CN106210627A - A kind of unmanned plane fire dispatch system - Google Patents
A kind of unmanned plane fire dispatch system Download PDFInfo
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- CN106210627A CN106210627A CN201610524489.1A CN201610524489A CN106210627A CN 106210627 A CN106210627 A CN 106210627A CN 201610524489 A CN201610524489 A CN 201610524489A CN 106210627 A CN106210627 A CN 106210627A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/005—Fire alarms; Alarms responsive to explosion for forest fires, e.g. detecting fires spread over a large or outdoors area
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Abstract
The invention provides a kind of unmanned plane fire dispatch system, including: unmanned plane Reconnaissance system, high in the clouds processor, information centre and handheld terminal；Unmanned plane Reconnaissance system gathers forest null data, and send data to high in the clouds processor, high in the clouds processor carries out lump classification, analysis to the above-mentioned data received, and send data to handheld terminal and show, handheld terminal gathers the position of handheld terminal holder, vital sign information, and transmit information to high in the clouds processor, high in the clouds processor lump Drones for surveillance collects data and handheld terminal gathers information, and sending data to information centre, information centre is according to data dispatch Drones for surveillance.Unmanned plane can be gathered the information of information and handheld terminal collection and automatically collect bulk analysis, the development trend of the intellectual analysis intensity of a fire by high in the clouds processor by this unmanned plane fire dispatch system, and can be assisted scene of fire personnel by scheduling unmanned plane.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, be specifically related to a kind of unmanned plane fire dispatch system.
Background technology
Along with the fast development of unmanned air vehicle technique, unmanned plane has given play to increasing advantage in different field, especially
It is in forest fire prevention and control field, and unmanned plane can replace fire fighter and carry out the condition of a fire scouting investigation of early stage, current unmanned plane
Fire dispatch system uses many rotor structures, structure complexity mostly, and cost is high, and manipulation difficulty is big.Simultaneously because area of woods
Vast, dense vegetation, thus the nascent the most difficult discovery of the condition of a fire, often during condition of a fire diffusion, fire-fighting system just has a response, and this
Time fire extinguishing difficulty big, for fireman, danger coefficient is the highest.And use unmanned plane and fireman's handheld terminal to cooperation
Investigation dispatching patcher, can find ahead of time at fire nascent, report in time.After fireman sets out, identify danger for fireman
Region, the intensity of a fire is moved towards, and provides the information such as firefighter locator for control centre.Whole fire-fighting wisdom systematic unity is got up.
Chinese patent CN204856794U discloses a kind of fire-fighting UAV system fire information processing device based on 4G, should
Device is by data fusion module and integrates other parts and module, it is provided that application layer data access protocal, and data access is convenient,
Relevant receiver can be with real-time reception telemetry；At receiving terminal without extra processing equipment, and device profile is simple, it is easy to
Unmanned plane carry, in the case of performing same task, greatly alleviates load weight, but this device can only pass through unmanned plane
Collect fire information, it is impossible to intellectual analysis and regulation and control unmanned plane go to tackle scene of fire.Chinese patent application
CN201510560753.2 discloses a kind of firefighting monitoring system based on unmanned plane, and this firefighting monitoring system is by unmanned plane
Upper installation image collecting device and positioning navigation device, the number then described image collecting device and positioning navigation device obtained
According to being sent to the controller of ground control centre by the way of radio communication, described controller is according to the data analysis prison received
Whether control has fire generation, the severity of fire, the road conditions of relevant routes and the place of described monitoring area peripheral edge in region
Attribute, the result of controller analysis provides fire information more comprehensively to improve the work of fireman not only can to fire-fighting center
Efficiency, moreover it is possible to carry out prior notice casualty rate to be preferably minimized according to the place attribute of monitoring area peripheral edge, make whole system
Function more perfect.But this system cannot the development trend of the intellectual analysis intensity of a fire, and the life of fire fighter cannot be monitored
Life sign and positional information, also cannot dispatch unmanned plane and assist scene of fire personnel.
Summary of the invention
For solving the deficiencies in the prior art, the invention provides the Intelligent unattended machine fire dispatch that a kind of information integrated level is high
System, unmanned plane can be gathered the information of information and handheld terminal collection and automatically collect total score by high in the clouds processor by native system
Analysis, the development trend of the intellectual analysis intensity of a fire, and by scheduling unmanned plane, scene of fire personnel can be assisted.
For realizing technique scheme, the invention provides a kind of unmanned plane fire dispatch system, including: unmanned plane is investigated
System, high in the clouds processor, information centre and handheld terminal；Described unmanned plane Reconnaissance system includes the investigation nothing of multi rack alternately flight
Man-machine, described Drones for surveillance gathers the visual image in forest overhead, temperature by being arranged on the data acquisition unit of front fuselage
Degree, humidity, wind direction and heating power distributed data, and above-mentioned data are processed by wireless network transmissions to high in the clouds processor, high in the clouds
Device carries out lump classification, analysis to the above-mentioned data received, and the data after processing by wireless network transmissions to the most hand-held
Terminal shows, is provided with data sampling sensor in handheld terminal, and handheld terminal is by gathering sensor acquisition hand-held end
The end position of holder, vital sign information, and by above-mentioned information transmission to high in the clouds processor, high in the clouds processor lump investigation nothing
Man-machine collection data and handheld terminal gather information, and send the data of lump to information centre, and information centre is according to high in the clouds
Data dispatch Drones for surveillance's state of flight that processor sends.
In technique scheme, visual image that handheld terminal holder can gather according to unmanned plane, temperature, wet
Degree, wind direction and heating power distributed data judge the information such as probability that fire occurs, the deathtrap of fire generation, intensity of a fire trend,
Thus provide reference for the movable of handheld terminal holder, it is to avoid dangerous；Handheld terminal is by gathering sensor acquisition hands simultaneously
Hold the position of holder terminal, vital sign information, and above-mentioned information is transmitted to high in the clouds processor, then processed by high in the clouds
Device sends to information centre, and hand-held holder terminal can be succoured by information centre according to above-mentioned message scheduling unmanned plane.
Preferably, described unmanned plane Reconnaissance system includes the Drones for surveillance of two framves alternately flight, described Drones for surveillance
On thermal imaging camera and ordinary optical camera, the airline operation that Drones for surveillance determines according to surveying and mapping technology personnel are installed, detect
Looking into unmanned plane and shoot image to cloud server real-time Transmission in flight course, cloud server generates district according to shooting image
Territory heating power scattergram.
Preferably, described Drones for surveillance includes MANUAL CONTROL mode and automatic offline mode, is switched to manual flight mould
Formula, by the flight path of information centre operator manual control Drones for surveillance, track, height and the angle adjusting camera
Degree；It is switched to automatic offline mode, the airline operation that Drones for surveillance determines along surveying and mapping technology personnel.
Preferably, described handheld terminal includes being provided with for gathering handheld terminal holder's positional information, vital sign
The Intelligent bracelet of information, and collection location, communication, information be shown in one terminal wearable device.
Preferably, visual image, temperature, humidity, wind direction and the heat that described high in the clouds processor gathers according to Drones for surveillance
Power distributed data formation zone thermodynamic chart picture, graphical content includes that from inside to outside temperature instruction put by scene of a fire scope, each fire；Pass through
Different colors distinguishes fire scene temperature, and fire scene temperature is followed successively by green color-blue-yellow-orange-red colors from low temperature to high temperature.
Preferably, described high in the clouds processor calmodulin binding domain CaM thermodynamic chart picture and area wind speed and direction, automatically assess developing fire
Trend, determines deathtrap, determines developing fire region；The development trend of the intensity of a fire is shown in the way of cover layer, and border uses
Black dotted lines, black dot-hatched in region, color use fire scene temperature be followed successively by from low temperature to high temperature green color-blue-yellow-
Orange-red temperature mark color, cover layer is translucent.
Preferably, the appraisal procedure of described developing fire trend is as follows:
R=0.13F
In formula: the flatter ground flame spread rates of R------, km/h
For meadow, F is calculated as follows:
In formula: F------fire danger index
The degree for the treatment of of B------combustible, %
Ta----temperature, DEG C
Ha---relative humidity, %
The mean wind speed that U------records in 10m eminence, m/min；
For leaves forest land, F is calculated as follows
F=2.0exp [-0.405+0.987lnD'-0.0456Ha+0.348Ta+0.0234U]
In formula, D'------arid code
Other meaning is ibid；
Flame spread rates on sloping ground (ground line gradient is θ) is reduced to:
Rθ=R exp (0.069 θ).
Preferably, the developing fire trend after described information centre assesses according to high in the clouds processor and handheld terminal holder
Position, vital sign information, guide the trend of handheld terminal holder, and dispatch Drones for surveillance and assist.
The having the beneficial effects that of a kind of unmanned plane fire dispatch system that the present invention provides: 1) this unmanned plane fire dispatch system
System can judge, according to visual image, temperature, humidity, wind direction and the heating power distributed data that unmanned plane gathers, the possibility that fire occurs
Property, fire occur deathtrap, the information such as intensity of a fire trend, thus provide reference for the movable of handheld terminal holder, it is to avoid
Dangerous；2) unmanned plane can be gathered the information of information and handheld terminal collection by high in the clouds by this unmanned plane fire dispatch system
Reason device collects bulk analysis automatically, the development trend of the intellectual analysis intensity of a fire, and can be by scheduling unmanned plane to scene of fire personnel
Assist.
Accompanying drawing explanation
Fig. 1 is the schedule information schematic diagram of the present invention.
In figure: 100, forest；200, unmanned plane fire dispatch system；300, high in the clouds processor；400, information centre；500、
Handheld terminal.
Detailed description of the invention
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
Whole description, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Ability
The every other embodiment that territory ordinary person is obtained under not making creative work premise, belongs to the protection of the present invention
Scope.
Embodiment 1: a kind of unmanned plane fire dispatch system.
Shown in reference Fig. 1, a kind of unmanned plane fire dispatch system, including: unmanned plane Reconnaissance system, high in the clouds processor, letter
Breath center and handheld terminal；Described unmanned plane Reconnaissance system includes the Drones for surveillance of multi rack alternately flight, and described investigation is unmanned
Machine gathers the visual image in forest overhead, temperature, humidity, wind direction and heating power by being arranged on the data acquisition unit of front fuselage
Distributed data, and above-mentioned data are passed through wireless network transmissions to high in the clouds processor, the high in the clouds processor above-mentioned number to receiving
According to carrying out lump classification, analysis, and will process after data shown to handheld terminal by wireless network transmissions, hand-held end
Being provided with data sampling sensor in end, handheld terminal is by gathering the position of sensor acquisition handheld terminal holder, life
Sign information, and above-mentioned information is transmitted to high in the clouds processor, high in the clouds processor lump Drones for surveillance collects data and hand-held
Terminal gathers information, and the data of lump is sent to information centre, and the data that information centre sends according to high in the clouds processor are adjusted
Degree Drones for surveillance's state of flight.
In technique scheme, visual image that handheld terminal holder can gather according to unmanned plane, temperature, wet
Degree, wind direction and heating power distributed data judge the information such as probability that fire occurs, the deathtrap of fire generation, intensity of a fire trend,
Thus provide reference for the movable of handheld terminal holder, it is to avoid dangerous；Handheld terminal is by gathering sensor acquisition hands simultaneously
Hold the position of holder terminal, vital sign information, and above-mentioned information is transmitted to high in the clouds processor, then processed by high in the clouds
Device sends to information centre, and hand-held holder terminal can be succoured by information centre according to above-mentioned message scheduling unmanned plane.
In technique scheme, unmanned plane Reconnaissance system is mutually replaced flight by two frame unmanned planes, and every frame unmanned plane can
Flying three hours, the alternately flight of two airplanes can realize uninterruptedly monitoring in 24 hours to region.The varifocal heat of UAV flight
Imaging camera and optically-variable focus video camera, can shoot the image of beat, it is also possible to breaks real-time operation camera at computer,
Observe specific region.Shooting image passes high in the clouds processor, formation zone temperature distribution image regional temperature image, meteorological letter back
Breath, condition of a fire early warning information, firefighter locator, wait and can show the heart in the information, also can real time propelling movement on fireman's handheld terminal.
In technique scheme, Drones for surveillance includes MANUAL CONTROL mode and automatic offline mode, is switched to manually
Offline mode, by the flight path of information centre operator manual control Drones for surveillance, track, height and adjustment camera
Angle；It is switched to automatic offline mode, the airline operation that Drones for surveillance determines along surveying and mapping technology personnel.
In technique scheme, unmanned plane aerial image collection is carried out as follows:
1, the region detected at earth station's ground chart display unmanned plane by operator before taking off, and the flight of unmanned plane
Highly；
2, system-computed unmanned plane during flying track, and determine shooting style, method particularly includes:
A. according to the regional altitude information stored in the flying height set and map, determine that aircraft photographic head can be clapped
The visual field area taken the photograph.Taking region, the centre of area, visual field outside 4/5 is effective area, and this area shape is rectangle, surplus ratio
By the Aspect Ratio of employing video camera；
The minimum enclosed rectangle in the detection region that B. system-computed operator delimit.Afterwards by the length of visual field effective area
In square filling such as this minimum enclosed rectangle, record all rectangular center point coordinates of visual field effective area of inserting afterwards, and
Using this center point coordinate as the destination of unmanned plane；
C. according to the destination of record, calculating unmanned plane during flying path, path ensures that unmanned plane occurs without the danger such as zig zag
Flight behavior；
D. can be illustrated in after destination has calculated on earth station's screen, operator aircraft can be selected to rolling takeoff or
Manual modification flight path；
3, unmanned plane is according to the airline operation set, and shoots multiple thermodynamic chart pictures, input system, system after arriving destination
This area's thermodynamic chart information is updated after process.
In technique scheme, unmanned plane airborne period is limited, thus will exhaust at previous sortie unmanned plane fuel
When needing to make a return voyage, it is necessary to have another unmanned plane to come to take over job.So that control system to control two frame unmanned planes seamless
Docking.System determines region of relieving a sentry, a rear frame unmanned plane directly to fly to region of relieving a sentry to carry out and shoots operation, and previous frame unmanned plane
Directly make a return voyage after having shot previous region, region of relieving a sentry.System automatically switch receive captured by the aircraft relieved a sentry new
Photo is used for region heating power image rendering.
In technique scheme, handheld terminal is carried by fireman.Handheld terminal can reality current region thermodynamic chart
Picture, the weather information such as wind direction, the positional information of each fireman, vital sign etc..It is in condition of a fire leeward band fireman simultaneously
Or report to the police to fireman when being in high-risk area.Also command information can be pushed to fireman during control centre's change order.Hands
Hold terminal and can receive and show that high in the clouds processor pushes the various information of coming, also by sensor acquisition to information upload to cloud
End.Alignment system, siren, life monitoring system are installed on handheld terminal.Alignment system obtains firefighter locator, and life is supervised
Examining system is for monitoring the vital sign of fireman；The siren when fireman is in hazardous area or command centre's change order
Can report to the police and inform fireman.Running into emergency, the most operable handheld terminal of fireman is supported to command centre's calling.
In technique scheme, information centre is used for dispatch control, and information centre shows up-to-date condition of a fire information, meteorological
Information, firefighter locator, vital sign information, fire-fighting vehicle configuring condition etc..
In technique scheme, cloud server pushes, for processing unmanned plane and terminal, the information of coming, including generating
The letters such as thermodynamic chart picture, estimates deathtrap and condition of a fire development trend etc. in conjunction with weather information, push order to fireman, early warning
Breath, stores the functions such as data.Visual image that described high in the clouds processor gathers according to Drones for surveillance, temperature, humidity, wind direction and
Heating power distributed data formation zone thermodynamic chart picture, graphical content includes that from inside to outside temperature instruction put by scene of a fire scope, each fire；Logical
Crossing different colors and distinguish fire scene temperature, fire scene temperature is followed successively by green color-blue-yellow-orange-red colors from low temperature to high temperature.
In technique scheme, high in the clouds processor calmodulin binding domain CaM thermodynamic chart picture and area wind speed and direction, automatically assess fire
Gesture development trend, determines deathtrap, determines developing fire region.The development trend of the intensity of a fire is shown in the way of cover layer, limit
Boundary uses black dotted lines, black dot-hatched in region, and color uses fire scene temperature to be followed successively by green-indigo plant from low temperature to high temperature
The temperature mark color of color-yellow-orange-red colors, cover layer is translucent.
In technique scheme, high in the clouds processor calmodulin binding domain CaM thermodynamic chart picture and area wind speed and direction are calculated as follows
Formula carries out the assessment of developing fire trend:
R=0.13F
In formula: the flatter ground flame spread rates of R------, km/h；
For meadow, F is calculated as follows:
In formula: F------fire danger index
The degree for the treatment of of B------combustible, %
Ta----temperature, DEG C
Ha---relative humidity, %
The mean wind speed that U------records in 10m eminence, m/min；
For leaves forest land, F is calculated as follows
F=2.0exp [-0.405+0.987lnD'-0.0456Ha+0.348Ta+0.0234U]
In formula, D'------arid code
Other meaning is ibid；
Flame spread rates on sloping ground (ground line gradient is θ) is reduced to:
Rθ=R exp (0.069 θ).
In technique scheme, information centre is according to the developing fire trend after the assessment of high in the clouds processor and handheld terminal
The position of holder, vital sign information, guide the trend of handheld terminal holder, and dispatch Drones for surveillance and assist.
The above is presently preferred embodiments of the present invention, but the present invention should not be limited to this embodiment and accompanying drawing institute is public
The content opened, thus every without departing from the equivalence completed under spirit disclosed in this invention or amendment, both fall within present invention protection
Scope.
Claims (8)
1. a unmanned plane fire dispatch system, it is characterised in that including: in unmanned plane Reconnaissance system, high in the clouds processor, information
The heart and handheld terminal；Described unmanned plane Reconnaissance system includes the Drones for surveillance of multi rack alternately flight, and described Drones for surveillance is led to
Cross be arranged on the data acquisition unit of front fuselage gather forest or the visual image in overhead, meadow, temperature, humidity, wind direction and
Heating power distributed data, and by above-mentioned data by wireless network transmissions to high in the clouds processor, high in the clouds processor is upper to receive
State data and carry out lump classification, analysis, and the data after processing are shown to handheld terminal by wireless network transmissions, hands
Data sampling sensor is installed in holding terminal, handheld terminal by gather sensor acquisition handheld terminal holder position,
Vital sign information, and by above-mentioned information transmit to high in the clouds processor, high in the clouds processor lump Drones for surveillance collect data and
Handheld terminal gathers information, and sends the data of lump to information centre, the number that information centre sends according to high in the clouds processor
According to scheduling Drones for surveillance's state of flight.
2. unmanned plane fire dispatch system as claimed in claim 1, it is characterised in that: described unmanned plane Reconnaissance system includes two
The Drones for surveillance of frame alternately flight, described Drones for surveillance is provided with thermal imaging camera and ordinary optical camera, investigates nothing
The man-machine airline operation determined according to surveying and mapping technology personnel, Drones for surveillance in flight course to cloud server real-time Transmission
Shooting image, cloud server is according to shooting image generating areas heating power scattergram.
3. unmanned plane fire dispatch system as claimed in claim 2, it is characterised in that: described Drones for surveillance includes manually controlling
Molding formula and automatic offline mode, be switched to manual offline mode, unmanned by information centre's operator's manual control investigation
The flight path of machine, track, height and the angle of adjustment camera；Being switched to automatic offline mode, Drones for surveillance is along mapping skill
The airline operation that art personnel determine.
4. unmanned plane fire dispatch system as claimed in claim 1, it is characterised in that: described handheld terminal includes being provided with use
In gathering handheld terminal holder's positional information, the Intelligent bracelet of vital sign information, and collection location, communication, information shows
Terminal wearable device in one.
5. unmanned plane fire dispatch system as claimed in claim 1, it is characterised in that: described high in the clouds processor is according to investigation nothing
The visual image of man-machine collection, temperature, humidity, wind direction and heating power distributed data formation zone thermodynamic chart picture, graphical content includes
From inside to outside temperature instruction put by scene of a fire scope, each fire；Distinguish fire scene temperature by different color, fire scene temperature from low temperature to
High temperature is followed successively by green color-blue-yellow-orange-red colors.
6. unmanned plane fire dispatch system as claimed in claim 5, it is characterised in that: described high in the clouds processor calmodulin binding domain CaM heat
Trying hard to picture and area wind speed and direction, automatically assessment developing fire trend, determines deathtrap, determines developing fire region；The intensity of a fire
Development trend show in the way of cover layer, border use black dotted lines, black dot-hatched in region, color use the scene of a fire
Temperature is followed successively by the temperature mark color of green color-blue-yellow-orange-red colors from low temperature to high temperature, and cover layer is translucent
Shape.
7. unmanned plane fire dispatch system as claimed in claim 6, it is characterised in that: the assessment side of described developing fire trend
Method is as follows:
R=0.13F
In formula: the flatter ground flame spread rates of R------, km/h；
For meadow, F is calculated as follows:
In formula: F------fire danger index
The degree for the treatment of of B------combustible, %
Ta----temperature, DEG C
Ha---relative humidity, %
The mean wind speed that U------records in 10m eminence, m/min；
For leaves forest land, F is calculated as follows:
F=2.0exp [-0.405+0.987lnD'-0.0456Ha+0.348Ta+0.0234U]
In formula, D'------arid code
Other meaning is ibid；
Flame spread rates on sloping ground (ground line gradient is θ) is reduced to:
Rθ=R exp (0.069 θ).
8. unmanned plane fire dispatch system as claimed in claim 7, it is characterised in that: described information centre processes according to high in the clouds
Developing fire trend after device assessment and the position of handheld terminal holder, vital sign information, guide handheld terminal holder
Trend, and dispatch Drones for surveillance and assist.
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