaissance UAV 210
Fire extinguisher bomb is equipped with equipment 214 and thermal imaging apparatus 216, the fire-fighting unmanned plane 230.The clustered control fire-fighting method
Idiographic flow is as follows.
Step S210, the condition of a fire issued to the reconnaissance UAV 210, which is detected, to be instructed, so that the reconnaissance UAV 210
Fly to target fire area to carry out condition of a fire detecting to the target fire area.
In the present embodiment, the condition of a fire detecting instruction includes：It is handed down to the condition of a fire monitoring instruction of the monitoring device 214
And it is handed down to the condition of a fire seizure instruction of the thermal imaging apparatus 216.
Step S220, receives the condition of a fire detected to the target fire area that the reconnaissance UAV 210 is sent
Situation.
In the present embodiment, the condition of a fire situation includes：Graphic images that the thermal imaging apparatus 216 is gathered and
The monitored picture that the monitoring device 214 is gathered.
Step S230, fire dispatch instruction is issued based on the condition of a fire situation to fire-fighting unmanned plane 230 described in multi rack, so that
The fire extinguisher bomb carried on the fire-fighting unmanned plane 230 is put out a fire to target fire point.
Figure 12 is refer to, Figure 12 is the sub-step schematic flow sheet of the step S230 shown in Figure 11.
Sub-step S231, the graphic images included based on the condition of a fire situation and monitored picture judge the fiery point of target
Positional information and intensity of a fire situation.
In the present embodiment, the heat of the dispatching control center 100 based on arriving of being detected to target fire area into
The fiery dot position information of target and the intensity of a fire situation in the target fire area are determined as image and monitored picture.
Sub-step S232, the intensity of a fire situation setting based on target fire point participates in the fire-fighting unmanned plane of fire-fighting operation
230 quantity.
Sub-step S233, based on the target fire point positional information to participate in fire-fighting operation every frame described in fire-fighting nobody
The default departure time of machine 230 is set, and the default departure time of the positional information of target fire point and setting is believed
Breath is carried in the fire dispatch instruction.
Sub-step S234, is issued including the fiery point of the target to fire-fighting unmanned plane 230 described in every frame of participation fire-fighting operation
Positional information and default departure time information fire dispatch instruction, so as to carry on the fire-fighting unmanned plane 230
Fire extinguisher bomb is put out a fire to target fire point.
Refer to Figure 13, the schematic flow sheet of the clustered control fire-fighting method that Figure 13 provides for second embodiment of the invention it
Two.Methods described also includes：
Step S240, is calculated based on the condition of a fire situation and obtains a predetermined interval distance, in fire-fighting unmanned plane described in multi rack
230 fly in the flight course of target fire point, control adjacent two frame described in fire-fighting unmanned plane 230 keep the predetermined interval
Distance flight.
In the present embodiment, the computing device 130 of the dispatching control center 100 is calculated based on the condition of a fire situation and obtained
One predetermined interval distance, in fire-fighting unmanned plane 230 described in multi rack flies to the flight course of the target fire point, computing device
Fire-fighting unmanned plane 230 described in adjacent two frame of 130 controls keeps the predetermined interval distance flight, thus, it is to avoid disappear described in multi rack
Anti- unmanned plane 230 hits in flight course.
3rd embodiment
It refer to Figure 14, the functional module for the clustered control fire plant 140 that Figure 14 provides for third embodiment of the invention
Schematic diagram.The clustered control fire plant 140 is applied to the dispatching control center 100 communicated to connect with unmanned plane 200, described
Unmanned plane 200 includes setting on an at least frame reconnaissance UAV 210 and multi rack fire-fighting unmanned plane 230, the reconnaissance UAV 210
Have and be equipped with fire extinguisher bomb on monitoring device 214 and thermal imaging apparatus 216, the fire-fighting unmanned plane 230, described device includes：Hair
Send module 142, receiving module 144 and control module 146.
Sending module 142, the condition of a fire for being issued to the reconnaissance UAV 210, which is detected, to be instructed, so that the scouting nothing
Man-machine 210 fly to target fire area to carry out condition of a fire detecting to the target fire area.
In the present embodiment, the sending module 142 is used to perform the step S210 in Figure 11, on the sending module
142 specific descriptions are referred to step S210 description.
Receiving module 144, for receiving being detected to the target fire area for the transmission of reconnaissance UAV 210
Condition of a fire situation.
In the present embodiment, the receiving module 144 is used to perform the step S220 in Figure 11, on the receiving module
144 specific descriptions are referred to step S220 description.
Sending module 142, is additionally operable to issue fire dispatch to fire-fighting unmanned plane 230 described in multi rack based on the condition of a fire situation
Instruction, so that the fire extinguisher bomb carried on the fire-fighting unmanned plane 230 is put out a fire to target fire point.
In the present embodiment, the sending module 142 is additionally operable to perform the step S230 in Figure 11, on the transmission mould
The acceptable description with reference to step S230 of specific descriptions of block 142.
Control module 146, obtains a predetermined interval distance, in fire-fighting described in multi rack for being calculated based on the condition of a fire situation
Unmanned plane 230 flies in the flight course of the target fire point, and fire-fighting unmanned plane 230 described in adjacent two frame of control keeps described pre-
If spacing distance flies.
In the present embodiment, the control module 146 is used to perform the step S240 in Figure 13, on the control module
The 146 acceptable description with reference to step S240 of specific descriptions.
In summary, the present invention provides a kind of clustered control fire-fighting method and device.Applied to logical with dispatching control center
Believe the unmanned plane of connection, the unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, and methods described includes：
The reconnaissance UAV receives the condition of a fire detecting instruction that the dispatching control center is issued, and flies to target fire area to carry out the condition of a fire
Scout.The reconnaissance UAV will be sent to the dispatching control center to the condition of a fire situation that the target fire area is scouted.
Fire-fighting unmanned plane described in multi rack receives the fire dispatch instruction that the dispatching control center is issued based on the condition of a fire situation, and flies
Put out a fire toward target fire point.
When occurring fire, reconnaissance UAV can obtain the actual condition of a fire of fire place accurately and in time, fire-fighting nobody
Machine can put out a fire according to the actual condition of a fire to fire place.Thus, the loss that fire is caused can be reduced, meanwhile, without fireman
Appear in scene of fire and carry out extinguishing operation, it is to avoid fire produces threat to the life security of fireman.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of clustered control fire-fighting method, applied to the unmanned plane communicated to connect with dispatching control center, it is characterised in that institute
Stating unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, and methods described includes：
The reconnaissance UAV receives the condition of a fire detecting instruction that the dispatching control center is issued, and flies to target fire area to carry out
The condition of a fire is scouted；
The reconnaissance UAV will be sent to the dispatching control center to the condition of a fire situation that the target fire area is scouted；
Fire-fighting unmanned plane described in multi rack receives the fire dispatch instruction that the dispatching control center is issued based on the condition of a fire situation,
And the target fire point that flies to is put out a fire.
2. according to the method described in claim 1, it is characterised in that the first communication equipment is provided with the reconnaissance UAV,
The reconnaissance UAV receives the condition of a fire detecting instruction that the dispatching control center is issued, and flies to target fire area to carry out the condition of a fire
The step of scouting, includes：
The reconnaissance UAV receives the condition of a fire detecting instruction that the dispatching control center is issued by first communication equipment；
The reconnaissance UAV detects instruction according to the condition of a fire and obtains the positional information of target fire area, and flies to the mesh
Mark fire area and carry out condition of a fire scouting.
3. method according to claim 2, it is characterised in that monitoring device and heat are additionally provided with the reconnaissance UAV
Imaging device, the condition of a fire detecting instruction includes：It is handed down to the condition of a fire monitoring instruction of the monitoring device and is handed down to the heat
The condition of a fire of imaging device catches instruction, and the reconnaissance UAV detects the position that instruction obtains target fire area according to the condition of a fire
Confidence ceases, and flies to include the step of carrying out condition of a fire scouting to the target fire area：
The positional information of target fire area of the reconnaissance UAV based on acquisition, flies to the target fire area；
The monitoring device receives the condition of a fire monitoring instruction, and the target fire area is monitored, described to obtain
The monitored picture of target fire area；
The thermal imaging apparatus receives the condition of a fire and catches instruction, and gathers the graphic images of the target fire area.
4. method according to claim 3, it is characterised in that the reconnaissance UAV will be detectd to the target fire area
The step of condition of a fire situation examined is sent to the dispatching control center includes：
Monitored picture that the reconnaissance UAV is obtained the monitoring device by first communication equipment and the heat into
As the graphic images that equipment is gathered are sent to the dispatching control center.
5. method according to claim 4, it is characterised in that fire extinguisher bomb is provided with the fire-fighting unmanned plane and second logical
Believe equipment, fire-fighting unmanned plane described in the multi rack is received the dispatching control center and adjusted based on the fire-fighting that the condition of a fire situation is issued
Degree is instructed, and the target fire that flies to is put the step of being put out a fire and included：
Fire-fighting unmanned plane described in every frame receives the dispatching control center by second communication equipment and is based on the condition of a fire shape
The fire dispatch instruction that condition is issued, wherein, the fire dispatch instruction includes：The dispatching control center is based on target ignition zone
The positional information and the default departure time information of the fire-fighting unmanned plane for the target fire point that the condition of a fire situation in domain is issued；
Fire-fighting unmanned plane described in every frame flies to the fiery point of the target according to the default departure time, wherein, described in adjacent two frame
Fire-fighting unmanned plane keeps predetermined interval distance flight, the predetermined interval distance in the flight course for flying to the target fire point
The calculating of condition of a fire situation is based on by the dispatching control center to obtain；
When fire-fighting unmanned plane described in every frame is flown to target fire point one drop altitude of top, the fire extinguisher bomb is dropped to described
Target fire point, to be put out a fire.
6. method according to claim 5, it is characterised in that the fire extinguisher bomb includes：Automatically controlled detonator and it is mounted with fire extinguishing
The fire extinguisher bomb body of agent, will be described when fire-fighting unmanned plane described in every frame is flown to target fire point one drop altitude of top
Fire extinguisher bomb is dropped to the fiery point of the target, is included the step of to be put out a fire：
When fire-fighting unmanned plane described in every frame is flown to target fire point one drop altitude of top, the fire extinguisher bomb is dropped to described
Target fire point, makes the fire extinguisher bomb enter the fire extinguishing scope that target fire is put with the ignition delay time for coordinating the automatically controlled detonator
When, the fire extinguisher bomb body is ignited, the fire extinguishing to target fire point is realized.
7. a kind of clustered control fire-fighting method, applied to the dispatching control center being connected with UAV Communication, it is characterised in that institute
Stating unmanned plane includes being provided with monitoring device on an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, the reconnaissance UAV
And thermal imaging apparatus, fire extinguisher bomb is equipped with the fire-fighting unmanned plane, and methods described includes：
The condition of a fire issued to the reconnaissance UAV detects instruction, so that the reconnaissance UAV flies to target fire area to institute
State target fire area and carry out condition of a fire detecting, wherein, the condition of a fire detecting instruction includes：It is handed down to the condition of a fire of the monitoring device
Monitoring instruction and the condition of a fire seizure instruction for being handed down to the thermal imaging apparatus；
The condition of a fire situation detected to the target fire area that the reconnaissance UAV is sent is received, wherein, the fire
Situation condition includes：The graphic images of the thermal imaging apparatus collection and the monitored picture of monitoring device collection；
Fire dispatch instruction is issued to fire-fighting unmanned plane described in multi rack based on the condition of a fire situation, so that on the fire-fighting unmanned plane
The fire extinguisher bomb of carrying is put out a fire to target fire point.
8. method according to claim 7, it is characterised in that it is described based on the condition of a fire situation to fire-fighting described in multi rack without
It is man-machine to issue fire dispatch instruction, so that the step of fire extinguisher bomb carried on the fire-fighting unmanned plane is put out a fire to target fire point
Including：
The graphic images and monitored picture included based on the condition of a fire situation judge the positional information and fire of target fire point
Gesture situation；
Intensity of a fire situation setting based on target fire point participates in the quantity of the fire-fighting unmanned plane of fire-fighting operation；
When positional information based on target fire point is taken off to fire-fighting unmanned plane default described in participating in every frame of fire-fighting operation
Between set, and the default departure time information of the positional information of target fire point and setting be carried on the fire-fighting adjusted
In degree instruction；
The positional information including target fire point is issued to fire-fighting unmanned plane described in every frame of participation fire-fighting operation and is preset
Fly the fire dispatch instruction of temporal information, so that the fire extinguisher bomb carried on the fire-fighting unmanned plane is clicked through to target fire
Row fire extinguishing.
9. method according to claim 7, it is characterised in that methods described also includes：
Calculated based on the condition of a fire situation and obtain a predetermined interval distance, flown to target fire in fire-fighting unmanned plane described in multi rack
In the flight course of point, fire-fighting unmanned plane described in adjacent two frame is controlled to keep the predetermined interval distance flight.
10. a kind of clustered control fire plant, applied to the dispatching control center being connected with UAV Communication, it is characterised in that
The unmanned plane includes an at least frame reconnaissance UAV and multi rack fire-fighting unmanned plane, and being provided with monitoring on the reconnaissance UAV sets
Fire extinguisher bomb is equipped with standby and thermal imaging apparatus, the fire-fighting unmanned plane, described device includes：
Sending module, the condition of a fire for being issued to the reconnaissance UAV, which is detected, to be instructed, so that the reconnaissance UAV flies to mesh
Mark fire area and condition of a fire detecting is carried out to the target fire area, wherein, the condition of a fire detecting instruction includes：It is handed down to described
The condition of a fire monitoring instruction of monitoring device and the condition of a fire seizure instruction for being handed down to the thermal imaging apparatus；
Receiving module, for receiving the condition of a fire shape detected to the target fire area that the reconnaissance UAV is sent
Condition, wherein, the condition of a fire situation includes：The graphic images of the thermal imaging apparatus collection and the prison of monitoring device collection
Control picture；
Sending module, is additionally operable to issue fire dispatch instruction to fire-fighting unmanned plane described in multi rack based on the condition of a fire situation, so that
The fire extinguisher bomb carried on the fire-fighting unmanned plane is put out a fire to target fire point.
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| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
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| CN110975191A (en) * | 2019-12-24 | 2020-04-10 | 尹伟 | Fire extinguishing method for unmanned aerial vehicle |
| CN111445661A (en) * | 2020-04-08 | 2020-07-24 | 峰飞国际有限公司 | Fire condition processing method, device, equipment and storage medium |
| CN111569326A (en) * | 2020-05-16 | 2020-08-25 | 淮安航空产业研究院有限公司 | Quick response fire extinguishing system based on fire control unmanned aerial vehicle |
| CN113274663A (en) * | 2021-06-10 | 2021-08-20 | 广州亿航智能技术有限公司 | Control method and device of fire-fighting type unmanned aerial vehicle and computing equipment |
| CN113499553A (en) * | 2021-06-25 | 2021-10-15 | 上海东普信息科技有限公司 | Fire extinguishing method, device and equipment based on portable unmanned aerial vehicle and storage medium |
| CN113499553B (en) * | 2021-06-25 | 2023-09-26 | 上海东普信息科技有限公司 | Fire extinguishing method, device, equipment and storage medium based on portable unmanned aerial vehicle |
| CN114010983A (en) * | 2021-11-19 | 2022-02-08 | 云南警官学院 | Intelligent fire extinguishing unmanned aerial vehicle system based on Beidou system |
| CN115770367A (en) * | 2022-11-23 | 2023-03-10 | 国网电力空间技术有限公司 | Fire extinguishing method and device based on unmanned aerial vehicle and unmanned aerial vehicle |
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