CN110379111A - A kind of unmanned plane inspection system for forest fire protection - Google Patents
A kind of unmanned plane inspection system for forest fire protection Download PDFInfo
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- CN110379111A CN110379111A CN201910523054.9A CN201910523054A CN110379111A CN 110379111 A CN110379111 A CN 110379111A CN 201910523054 A CN201910523054 A CN 201910523054A CN 110379111 A CN110379111 A CN 110379111A
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- 238000007689 inspection Methods 0.000 title claims abstract description 47
- 238000004891 communication Methods 0.000 claims abstract description 29
- 239000000779 smoke Substances 0.000 claims abstract description 21
- 230000001629 suppression Effects 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 6
- 230000002265 prevention Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000001931 thermography Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 description 3
- 235000019504 cigarettes Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/06—Electric actuation of the alarm, e.g. using a thermally-operated switch
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Analytical Chemistry (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Fire Alarms (AREA)
- Fire-Detection Mechanisms (AREA)
Abstract
The invention discloses the unmanned plane inspection systems for forest fire protection, the ground control station including unmanned plane and with unmanned plane communication connection；Unmanned plane during flying platform is electrically connected with the controller, smoke sensor device is used to detect the smog information in forest overhead, high-definition camera is used for the image information of shooting, collecting forest, thermal infrared imager is for acquiring simultaneously spanning forest temperature information, controller receives and processes communication module transmission smog information, image information and forest temperature information and generates inspection information, and fire suppression module is for opening fire plant and putting out a fire to the fire point in forest.Ground control station is used to control the flight and data acquisition of unmanned plane.The high-definition camera, smoke sensor device, the thermal infrared imager that are arranged on unmanned plane acquire the situation in forest, acquire image information compared to satellite system, and the cost needed is low, and unmanned plane directly carries out fire extinguishing processing when ground control station judgement has fire dangerous situation.
Description
Technical field
The invention belongs to forest fire protection technical field, patrolling more particularly, to a kind of unmanned plane for forest fire protection is
System.
Background technique
Forest fire is one of important disaster of global forestry, is likely to occur throughout the year, not only causes forest
The heavy losses of resource, but also serious environmental pollution can be brought.Forest fire have sudden, randomness, loss big and
Cause the features such as reason is more, how to find fire behavior in time and quickly the control intensity of a fire is particularly significant.
Currently, still carrying out forest fire protection by the way of artificial inspection, the monitoring in many forest department, China, use
The working efficiency of this mode is low, and monitoring effect is bad, begins setting up fire-patrol system, fire-patrol system is in fire
It is played an important role in prevention and control, it effectively can assist Daily Round Check to work, and especially can't see in human eye
Place, and warning information can be mass-sended to report related personnel, such as user and far away from the fire fighter outside several kilometers.But
That there are this many drawbacks for existing fire-patrol system, after fire occurs, only etc. the condition of a disasters seriously to a certain extent, fire
After calamity range expands, fire-patrol system could be triggered, limitation and intelligence of the fire-patrol system in function, performance
It is poor.
Therefore, how to provide the inspection system that one kind is highly-safe, intelligence is high is those skilled in the art's urgent need to resolve
The problem of.
Summary of the invention
That the object of the present invention is to provide a kind of structures is simple, easy to operate, inspection is accurate, highly-safe anti-for forest
The unmanned plane inspection system of fire.
Technical scheme is as follows:
A kind of unmanned plane inspection system for forest fire protection is controlled including unmanned plane and with the ground of unmanned plane communication connection
System station；
The unmanned plane is equipped with unmanned plane during flying platform, controller, the smoke sensor device being electrically connected with the controller, high definition
Camera, thermal infrared imager, communication module, alarm module and fire suppression module, the unmanned plane during flying platform are electrically connected with controller
It connects, the smoke sensor device is used to detect the smog information in forest overhead, and the high-definition camera is for shooting, collecting forest
Image information, the thermal infrared imager receive and process described logical for acquiring simultaneously spanning forest temperature information, the controller
Believe that smog information described in module transfer, image information and forest temperature information generate inspection information, the communication module transmits institute
Inspection information is stated to ground control station, the alarm module is used to exceed in the inspection information that controller processing generates default
Alarm is triggered after range, the fire suppression module is for opening fire plant and putting out a fire to the fire point in forest.
The ground control station is used to control the flight and data acquisition of unmanned plane.
In the above-mentioned technical solutions, the ground control station includes unmanned plane interface and cradle head control interface, it is described nobody
Machine interface is connect with the state of flight for controlling unmanned plane, the cradle head control interface and institute with unmanned plane during flying Platform communication
Smoke sensor device, high-definition camera, thermal infrared imager, alarm module and fire suppression module communication connection are stated for receiving unmanned plane
The forest fire field data of detection.
In the above-mentioned technical solutions, the alarm module includes combined aural and visual alarm and dialer for control station to the ground
Send alarm signal.
In the above-mentioned technical solutions, range unit is installed, the range unit is electrically connected with controller on the unmanned plane
It connects.
In the above-mentioned technical solutions, the range unit is mounted on unmanned plane during flying platform.
In the above-mentioned technical solutions, the range unit is infrared range-measurement system, in laser range finder, ultrasonic range finder
It is one or more of.
In the above-mentioned technical solutions, the unmanned plane is equipped with avoidance radar.
In the above-mentioned technical solutions, the fire suppression module includes Fire extinguisher and fire prevention ball emitter, the fire extinguishing control
Device processed is electrically connected with the fire prevention bullet for controlling fire prevention ball emitter transmitting forest extinguishing with fire prevention ball emitter.
In the above-mentioned technical solutions, the communication module uses 3G module or 4G module.
Another invention of the invention is to provide a kind of visiting method of unmanned plane inspection system, comprising the following steps:
(1) ground control station control unmanned plane forest overhead cruise, while open smoke sensor device, high-definition camera,
Thermal infrared imager is patrolled according to the generation that the smoke sensor device, high-definition camera, thermal infrared imager generate by controller and is believed
Breath, and the inspection information is sent to by ground control station by communication module；
(2) the inspection information that the controller generates is according to pre-set smog information, image information and forest temperature
Whether the threshold decision of information occurs forest fire, and high-definition camera shooting forest image is opened if being judged as "Yes", will be schemed
As information is sent to ground control station, whether ground control station artificial judgment occurs forest fire, if being judged as "No", nobody
Machine continues to normal cruise；
(3) after forest fire occurs for ground control station judgement, control information is sent to unmanned plane, adjusts heading to gloomy
In the high-temperature area of woods temperature information, and put out a fire by alarm module and fire suppression module starting to forest high-temperature area.
The advantages and positive effects of the present invention are:
1. the high-definition camera being arranged on unmanned plane, smoke sensor device, thermal infrared imager acquire the situation in forest, compare
Image information is acquired in satellite system, the cost needed is low, and unmanned plane is straight when ground control station judgement has fire dangerous situation
Tap into capable fire extinguishing processing.
2. unmanned plane and ground control station communication connection are adjusted unmanned plane inspection route by the control of ground control station,
So that the range of inspection is more accurate, artificial monitoring cost is reduced, it is highly-safe.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of unmanned plane inspection system of the invention.
Specific embodiment
Below in conjunction with specific embodiment, invention is further described in detail.It should be appreciated that described herein specific
Embodiment is used only for explaining the present invention, is not intended to limit the present invention, is never limited in protection scope of the present invention.
Embodiment 1
As shown in Figure 1, the unmanned plane inspection system for forest fire protection of the invention, including unmanned plane and logical with unmanned plane
Interrogate the ground control station of connection.
Above-mentioned unmanned plane is equipped with unmanned plane during flying platform, controller, the smoke sensor device being electrically connected with the controller, high definition
Camera, thermal infrared imager, communication module (using 4G module), alarm module and fire suppression module, unmanned plane during flying platform and control
Device electrical connection processed, smoke sensor device are used to detect the smog information in forest overhead, and high-definition camera is for shooting, collecting forest
Image information, thermal infrared imager receive and process communication module transmission cigarette for acquiring simultaneously spanning forest temperature information, controller
Mist information, image information and forest temperature information generate inspection information, communication module transmission inspection information to ground control station, report
Alert module is used to trigger alarm after the inspection information that controller processing generates is beyond preset range, and fire suppression module is for opening
Fire plant and put out a fire to the fire point in forest.
Above-mentioned ground control station is used to control the flight and data acquisition of unmanned plane.
It further says, ground control station includes unmanned plane interface and cradle head control interface, unmanned plane interface and unmanned plane
Flying platform communication connection is with the state of flight for controlling unmanned plane, cradle head control interface and smoke sensor device, high-definition camera
Head, thermal infrared imager, alarm module and fire suppression module communication connection are with the forest fire scene number for receiving unmanned plane detection
According to.
It further says, alarm module includes combined aural and visual alarm and dialer to send alarm signal for control station to the ground
Number.
It further says, unmanned plane is equipped with avoidance radar.
It further says, fire suppression module includes Fire extinguisher and fire prevention ball emitter, and Fire extinguisher and fire prevention bullet are sent out
Emitter electrical connection is with the fire prevention bullet for controlling fire prevention ball emitter transmitting forest extinguishing.
Embodiment 2
On the basis of embodiment 1, the inspection side of the invention based on a kind of unmanned plane inspection system prevented for forest
Method, comprising the following steps:
(1) ground control station control unmanned plane forest overhead cruise, while open smoke sensor device, high-definition camera,
Thermal infrared imager, the generation inspection information generated by controller according to smoke sensor device, high-definition camera, thermal infrared imager, and
Inspection information is sent to ground control station by communication module；
(2) the inspection information that controller generates is according to pre-set smog information, image information and forest temperature information
Threshold decision whether forest fire occurs, opened if being judged as "Yes" high-definition camera shooting forest image, image is believed
Breath be sent to ground control station, whether ground control station artificial judgment occurs forest fire, if being judged as "No", unmanned plane after
It is continuous to normal cruise；
(3) after forest fire occurs for ground control station judgement, control information is sent to unmanned plane, adjusts heading to gloomy
In the high-temperature area of woods temperature information, and put out a fire by alarm module and fire suppression module starting to forest high-temperature area.
Embodiment 3
On the basis of embodiment 1, the unmanned plane inspection system for forest fire protection of the invention, including unmanned plane and with
The ground control station of unmanned plane communication connection.
Above-mentioned unmanned plane is equipped with unmanned plane during flying platform, controller, the smoke sensor device being electrically connected with the controller, high definition
Camera, thermal infrared imager, communication module (using 4G module), alarm module and fire suppression module, unmanned plane during flying platform and control
Device electrical connection processed, smoke sensor device are used to detect the smog information in forest overhead, and high-definition camera is for shooting, collecting forest
Image information, thermal infrared imager receive and process communication module transmission cigarette for acquiring simultaneously spanning forest temperature information, controller
Mist information, image information and forest temperature information generate inspection information, communication module transmission inspection information to ground control station, report
Alert module is used to trigger alarm after the inspection information that controller processing generates is beyond preset range, and fire suppression module is for opening
Fire plant and put out a fire to the fire point in forest.
Above-mentioned ground control station is used to control the flight and data acquisition of unmanned plane.
It further says, ground control station includes unmanned plane interface and cradle head control interface, unmanned plane interface and unmanned plane
Flying platform communication connection is with the state of flight for controlling unmanned plane, cradle head control interface and smoke sensor device, high-definition camera
Head, thermal infrared imager, alarm module and fire suppression module communication connection are with the forest fire scene number for receiving unmanned plane detection
According to.
It further says, alarm module includes combined aural and visual alarm and dialer to send alarm signal for control station to the ground
Number.
It further says, unmanned plane is equipped with avoidance radar.
It further says, fire suppression module includes Fire extinguisher and fire prevention ball emitter, and Fire extinguisher and fire prevention bullet are sent out
Emitter electrical connection is with the fire prevention bullet for controlling fire prevention ball emitter transmitting forest extinguishing.
It further says, range unit is equipped on unmanned plane, and range unit is electrically connected with the controller；Range unit carries
On unmanned plane during flying platform；Range unit is one of infrared range-measurement system, laser range finder, ultrasonic range finder or several
Kind.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane inspection system for forest fire protection, it is characterised in that: communicate company including unmanned plane and with unmanned plane
The ground control station connect；
The unmanned plane is equipped with unmanned plane during flying platform, controller, the smoke sensor device being electrically connected with the controller, high-definition camera
Head, thermal infrared imager, communication module, alarm module and fire suppression module, the unmanned plane during flying platform are electrically connected with the controller, institute
It states smoke sensor device and believes for detecting the smog information in forest overhead, image of the high-definition camera for shooting, collecting forest
Breath, the thermal infrared imager receive and process the communication module for acquiring simultaneously spanning forest temperature information, the controller
It transmits the smog information, image information and forest temperature information and generates inspection information, the communication module transmits the inspection
To ground control station, the alarm module is used for after the inspection information that controller processing generates is beyond preset range information
And alarm is triggered, the fire suppression module is for opening fire plant and putting out a fire to the fire point in forest.
The ground control station is used to control the flight and data acquisition of unmanned plane.
2. unmanned plane inspection system according to claim 1, it is characterised in that: the ground control station includes that unmanned plane connects
Mouth and cradle head control interface, the unmanned plane interface are connect with unmanned plane during flying Platform communication with the flight for controlling unmanned plane
State, the cradle head control interface and the smoke sensor device, high-definition camera, thermal infrared imager, alarm module and fire extinguishing mould
Block communication connection is with the forest fire field data for receiving unmanned plane detection.
3. unmanned plane inspection system according to claim 2, it is characterised in that: the alarm module includes combined aural and visual alarm
With dialer to send alarm signal for control station to the ground.
4. unmanned plane inspection system according to claim 3, it is characterised in that: be equipped with ranging dress on the unmanned plane
It sets, the range unit is electrically connected with the controller.
5. unmanned plane inspection system according to claim 4, it is characterised in that: the range unit is mounted in unmanned plane and flies
On row platform.
6. unmanned plane inspection system according to claim 5, it is characterised in that: the range unit be infrared range-measurement system,
One or more of laser range finder, ultrasonic range finder.
7. unmanned plane inspection system according to claim 6, it is characterised in that: the unmanned plane is equipped with avoidance radar.
8. unmanned plane inspection system according to claim 7, it is characterised in that: the fire suppression module includes Fire extinguisher
With fire prevention ball emitter, the Fire extinguisher is electrically connected with gloomy for controlling fire prevention ball emitter transmitting with fire prevention ball emitter
The fire prevention bullet of woods fire extinguishing.
9. unmanned plane inspection system according to claim 8, it is characterised in that: the communication module uses 3G module or 4G
Module.
10. a kind of visiting method based on unmanned plane inspection system described in any one of claim 1-9, feature exist
In, comprising the following steps:
(1) ground control station control unmanned plane cruises in forest overhead, while opening smoke sensor device, high-definition camera, infrared
Thermal imaging system, the generation inspection information generated by controller according to the smoke sensor device, high-definition camera, thermal infrared imager, and
The inspection information is sent to ground control station by communication module；
(2) the inspection information that the controller generates is according to pre-set smog information, image information and forest temperature information
Threshold decision whether forest fire occurs, opened if being judged as "Yes" high-definition camera shooting forest image, image is believed
Breath be sent to ground control station, whether ground control station artificial judgment occurs forest fire, if being judged as "No", unmanned plane after
It is continuous to normal cruise；
(3) after forest fire occurs for ground control station judgement, control information is sent to unmanned plane, adjusts heading to forest temperature
It spends in the high-temperature area of information, and is put out a fire by alarm module and fire suppression module starting to forest high-temperature area.
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| CN201910523054.9A CN110379111A (en) | 2019-06-17 | 2019-06-17 | A kind of unmanned plane inspection system for forest fire protection |
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| CN201910523054.9A CN110379111A (en) | 2019-06-17 | 2019-06-17 | A kind of unmanned plane inspection system for forest fire protection |
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Family
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110658771A (en) * | 2019-10-30 | 2020-01-07 | 哈工大机器人（岳阳）军民融合研究院 | Load control device based on large-load unmanned aerial vehicle and control method thereof |
| CN111053988A (en) * | 2019-12-27 | 2020-04-24 | 扬州大学 | Intelligent forest fire prevention system based on unmanned aerial vehicle |
| CN111311865A (en) * | 2020-02-25 | 2020-06-19 | 东北农业大学 | Forest fire prevention unmanned aerial vehicle platform based on carry on thermal imager |
| CN111298329A (en) * | 2020-03-04 | 2020-06-19 | 绵阳师范学院 | Forest fire prevention and extinguishing system of unmanned aerial vehicle platform |
| CN111409830A (en) * | 2020-03-31 | 2020-07-14 | 闪东丽 | Fire extinguishing device for forest fire extinguishing |
| CN111508176A (en) * | 2020-03-17 | 2020-08-07 | 猫头鹰安防科技有限公司 | Forest fire control fire extinguishing system based on unmanned aerial vehicle |
| CN112330915A (en) * | 2020-10-29 | 2021-02-05 | 五邑大学 | Unmanned aerial vehicle forest fire prevention early warning method and system, electronic equipment and storage medium |
| CN112444824A (en) * | 2020-11-19 | 2021-03-05 | 温州虎穴科技有限公司 | Special positioning system for unmanned aerial vehicle |
| CN113371184A (en) * | 2021-06-11 | 2021-09-10 | 徐州楚创智能设备有限公司 | Intelligent observation aircraft for forest fire |
| CN113450531A (en) * | 2021-06-28 | 2021-09-28 | 中电科特种飞机系统工程有限公司 | Forest fire prevention detection system |
| CN114202883A (en) * | 2021-12-10 | 2022-03-18 | 安吉县自然资源和规划局 | Intelligent forest fire prevention and control system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110658771A (en) * | 2019-10-30 | 2020-01-07 | 哈工大机器人（岳阳）军民融合研究院 | Load control device based on large-load unmanned aerial vehicle and control method thereof |
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| CN112330915A (en) * | 2020-10-29 | 2021-02-05 | 五邑大学 | Unmanned aerial vehicle forest fire prevention early warning method and system, electronic equipment and storage medium |
| CN112330915B (en) * | 2020-10-29 | 2023-02-28 | 五邑大学 | Unmanned aerial vehicle forest fire prevention early warning method and system, electronic equipment and storage medium |
| CN112444824A (en) * | 2020-11-19 | 2021-03-05 | 温州虎穴科技有限公司 | Special positioning system for unmanned aerial vehicle |
| CN113371184A (en) * | 2021-06-11 | 2021-09-10 | 徐州楚创智能设备有限公司 | Intelligent observation aircraft for forest fire |
| CN113450531A (en) * | 2021-06-28 | 2021-09-28 | 中电科特种飞机系统工程有限公司 | Forest fire prevention detection system |
| CN114202883A (en) * | 2021-12-10 | 2022-03-18 | 安吉县自然资源和规划局 | Intelligent forest fire prevention and control system |
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