CN114534134B - Online unmanned full-automatic fire prevention rescue unmanned aerial vehicle device and system that puts out a fire - Google Patents
Online unmanned full-automatic fire prevention rescue unmanned aerial vehicle device and system that puts out a fire Download PDFInfo
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- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention relates to an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device and system, and relates to the technical field of fire-fighting of unmanned aerial vehicles. The device comprises: the fire source detection device is used for detecting the fire source of the area to be detected on line in real time, and the ignition point positioning device is used for determining the position of the fire source; the central computer control system is used for controlling the fire-fighting unmanned aerial vehicle to fly to the fire source according to the position of the fire source detected by the fire point positioning device, and controlling the fire-fighting unmanned aerial vehicle and the mounted fire-fighting or rescue facilities fully and independently to extinguish the fire source or complete the rescue task. The unmanned aerial vehicle fire extinguishing system can realize the whole process from fire detection to unmanned aerial vehicle fire extinguishing in an early and fast unmanned full automation manner for a large monitoring area.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle fire extinguishing, in particular to an online unmanned full-automatic fire-proof fire-extinguishing rescue unmanned aerial vehicle device and system.
Background
In real life, fire accidents occur frequently, the timeliness of fire extinguishment and the effectiveness of life and property recovery are poor, and the reason for the timeliness is manual fire extinguishment instead of mechanization. Fire rescue unmanned aerial vehicle of several tons of loads has been had, but need discover the fire source then manual control unmanned aerial vehicle just can realize putting out a fire, can't realize online real-time long-range unmanned and full automatization from exploring a fire to putting out a fire.
Disclosure of Invention
The invention aims to provide an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device and system, which are different from manually-operated single-machine single-task type fire-fighting facilities of various unmanned aerial vehicles.
In order to achieve the purpose, the invention provides the following scheme:
an online unmanned full-automatic fire prevention that disappears rescue unmanned aerial vehicle device includes:
the fire source detection device and the fire point positioning device are arranged at monitoring points corresponding to a region to be detected, the fire source detection device is used for detecting the fire source of the region to be detected on line in real time, and the fire point positioning device is used for determining the position of the fire source; the central computer control system is used for autonomously controlling the fire-fighting unmanned aerial vehicle to fly to a fire source according to the position of the fire source detected by the fire point positioning device, and fully autonomously controlling the fire-fighting unmanned aerial vehicle and the mounted fire-fighting facilities or rescue facilities to autonomously extinguish the fire or complete rescue tasks for the fire source.
Optionally, when the area to be detected corresponds to a monitoring point, the ignition point positioning device includes: the fire source monitoring system comprises a monitoring point positioning device, a range finder and an azimuth angle measuring device which are all connected with the central computer control system, wherein the monitoring point positioning device is used for measuring the position of the monitoring point, the range finder is used for measuring the distance between the monitoring point and the fire source, the azimuth angle measuring device is used for measuring the azimuth angle between the monitoring point and the fire source, and the central computer control system is used for determining the position of the fire source according to the position of the monitoring point, the distance between the monitoring point and the fire source and the azimuth angle between the monitoring point and the fire source.
Optionally, when the area to be detected corresponds to a plurality of monitoring points, the ignition point positioning device includes: a monitoring point positioning device and an azimuth angle measuring device which are both connected with the central computer control system; the monitoring point positioning device is used for measuring the positions of the monitoring points, the azimuth angle measuring device is used for measuring the azimuth angles from the monitoring points to the fire source, and the central computer control system is used for determining the positions of the fire sources according to the positions of the monitoring points and the azimuth angles from the monitoring points to the fire source.
Optionally, the fire control unmanned aerial vehicle includes: the fire extinguishing system comprises an unmanned aerial vehicle body, and a laser radar, a first optical camera, a first infrared camera and a fire extinguishing device which are arranged on the unmanned aerial vehicle body, wherein the unmanned aerial vehicle body, the laser radar, the first optical camera and the first infrared camera are all connected with the central processing unit; the laser radar is used for scanning the terrain of a fire scene, the first optical camera is used for scanning dense smoke and the environment of the fire scene, the first infrared camera is used for scanning the temperature of the fire scene, the central computer control system is used for obtaining a three-dimensional terrain modeling map of the fire scene according to the terrain of the fire scene and correcting the three-dimensional terrain modeling map according to the environment of the fire scene, the central computer control system is used for obtaining a temperature gradient map of the fire scene according to the temperature of the fire scene, the central computer control system is used for obtaining a dense smoke model map of the fire scene according to the dense smoke of the fire scene, and the central computer control system is further used for controlling the fire-fighting unmanned aerial vehicle to extinguish a detected fire source according to the three-dimensional terrain modeling map of the fire scene, the temperature gradient map of the fire scene and the dense smoke model map of the fire scene.
Optionally, an online unmanned full-automatic fire prevention that disappears rescue unmanned aerial vehicle device still includes: the unmanned aerial vehicle hangar, fire control unmanned aerial vehicle leaves the unmanned aerial vehicle hangar.
Optionally, the fire source detection device includes: and the second optical camera, the second infrared camera and the infrared thermometer are all connected with the central computer control system.
Optionally, the fire control unmanned aerial vehicle still includes: the conversation equipment of shouting, the conversation equipment of shouting sets up on the unmanned aerial vehicle body.
Optionally, the distance measuring instrument is a laser distance measuring instrument.
The utility model provides an online unmanned full-automatic fire prevention rescue unmanned aerial vehicle system that puts out a fire, includes: the system comprises a monitoring center and a plurality of online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle devices; the central computer control system in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device is connected with the monitoring center, and the monitoring center is used for controlling the fire-fighting unmanned aerial vehicle in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device to extinguish fire or complete rescue tasks according to the fire source of the area to be detected and the position of the fire source detected by each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides an online unmanned full-automatic fire prevention, fire extinguishing and rescue unmanned aerial vehicle device and a system, wherein the device comprises: the fire source detection device and the fire point positioning device are arranged at monitoring points corresponding to a region to be detected, the fire source detection device is used for detecting the fire source of the region to be detected on line in real time, and the fire point positioning device is used for determining the position of the fire source; the central computer control system is used for controlling the fire-fighting unmanned aerial vehicle to extinguish the fire according to the position of the fire source detected by the fire point positioning device, monitoring whether the fire source exists in a to-be-detected area or not by arranging the fire source detection device and the fire point positioning device at a monitoring point, controlling the unmanned aerial vehicle to extinguish the fire according to a detection result, and realizing the whole process from fire detection to fire extinguishing of the unmanned aerial vehicle quickly and fully automatically without artificial intervention.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a structural block diagram of an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the coordinate measurement principle of the fire source with a monitoring point provided in the implementation of the present invention;
FIG. 3 is a schematic diagram of the coordinate measurement principle of the fire source with a plurality of monitoring points provided in the implementation of the present invention;
FIG. 4 is a flow chart of the work of an online unmanned automatic fire-fighting rescue unmanned aerial vehicle device;
fig. 5 is a network diagram of an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The invention provides an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device, which is characterized in that a plurality of detectors are arranged at high positions of communities, industrial areas, villages, outdoor indoor spaces and the like in square kilometers, the detectors are called as monitoring points, so that each point of an area to be detected can be conveniently detected, the phenomenon that each point is shielded by terrain, buildings and the like to form a blind area and the observation from the monitoring point to a fire point is influenced is avoided as much as possible, otherwise, only the height of the monitoring point is increased and the monitoring points are arranged at various angles. The unmanned aerial vehicle hangar provided with the fire-fighting unmanned aerial vehicle is placed near the center, and the paths from the hangar to all points in the whole area to be detected are short. The online real-time detection fire source of system arrives the location fire source, arrives the scheme of putting out a fire, arrives the seedling end of several minutes to the conflagration and suppresses the state of sprouting just, forms full automatic closed-loop control, thoroughly breaks away from artificial factor, as shown in figure 1, an online unmanned full-automatic fire prevention rescue unmanned aerial vehicle device that puts out a fire specifically includes: the fire source detection device and the fire point positioning device are arranged at monitoring points corresponding to a region to be detected, the fire source detection device is used for detecting the fire source of the region to be detected on line in real time, and the fire point positioning device is used for determining the position of the fire source; the central computer control system is used for controlling the fire-fighting unmanned aerial vehicle to fly to the fire source side according to the position of the fire source detected by the fire point positioning device, controlling the fire-fighting unmanned aerial vehicle and the mounted fire-fighting or rescue facilities independently, extinguishing the fire source or completing the rescue task, and realizing networking linkage. The whole process is unmanned and fully automatic. The fire-fighting unmanned aerial vehicle is an aerial robot, and can complete tasks which can be completed by the robot, such as delivering materials, life buoys, lifting fire to a high place and the like.
As an alternative embodiment, when the area to be detected corresponds to a monitoring point, the fire point positioning device includes: the fire source monitoring system comprises a monitoring point positioning device, a distance meter and an azimuth angle measuring device which are all connected with the central computer control system, wherein the monitoring point positioning device is used for measuring the position of the monitoring point or recording the longitude and latitude of the point after measurement, the distance meter is used for measuring the distance from the monitoring point to the fire source, the azimuth angle measuring device is used for measuring the azimuth angle from the monitoring point to the fire source, and the central computer control system is used for determining the position of the fire source according to the position of the monitoring point, the distance from the monitoring point to the fire source and the azimuth angle from the monitoring point to the fire source. As shown in fig. 2, the central computer control system calculates the accurate coordinate position of the fire source according to the azimuth angle a and the distance L from the monitoring point to the fire source and the coordinate position of the monitoring point a and the geometric trigonometric function as follows:
longitude of ignition point = longitude-L x sin a of a
The dimension of the ignition point = dimension + L × cos a of a.
As an alternative embodiment, when the area to be detected corresponds to a plurality of monitoring points, the ignition point positioning device includes: a monitoring point positioning device and an azimuth angle measuring device which are both connected with the central computer control system; the monitoring point positioning device is used for measuring the position of the monitoring point or recording the longitude and latitude of the point after measurement, the azimuth angle measuring device is used for measuring the azimuth angle from the monitoring point to the fire source, the central computer control system is used for determining the position of the fire source according to the position of each monitoring point and the azimuth angle from each monitoring point to the fire source, as shown in figure 3, if the number of the monitoring points is 2 or more, each azimuth angle beta and gamma of the fire source C is found according to each monitoring point, and the coordinate positions A and B of the 2 monitoring points are obtained, the distance between the included angle omega and the distance AB of the line from the south-facing dimension line to the points A and B in a counterclockwise way is obtained, and the accurate coordinate position of the fire source is calculated according to geometry as follows;
∠BAC＝90-β-ω
∠CBA＝ω+(90-(180-γ))＝ω+γ-90
∠BCA＝180-∠BAC-∠CBA＝180-(90-β-ω)-(ω+γ-90)＝180+β-γ
according to the sine theorem
sin∠BAC/∣BC∣＝sin∠CBA/∣CA∣＝sin∠BCA/∣AB∣
When the known angle AB | is substituted into the above formula, | BC | and | CA | can be calculated, and the figure 3 is decomposed into 2 figures 2, that is, the longitude and latitude coordinates of the fire source are calculated by the algorithm of figure 2 when the azimuth angle and the distance between the monitoring point and the fire source are known.
As an optional implementation, the fire-fighting unmanned aerial vehicle comprises: the fire extinguishing system comprises an unmanned aerial vehicle body, and a laser radar, a first optical camera, a first infrared camera and a fire extinguishing device which are arranged on the unmanned aerial vehicle body, wherein the fire extinguishing device comprises a fire extinguishing bomb or a fire extinguishing agent, and the unmanned aerial vehicle body, the laser radar, the first optical camera and the first infrared camera are all connected with the central processing unit; the laser radar is used for scanning the terrain of a fire scene, the first optical camera is used for scanning the dense smoke and the environment of the fire scene, the first infrared camera is used for scanning the temperature of the fire scene, the central computer control system is used for obtaining a three-dimensional terrain modeling map of the fire scene according to the terrain of the fire scene, and the central computer control system is also used for correcting the three-dimensional terrain modeling map according to the environment of the fire scene, and the specific correction is as follows: and (4) performing optical review and supplement on the three-dimensional terrain map established by the laser radar. The three-dimensional terrain modeling map established by the laser radar is three-dimensional laser scanning LiDAR point cloud data. Under certain conditions, data can deviate, the problems of overexposure or failure caused by 'ghost' phenomenon, 'high-low reflection' and the like occur, such as obvious attenuation of laser in rainy days, heavy snow, dense fog and the like, interference impact of sunlight, small winged insects and the like, so that the optical cameras are used as redundancy, rechecking and supplementing are performed again, the real environment is detected as much as possible, the accuracy of sensing of the unmanned aerial vehicle to the surrounding environment is obviously improved, and the unmanned aerial vehicle is prevented from falling down. The central computer control system is used for obtaining a fire scene temperature gradient map according to the temperature of the fire scene, obtaining a fire scene dense smoke model map according to the dense smoke of the fire scene, and autonomously controlling the fire-fighting unmanned aerial vehicle to extinguish the detected fire source according to the fire scene three-dimensional terrain modeling map, the fire scene temperature gradient map and the fire scene dense smoke model map. Combining a satellite positioning technology and a laser radar hoisted by an unmanned aerial vehicle, and obtaining the distance between one point of an object and the laser radar by utilizing laser emission and reflection; and then, the space distance of each object point of the whole 3D solid surface can be obtained by a scanning method, so that a three-dimensional terrain modeling map is formed, and the precision is within 60 mm. When the laser radar scans the three-dimensional terrain modeling map, the optical camera and the infrared camera synchronously scan, a fire field temperature ladder diagram and a dense smoke model diagram can be added into the three-dimensional terrain modeling map, and the unmanned aerial vehicle controls fire extinguishment according to the three-dimensional terrain modeling map, the fire field temperature ladder diagram and the dense smoke model diagram. The fire extinguishing method comprises the following specific steps of controlling and extinguishing by the unmanned aerial vehicle according to a three-dimensional terrain modeling map, a fire scene temperature ladder diagram and a dense smoke model diagram: first, as shown in table 1, the unmanned aerial vehicle calculates the coordinates of the optimal fire extinguishing operation point of the unmanned aerial vehicle and the azimuth of the fire source from the unmanned aerial vehicle in the three-dimensional terrain modeling map, the fire field temperature ladder diagram and the dense smoke model diagram. Firstly, defining, drawing a snake-shaped operation route by a polygon: similar to the mop with the same width, the mop can move in a straight line, the width of the mop is 1 m (defined as the width), and a polygonal room can be formed to draw a snake-shaped operation route on the polygon: the device is formed by connecting a plurality of linear paths end to end, and the distance between each linear path and the adjacent linear path is the width; the safety height H may be user defined, such as 10 meters by default; the safety horizon distance D is defined by the user, e.g. by default 6 meters.
Table 1 coordinate of best fire-extinguishing working point of unmanned aerial vehicle and azimuth meter of fire source distance unmanned aerial vehicle
Secondly, as shown in table 2, the unmanned aerial vehicle plans an autonomous flight path to extinguish a fire according to the calculated peripheral 3D map and the 360-degree front-back, left-right, up-down, obstacle avoidance sensors on the unmanned aerial vehicle.
Defining: the dimension of the standby point of the ignition point is the geometric center of the ignition area, and the height of the standby point is the highest object (building or tree, etc.) of the point and the safety height H; in this embodiment, there are 2 roads to plan: the first method is that the unmanned aerial vehicle hangar is clicked to a standby point of an ignition point; firstly, completing a basic route, namely a straight line path from a 3-dimensional point of an unmanned aerial vehicle hangar point plus a safety height H to a standby point of a fire point; the second, the standby point of the back-and-forth fire point is connected with the fire extinguishing operation point; firstly, a basic route is completed, namely a straight line route from a standby point of an ignition point to a fire extinguishing operation point is shown in a table 1; on a basic route, finely adjusting a path according to obstacles with different sizes to obtain an autonomous flight path, wherein the diameter of the airplane is the maximum radial diameter value of the airplane, and the value can be set by a client.
TABLE 2 Path planning Table
Then, as shown in table 3, the unmanned aerial vehicle calculates the fire source type in the three-dimensional terrain modeling map, the fire field temperature ladder diagram, and the dense smoke model diagram: whether the fire source faces the sky and has no shelter, or is the fire of the facade outside the building, or is the fire inside the building, and then whether the fire source is the ignition less than 20 square meters or the area fire more than 20 square meters is calculated.
Table 3 unmanned aerial vehicle carries out different fire extinguishing facilities according to different fire
In line 5 of table 3, the drone first concludes whether to break the window. Whether most of glass in the glass window is not available is firstly detected (if the four sides are drawn by emitting laser to the side of the outermost frame of the glass, which is further reduced by one fifth by using a laser emitter of an unmanned aerial vehicle, if the reflected laser is high-reflectivity, and the four sides of the line reflection of the laser drawing are basically complete, the glass is judged to be available and not damaged, and the window needs to be broken). The unmanned aerial vehicle informs that the window is broken by playing the tweeter, and launches a window breaking bullet to the central point of the window after the voice of the person inside avoids the window.
As an alternative embodiment, the fire-fighting drone is loaded with a camera, lidar, fire-extinguishing bomb or fire-extinguishing agent; and loading the window breaking bomb in the occasion of need. In specific implementation, as shown in fig. 1, the unmanned aerial vehicle further includes a power supply and distribution module, and a plurality of electronic speed regulators or channels, wherein an output end of the central processing unit is connected to an input end of the communication module and an input end of the plurality of electronic speed regulators or channels, respectively, an input end of each electronic speed regulator or channel is connected to an output end of the central processing unit, an output end of each electronic speed regulator or channel is connected to a power unit of the unmanned aerial vehicle, and the power unit includes a motor, one of a fuel engine or a steering engine, and a propeller. In the present embodiment, the power unit is exemplified by a motor and a propeller. The pole shaft of the motor is provided with a propeller, the power end of the motor is connected with the electronic speed regulator or the channel, the central processing unit sends a flight signal to the electronic speed regulator or the channel to control the motor to rotate, and the motor rotates to drive the propeller to rotate, so that the unmanned aerial vehicle flies.
As an optional implementation, the fire-fighting drone further comprises: the positioning unit sets up on the unmanned aerial vehicle body to the positioning unit is connected with the central processing unit electricity, and the positioning unit includes big dipper satellite or GPS positioning system for confirm unmanned aerial vehicle's real-time accurate position, to the fire prevention in indoor large-scale space, can change the positioning unit into indoor positioning system.
As an optional implementation manner, the unmanned aerial vehicle is further provided with a gyroscope, and as for a control chip of the gyroscope, an AK8963 three-axis electronic compass chip is preferably adopted, and the AK8963 three-axis electronic compass chip is a hall sensor with high sensitivity; optionally, an IST8304 anti-magnetic interference magnetic sensor can be further adopted, the central processing unit judges the attitude of the unmanned aerial vehicle according to the gyroscope and the positioning unit, and the output quantity of the power device is further controlled by combining the position of the unmanned aerial vehicle, so that the attitude and the displacement of the unmanned aerial vehicle are balanced.
As an optional implementation mode, the unmanned aerial vehicle is further provided with a three-axis acceleration sensor MPU6050 chip, the unmanned aerial vehicle has the advantages of being small in size and light in weight, space acceleration can be measured, and the motion property of an object can be comprehensively and accurately reflected. The three-axis acceleration sensor also works based on the basic principle of acceleration, the acceleration is a space vector, and on one hand, components on three coordinate axes of the three-axis acceleration sensor need to be measured to accurately know the motion state of an object; on the other hand, in a case where the direction of movement of the object is not known in advance, only the three-axis acceleration sensor is applied to detect the acceleration signal.
As an optional implementation manner, a high-definition long-zooming hanging cabin is further arranged on the unmanned aerial vehicle, the fire control center illuminates the environment through a searchlight of the fire control unmanned aerial vehicle at any time, the first field situation is known by the high-definition long-zooming hanging cabin, and the control right of the fire control unmanned aerial vehicle is taken over at any time.
As an optional embodiment, the online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device further comprises: the fire-fighting unmanned aerial vehicle is stored in the unmanned aerial vehicle garage, the unmanned aerial vehicle garage is an intelligent cabinet which provides electric energy, equipment and three-prevention (wind-proof, rain-proof and anti-theft) for the fire-fighting unmanned aerial vehicle, the related technology is a rectangular frame structure, and an unmanned aerial vehicle lifting device and a battery charging and replacing device are arranged in the unmanned aerial vehicle garage; the top surface of the frame is provided with a split type cabin door, a centering device, a lifting platform of a lifting device and the like from top to bottom in sequence. After the unmanned aerial vehicle sends a stop command, the cabin door is opened, the unmanned aerial vehicle stops at the lifting platform, the centering device pushes the unmanned aerial vehicle to be centered, descends, closes the cabin door, charges and exchanges batteries, and stands by in the cabin door; and after receiving the takeoff task, opening the cabin door, ascending the lifting platform and taking off.
As an optional embodiment, the fire source detection device includes: and the second optical camera, the second infrared camera and the infrared thermometer are all connected with the central computer control system.
As an optional implementation, the fire-fighting drone further comprises: the conversation equipment of propaganda directed to, the conversation equipment of propaganda directed to sets up on the unmanned aerial vehicle body, can utilize the conversation equipment of propaganda directed to on the fire control unmanned aerial vehicle and communicate with each other and command with near personnel.
In an alternative embodiment, the distance measuring device is a laser distance measuring device.
As an optional implementation mode, the camera units (the second optical camera and the second infrared camera), the infrared thermometer and the laser range finder are mechanically and fixedly connected with the cradle head, the central computer control system sends a central computer control system instruction to the cradle head, the cradle head is linked with the camera units, the infrared thermometer and the laser range finder to perform blind scanning at 360 degrees in the horizontal direction, detection of a fire source is performed, the second optical camera recognizes flame and smoke based on AI visual images, the second infrared camera detects ignition source rays based on a special red ultraviolet detector, whether the temperature measured by the infrared thermometer is larger than 100 degrees is judged, and a linear beam smoke sensing fire detection technology is obtained after mutual verification of multiple systems to determine a fire and greatly reduce false alarms.
As shown in fig. 4, the working process of the online unmanned fully-automatic fire-fighting rescue unmanned aerial vehicle device provided by the invention is as follows:
setting 1 monitoring point or 2 or more monitoring points, scanning and detecting a fire source in real time by the monitoring points and judging whether the fire source is found or not (the monitoring points carry out blind scanning under the instruction of a central computer control system to identify a fire, once the characteristics of the fire source are captured and confirmed), verifying that the fire source is an effective fire source needing to be extinguished), starting the device, sending a signal to a fire control center through a communication network, giving an alarm in real time, calibrating an angle or measuring to calculate the coordinate of the fire source, sending a task and the coordinate to a fire-fighting unmanned aerial vehicle through the communication network, calculating the optimal course route of the fire point in environment 2D data by the unmanned aerial vehicle, taking off, measuring the highest temperature of the fire source by laser and carrying out three-dimensional modeling when the unmanned aerial vehicle flies into the fire source, measuring the highest temperature of the fire source by using infrared temperature measurement, calculating a target to be hit by the unmanned aerial vehicle according to calculate the motion instruction of the unmanned aerial vehicle and put the unmanned aerial vehicle into place, breaking the window at regular intervals, emitting a fire extinguishing agent, detecting the fire potential and the highest temperature, and returning the fire-fighting station to an unmanned aerial vehicle base after fire is extinguished.
In practical application, after implementing partial fire extinguishing measures, the unmanned aerial vehicle evaluates the fire extinguishing effect in real time: and scanning and measuring a temperature gradient map and an optical map by using an infrared camera and an optical camera carried by the unmanned aerial vehicle, comparing the temperature gradient map and the optical map before fire extinguishment, if the temperature of a place where a fire extinguishing measure is applied is obviously reduced to be below an open fire, and the open fire part of the optical map is not present, effectively extinguishing the fire, and entering a next scheme and instruction and executing.
The online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device provided by the invention utilizes spectral rays, temperature or dense smoke released by combustible substances during combustion as targets, adopts an infrared thermometer to measure temperature, adopts a special red and ultraviolet detection camera or an image recognition system to monitor and sense the occurrence and existence of fire after mutually verifying a black and dense smoke multiple system. By adopting an advanced AI artificial intelligence detection technology, a central computer control system and a fire-fighting unmanned aerial vehicle, all-weather and all-round automatic monitoring of all fires in a protection area of several square kilometers is realized. In case the conflagration breaks out, the device starts immediately, signals to fire control center, carries out the warning, simultaneously through control point calibration angle or range finding, calculates the fire source coordinate promptly, sends the task and gives unmanned aerial vehicle with the coordinate. And calculating the optimal navigation route to the ignition point by the unmanned aerial vehicle. And (4) taking off, and after flying to a standby point of a fire point, performing laser, infrared and optical measurement and three-dimensional modeling on the terrain around the fire source. And measuring a fire source temperature ladder diagram by using an infrared thermometer, calculating a motion instruction of the unmanned aerial vehicle and putting in place. And launching a window breaking bomb by the unmanned aerial vehicle to break the window. The unmanned aerial vehicle launches fire extinguishing agent or fire extinguishing bomb to the target to regularly detect the intensity of a fire and temperature ladder diagram, and until the fire is extinguished, the unmanned aerial vehicle sails back to the unmanned aerial vehicle hangar and fills and trades the electricity and supplement the equipment.
The invention also provides an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle system, which comprises a monitoring center 10 and a plurality of online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle devices 20 as shown in figure 5; the central computer control system in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device 20 is connected with the monitoring center 10, the monitoring center 10 is used for controlling the fire-fighting unmanned aerial vehicle in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device 20 to extinguish a fire or complete a rescue task according to the fire source and the position of the fire source of the area to be detected by each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device 20, as shown in fig. 5, one online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device 20 can be regarded as a grid defined as an administrative unit or a fire management unit in communities, industrial areas, villages, outdoor indoor spaces and the like in square kilometers, and each grid can be provided with a plurality of monitoring points and provided with a plurality of unmanned aerial vehicles and unmanned aerial vehicle garages (or unmanned aerial vehicle automatic airports). When regional small fire appears, the unmanned aerial vehicle of this net can put out a fire. Each mesh is connected to the network 30 through a communication link and is thus monitored and managed by the monitoring center 40. If big fire appears, an unmanned aerial vehicle can not put out a fire fast, and through the dispatch of monitoring center, the unmanned aerial vehicle of peripheral net makes a concerted effort to a fire source and puts out a fire to the net interconnection, the network deployment linkage.
The utility model provides an online unmanned full-automatic fire prevention fire-fighting rescue unmanned aerial vehicle device has that detection distance is far away, the protection area is big, jet distance is far away, sensitivity is high, response speed is fast, it is intelligent, survey, it reaches the fire, the whole flow of putting out a fire is unmanned and automatic, the time of putting out a fire is short, all-round control and the characteristics of mistake newspaper malfunction rate are minimum, big detection area, closed-loop control, the network deployment linkage, the group is put out a fire, it is big to spray the flow, whole journey is digital, be convenient for follow-up ability such as big data expert system of artificial intelligence of joining, no dead angle, the non-blind area, can greatly eliminate the harm that the conflagration brought for people, the property and the life safety of protection people, and sequelae such as environmental damage etc.. Because the unmanned aerial vehicle is not blocked by the terrain, the unmanned aerial vehicle has special effect on fire extinguishment of the super high-rise building and fire extinguishment of mountain fire. Along with the gradual intellectualization of the system and the formation cluster of a plurality of unmanned aerial vehicles, a large monitoring area is drawn to be managed, each grid is provided with an on-duty system, and various fires of big and small sizes are monitored and eliminated, so that dozens of thousands of firefighters with life risks are replaced.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (6)
1. The utility model provides an online unmanned full-automatic fire prevention that disappears rescue unmanned aerial vehicle device, its characterized in that includes:
the fire source detection device and the fire point positioning device are arranged at monitoring points corresponding to a region to be detected, the monitoring points are arranged in communities, industrial areas, villages, outdoor spaces and indoor spaces of several square kilometers, the fire source detection device is used for detecting the fire source of the region to be detected in real time on line, and the fire point positioning device is used for determining the position of the fire source; the central computer control system is used for autonomously controlling the fire-fighting unmanned aerial vehicle to fly to a fire source according to the position of the fire source detected by the fire point positioning device and fully autonomously controlling fire-fighting facilities or rescue facilities carried by the fire-fighting unmanned aerial vehicle to extinguish the fire source or complete a rescue task;
when the area to be detected corresponds to a monitoring point, the ignition point positioning device comprises: the fire source monitoring system comprises a monitoring point positioning device, a distance meter and an azimuth angle measuring device which are all connected with the central computer control system, wherein the monitoring point positioning device is used for measuring the position of the monitoring point, the distance meter is used for measuring the distance between the monitoring point and the fire source, the azimuth angle measuring device is used for measuring the azimuth angle between the monitoring point and the fire source, and the central computer control system is used for determining the position of the fire source according to the position of the monitoring point, the distance between the monitoring point and the fire source and the azimuth angle between the monitoring point and the fire source;
when the area to be detected corresponds to a plurality of monitoring points, the ignition point positioning device comprises: a monitoring point positioning device and an azimuth angle measuring device which are both connected with the central computer control system; the central computer control system is used for determining the position of the fire source according to the position of each monitoring point and the azimuth angle from each monitoring point to the fire source;
fire control unmanned aerial vehicle includes: the fire extinguishing system comprises an unmanned aerial vehicle body, and a laser radar, a first optical camera, a first infrared camera and a fire extinguishing device which are arranged on the unmanned aerial vehicle body, wherein the unmanned aerial vehicle body, the laser radar, the first optical camera and the first infrared camera are all connected with the central processing unit; the laser radar is used for scanning the terrain of a fire scene, the first optical camera is used for scanning the dense smoke and the environment of the fire scene, the first infrared camera is used for scanning the temperature of the fire scene, the central computer control system is used for obtaining a three-dimensional terrain modeling map of the fire scene according to the terrain of the fire scene and correcting the three-dimensional terrain modeling map of the fire scene according to the environment of the fire scene, the central computer control system is used for obtaining a temperature gradient map of the fire scene according to the temperature of the fire scene, the central computer control system is used for obtaining a dense smoke model map of the fire scene according to the dense smoke of the fire scene, and the central computer control system is further used for controlling the fire-fighting unmanned aerial vehicle to put out a fire to a detected fire source according to the three-dimensional terrain modeling map of the fire scene, the temperature gradient map of the fire scene and the dense smoke model map of the fire scene; the unmanned aerial vehicle calculates the coordinates of the optimal fire extinguishing operation point of the unmanned aerial vehicle and the azimuth angle of the fire source to the unmanned aerial vehicle in the three-dimensional terrain modeling map, the fire scene temperature ladder diagram and the dense smoke model diagram;
flying according to a set program and a route under the condition that the distance between the barrier and a perpendicular line of the basic route is more than 10 times of the diameter value of the airplane; when the perpendicular line of the obstacle to the basic route is more than 3 times of the diameter value of the airplane but less than 10 times of the diameter value of the airplane, the obstacle flies through the airplane at a reduced speed by half; when the perpendicular line of the obstacle from the basic route is more than 1.5 times of the aircraft diameter value but less than 3 times, 10% of normal speed passes through; for the obstacle on the basic route, flying in the opposite direction of the obstacle by the diameter value of the airplane which is 5 times of the obstacle, and continuing to fly back to the basic route after flying over the obstacle; if the left side, the right side or the front of the airplane is provided with obstacles, the airplane flies upwards preferentially and flies through at a reduced half speed; under special conditions, hovering or returning from the original way, a client can set an area fire which is larger than 20 square meters and has no shielding object facing the sky, a fire scene is identified as a polygon, and a snake-shaped operation fire extinguishing route is drawn by the polygon to extinguish fire; the basic route is a straight line path from a point of an unmanned aerial vehicle hangar to a point of 3-dimensional safety height to a standby point of a fire point, and the special condition is a condition set by a customer.
2. The online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device of claim 1, further comprising: the unmanned aerial vehicle hangar, fire control unmanned aerial vehicle leaves the unmanned aerial vehicle hangar.
3. The online unmanned automatic fire prevention and rescue unmanned aerial vehicle device as claimed in claim 1, wherein the fire source detection device comprises: the second optical camera, the second infrared camera and the infrared thermometer are all connected with the central computer control system.
4. The online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device of claim 1, wherein the fire fighting unmanned aerial vehicle further comprises: the conversation equipment of shouting, the conversation equipment of shouting sets up on the unmanned aerial vehicle body.
5. The online unmanned automatic fire prevention and rescue unmanned aerial vehicle device as claimed in claim 1, wherein the distance meter is a laser distance meter.
6. The utility model provides an online unmanned full-automatic fire prevention rescue unmanned aerial vehicle system that puts out a fire, its characterized in that includes: a monitoring center and a plurality of online unmanned fully automatic fire-fighting rescue unmanned aerial vehicle devices according to any one of claims 1-5; the central computer control system in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device is connected with the monitoring center, and the monitoring center is used for controlling the fire-fighting unmanned aerial vehicle in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device to extinguish fire or complete rescue tasks according to the fire source of the area to be detected and the position of the fire source detected by each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device.
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| CN110320522A (en) * | 2018-03-30 | 2019-10-11 | 浙江宇视科技有限公司 | Fire source monitoring method, device and system |
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| CN111982291B (en) * | 2019-05-23 | 2022-11-04 | 杭州海康机器人技术有限公司 | Fire point positioning method, device and system based on unmanned aerial vehicle |
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