CN111508181A - Forest fire prevention system based on multiple unmanned aerial vehicles and method thereof - Google Patents
Forest fire prevention system based on multiple unmanned aerial vehicles and method thereof Download PDFInfo
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Abstract
A forest fire prevention system based on multiple unmanned aerial vehicles and a method thereof comprise that a ground station receives smoke information which is sent by a smoke sensor and is used as alarm information of a place where the smoke sensor is located; the ground station controls the inspection unmanned aerial vehicle to take off and go to acquire images of suspected ignition areas, and transmits the images to the ground station to detect fire so as to judge whether the fire really occurs. By combining other structures and methods, the defects that in the prior art, a forest fire prevention system is low in accuracy, low in autonomous identification, not timely in detection and difficult to deal with large-scale fires in forests are effectively overcome.
Description
Technical Field
The invention relates to the technical field of forest fire prevention, belongs to the technical field of unmanned aerial vehicles, and particularly relates to a forest fire prevention system based on multiple unmanned aerial vehicles and a method thereof.
Background
The forest is a biological community taking woody plants as main bodies, is a total body of an ecological system formed by mutual restriction of concentrated arbors and interdependencies among other plants, animals, microorganisms and soil and mutual influence on the environment. It has rich species, complex structure and various functions. Forest is known as "the lung of the earth". That is, the forest plays an important role in human production and life, provides abundant resources for human, and plays an important role in nature. The forest not only can provide a large amount of wood for production and living, but also is a habitat home for a plurality of organisms, and has great ecological benefit. In forests, once a fire occurs, the fruit is generally devastating. After a forest fire happens, not only a large number of trees can be burnt, but also animals inhabiting in the forest can be burnt, soil can lose activity due to high temperature, finally, the ecology can lose balance, and great influence is caused to human beings.
Present unmanned aerial vehicle fire protection system has through machine carries fire sensor warning, in case smog, flame, temperature exceed and set for the threshold value, will trigger sensor warning, but because the sensor is placed on unmanned aerial vehicle, so unmanned aerial vehicle can influence the sensor to the response precision of ground forest in the air, leads to detection accuracy not high or untimely. Carry on the camera through unmanned aerial vehicle in addition, shoot the suspected area of catching fire, discern by the manual work again, this kind of mode not only the cost of labor is high, consumes time moreover with long costs. The forest does not block like indoor thing, so in case of the conflagration, the diffusion is very quick, and large-scale conflagration in the forest is difficult to deal with to most unmanned aerial vehicle fire protection system at present.
Therefore, a new forest fire prevention system is needed to solve the existing defects.
Disclosure of Invention
In order to solve the problems, the invention provides a multi-unmanned aerial vehicle-based forest fire prevention system and a method thereof, which effectively overcome the defects that in the prior art, the forest fire prevention system is low in accuracy, low in autonomous identification, not timely in detection and difficult to deal with large-scale fires in forests.
In order to overcome the defects in the prior art, the invention provides a solution for a forest fire prevention system based on multiple unmanned aerial vehicles and a method thereof, which comprises the following steps:
a method for a forest fire prevention system based on multiple unmanned aerial vehicles comprises the following steps:
step 1: the ground station receives smoke information which is sent by the smoke sensor and is used as alarm information of the place where the smoke sensor is located;
step 2: the ground station controls the inspection unmanned aerial vehicle to take off and go to acquire images of suspected ignition areas, and transmits the images to the ground station to detect fire so as to judge whether the fire really occurs.
Further, the method for transmitting the image to the ground station for fire detection to determine whether a fire really occurs includes:
the inspection unmanned aerial vehicle hovers above the suspected fire area to shoot and sends back live images of the suspected fire area to the ground station in real time, the inspection unmanned aerial vehicle splices the live images to obtain a panoramic image, and then fire detection and fire spreading prediction are carried out.
Furthermore, the patrol inspection unmanned aerial vehicle can regularly patrol the forest region, can shoot the image of the forest region and send the image back to the ground station, and then the operator of the ground station counts the vegetation type of each region according to the image information and inputs the vegetation type into the database of the ground station.
Further, after the obtaining the panoramic image, the method further includes: the ground station carries out fire detection on the picture, if the detection result is false, the false alarm is determined as a smoke sensor node false alarm, and the ground station informs all dispatched inspection unmanned aerial vehicles to return to the air; and if the detection result is true, the ground station inquires the vegetation type of the fire scene area through a database according to the spliced image and the weather information of the day including the local temperature, the humidity, the rainfall, the wind speed, the wind direction, the ground temperature and the air pressure issued by the local weather department, and calculates the area of the fire scene area after prediction by combining with related fire-fighting knowledge.
Further, the tendency to spread is divided into a main strategic zone, and a minor strategic zone with a small tendency to spread.
Further, the ground station converts the area of a fire scene into a task amount, and commands the fire-fighting unmanned aerial vehicle to extinguish the fire in the main zone firstly and then extinguish the fire in the secondary zone according to the proportion of the fire-fighting task amount of 1: 2; and fire control unmanned aerial vehicle flies to the alarm position, according to the wind direction at that time, gets into the scene of a fire by last wind gap, and the fire extinguishing bomb is put in to the position of tail of a fire and wing of a fire in the priority, prevents that the conflagration from spreading to more regions.
Furthermore, after the fire-fighting unmanned aerial vehicle puts in the fire extinguishing bomb, the inspection unmanned aerial vehicle shoots a fire area again, the image is sent back to the ground station, the ground station carries out fire detection on the image sent back by the inspection unmanned aerial vehicle again, the images before and after the fire extinguishing bomb is put in are compared, and the areas in the images are respectively marked as a non-burning area, a burning area and a burn-out area; and then the fire-fighting unmanned aerial vehicle continues to extinguish the fire in the combustion area, and the process is circulated until the combustion area is not detected, and the ground station informs all the unmanned aerial vehicles to return to the air again.
Forest fire prevention system based on many unmanned aerial vehicles includes:
the system comprises a plurality of smoke sensor nodes, a plurality of smoke sensor nodes and a plurality of monitoring units, wherein the smoke sensor nodes are arranged at places where forest fires need to be monitored, and are used for collecting smoke information of the places where the smoke sensor nodes are located;
the smoke sensor node is in wireless connection with a ground station, and the ground station is used for receiving smoke information which is sent by the smoke sensor and is used as alarm information of a place where the smoke sensor is located;
the ground station is also in wireless connection with the inspection unmanned aerial vehicle, and the ground station is also used for receiving alarm information sent by the smoke sensor, controlling the inspection unmanned aerial vehicle to take off and go to carry out image acquisition on a suspected fire area, and transmitting the image to the ground station to carry out fire detection so as to judge whether a true fire occurs.
Further, the smoke sensor node comprises a smoke detection module, a GPS global positioning module and a communication interaction module, wherein the smoke detection module and the GPS global positioning module are in communication connection with the communication interaction module, the smoke sensor is used for early stage identification of forest fires and the GPS global positioning module sends suspected ignition area positions to the ground station through the communication interaction module.
Further, the inspection unmanned aerial vehicle comprises an unmanned aerial vehicle attitude module, a position module, an image module and a communication interaction module; the unmanned aerial vehicle attitude module, the position module and the image module are in communication connection with the communication interaction module.
Further, forest fire prevention system based on many unmanned aerial vehicles still includes:
a fire-fighting unmanned aerial vehicle;
the fire-fighting unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles, is used for receiving the police-out task sent by the ground station, flies to the fire area to complete the unmanned aerial vehicle fire-fighting task, and records and stores the whole fire-fighting process.
Further, the fire-fighting unmanned aerial vehicle comprises an unmanned aerial vehicle attitude module, a position module, an image module, a communication interaction module and a fire-fighting module; the fire-fighting module comprises a fire-fighting bomb projecting device, and the fire-fighting bomb projecting device is connected with the control end of the fire-fighting unmanned aerial vehicle.
Further, patrol and examine unmanned aerial vehicle and fire control unmanned aerial vehicle and carry on lithium cell and solar panel.
The invention has the beneficial effects that:
according to the invention, the unmanned aerial vehicle is used for inspection, so that the labor input cost is reduced, and the inspection efficiency is improved. The small smoke sensor nodes are sown through the unmanned aerial vehicle in the forest, the monitoring coverage rate can be effectively increased, the fire hazard can be timely alarmed, the fire hazard can be extinguished at the initial stage as far as possible, and the generation of greater loss is avoided. According to the invention, a plurality of unmanned aerial vehicles are hovered over a fire scene, images of a concurrent tempering field are shot in real time, and the images shot by the unmanned aerial vehicles are spliced by the ground station, so that not only is the real-time performance guaranteed, but also the overall situation of forest fires is judged. And then, by means of big data, combining weather information of the day issued by a local weather department, vegetation types and relevant fire fighting knowledge of the fire scene area, spreading prediction is carried out on the fire scene area, and the area of the fire scene area after prediction is calculated. The major strategic zones are divided with a large tendency to spread, and the minor strategic zones are divided with a small tendency to spread. The ground station converts the area of the fire scene into the task load, the fire-fighting unmanned aerial vehicle is dispatched according to the proportion of 1:2 of the fire-fighting task load, the fire in the main zone is extinguished first, and then the fire in the secondary zone is extinguished. Fire control unmanned aerial vehicle flies to the alarm position, according to the wind direction at that time, gets into the scene of a fire by last wind gap, and the fire extinguishing bomb is put in to the position of tail of a fire and wing to the priority, prevents that the conflagration from spreading to more regions. Unmanned aerial vehicle combines machine vision to make entire system nimble more mobile. Carry the fire extinguishing bomb through fire control unmanned aerial vehicle and put out a fire, fire fighter's life safety has obtained effectual guarantee. Patrol and examine unmanned aerial vehicle, fire control unmanned aerial vehicle all adopts the lithium cell to combine solar panel, can effectively increase continuation of the journey mileage.
Drawings
Fig. 1 is a structural diagram of a forest fire prevention system based on multiple unmanned aerial vehicles according to the invention.
Fig. 2 is a schematic diagram of a method of the multi-drone based forest fire prevention system of the present invention.
Detailed Description
The invention will be further described with reference to the following figures and examples.
As shown in fig. 1-2, the method of the forest fire prevention system based on multiple drones includes the following steps:
step 1: the ground station receives smoke information which is sent by the smoke sensor and is used as alarm information of the place where the smoke sensor is located;
step 2: the ground station controls the inspection unmanned aerial vehicle to take off and go to acquire images of suspected ignition areas, and transmits the images to the ground station to detect fire so as to judge whether the fire really occurs. Therefore, after the ground station receives the alarm information sent by the smoke sensor, the inspection unmanned aerial vehicle is controlled to take off and move to collect images of a suspected ignition area, and the images are transmitted to the ground station to carry out fire detection so as to judge whether a fire really occurs or not, so that the forest fire prevention system is high in accuracy.
Further, the method for transmitting the image to the ground station for fire detection to determine whether a fire really occurs includes:
the inspection unmanned aerial vehicle hovers above the suspected fire area to shoot and sends back live images of the suspected fire area to the ground station in real time, the inspection unmanned aerial vehicle splices the live images to obtain a panoramic image, and then fire detection and fire spreading prediction are carried out. The fire detection is to firstly carry out gray level processing on an image, convert the image from color to a gray level image, carry out binary analysis, remove the noise of the image, finally extract the characteristics of the image, analyze flame and smoke from two aspects of dynamic characteristics and static characteristics respectively, and adopt color detection and motion detection; and predicting the spreading trend of the forest fire by using a Rothermel model algorithm. The fire spreading prediction inspection unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles, is controlled by a ground station, is used for shooting forest live pictures, and sends back the pictures to the ground station for image splicing and fire detection processing. The ground station receives the alarm information of the smoke sensor node, and sends out the patrol unmanned aerial vehicle to go to. After the patrol and examine unmanned aerial vehicle arrives the suspected area of catching fire overhead, the flight of deciding high, shoot the image of the suspected area of catching fire below and send back to ground station, ground station is used for receiving and centralized processing data information in the forest and statistics above the forest unmanned aerial vehicle quantity, hover the live image of shooing and sending back to many patrol and examine unmanned aerial vehicles of dispatching and carry out the concatenation processing. This is: the inspection unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles, listens to the ground station for dispatching, flies to a target place, hovers in the air, shoots images in real time, and sends the images back to the ground station for image splicing and fire detection processing.
The forest fire prevention system based on the multiple unmanned aerial vehicles is characterized in that the routing inspection unmanned aerial vehicle can periodically perform routing inspection on the forest region, simultaneously can shoot images of the forest region and send the images back to the ground station, then workers of the ground station can make statistics on vegetation types grown in each region according to image information and input the vegetation types into a server database of the ground station, and therefore the vegetation types in the fire region can be inquired when the ground station conducts spread prediction after a fire disaster happens. Therefore, the damage condition of the forest fire can be known more comprehensively.
After the forest fire prevention system based on many unmanned aerial vehicles obtains the panorama, still include: the ground station carries out fire detection on the picture, if the detection result is false, the false alarm is determined as a smoke sensor node false alarm, and the ground station informs all dispatched inspection unmanned aerial vehicles to return to the air; and if the detection result is true, the ground station inquires the vegetation type of the fire scene area through a database according to the spliced image and the weather information of the day including the local temperature, the humidity, the rainfall, the wind speed, the wind direction, the ground temperature and the air pressure issued by the local weather department, and calculates the area of the fire scene area after prediction by combining with related fire-fighting knowledge. The forecasting method is that under the windless condition, the spreading speeds in all directions in a fire scene are equal, so the spreading forming range is a circle; under windy conditions, the spreading speed in each direction in a fire scene is different, the spreading speed in the wind speed direction is the maximum, the shape of the fire scene can be simplified into an oval shape, and the long axis is the wind speed direction. Also under the condition of gradient, the fire field direction can be simplified into an ellipse, and the long axis is the ascending direction. Under the comprehensive influence of wind speed and gradient, the fire scene direction can be approximately simplified into an ellipse, and the major axis is the maximum fire spreading direction. Thereby obtaining the predicted fire field area. According to the lens imaging principle, the actual area of each pixel point of a shot image can be obtained by combining the height, the angle and the position information of the unmanned aerial vehicle, and then the actual area of the whole area is finally solved.
The forest fire prevention system based on the multiple unmanned aerial vehicles divides the spreading tendency into a main strategic zone, and divides the spreading tendency into a secondary strategic zone. The basis of the division is as follows: the spreading speed is high, no natural or man-made fire-proof barrier exists near a fire scene, and a region where fire can spread to the periphery is a main strategic zone; the spreading speed is relatively small, natural or artificial fire-proof barriers are arranged outside the fire scene, and the area where the fire is not easy to expand is a secondary strategic area.
The forest fire prevention system based on the multiple unmanned aerial vehicles converts the area of a fire scene into a task amount, and commands the fire-fighting unmanned aerial vehicle to extinguish the fire in a main zone and then extinguish the fire in a secondary zone according to the proportion of 1:2 of the fire-fighting task amount in order to prevent the fire spreading speed from being higher than expected; the ratio of the fire extinguishing task amount to be 1:2 is that 2 fire-fighting unmanned aerial vehicles are used for extinguishing fire in a fire area. And fire control unmanned aerial vehicle flies to the alarm position, according to the wind direction at that time, gets into the scene of a fire by last wind gap, and the fire extinguishing bomb is put in to the position of tail of a fire and wing of a fire in the priority, prevents that the conflagration from spreading to more regions.
After the fire-fighting unmanned aerial vehicle puts fire extinguishing bombs in the forest fire prevention system based on multiple unmanned aerial vehicles, the patrol unmanned aerial vehicle shoots a fire area again, the image is sent back to the ground station, the ground station carries out fire detection on the image sent back by the patrol unmanned aerial vehicle again, the images before and after putting the fire extinguishing bombs are compared, and areas in the images are respectively marked as an unburned area, a combustion area and a burnout area; and then the fire-fighting unmanned aerial vehicle continues to extinguish the fire in the combustion area, and the process is circulated until the combustion area is not detected, and the ground station informs all the unmanned aerial vehicles to return to the air again.
Forest fire prevention system based on many unmanned aerial vehicles includes:
the system comprises a plurality of smoke sensor nodes, a plurality of smoke sensor nodes and a plurality of monitoring units, wherein the smoke sensor nodes are arranged at places where forest fires need to be monitored, and are used for collecting smoke information of the places where the smoke sensor nodes are located;
the smoke sensor node is in wireless connection with a ground station, and the ground station is used for receiving smoke information which is sent by the smoke sensor and is used as alarm information of a place where the smoke sensor is located; the smoke sensor nodes comprise a plurality of smoke sensor nodes and are distributed all over the forest. In the early stage of fire, the smoke sensor can monitor in time and alarm quickly to send the ignition position to the ground station.
The ground station still with patrol and examine unmanned aerial vehicle wireless connection, the ground station still is used for receiving behind the alarm information that smoke transducer sent, control patrol and examine unmanned aerial vehicle take off and go to carry out the image acquisition to the suspected area of catching fire to this image transmission gives the ground station carries out fire detection and judges whether real conflagration breaing out, it is provided with the camera on the unmanned aerial vehicle to patrol and examine. Therefore, after the ground station receives the alarm information sent by the smoke sensor, the inspection unmanned aerial vehicle is controlled to take off and move to collect images of a suspected ignition area, and the images are transmitted to the ground station to carry out fire detection so as to judge whether a fire really occurs or not, so that the forest fire prevention system is high in accuracy.
Forest fire prevention system based on many unmanned aerial vehicles smoke sensor node, including smoke detection module, GPS global positioning module and communication interaction module, smoke detection module, GPS global positioning module all with communication interaction module communication connection, smoke detection module includes ionic type smoke sensor, communication interaction module includes NB-IoT communication module, ionic type smoke sensor is used for discerning forest fire's earlier stage and GPS global positioning module passes through communication interaction module sends the suspected regional position of catching fire to ground satellite station.
The patrol unmanned aerial vehicle comprises an unmanned aerial vehicle attitude module, a position module, an image module and a communication interaction module; the attitude module includes a gyroscope, an accelerometer, an inertial sensor, and a magnetometer. The location module includes a barometer and a GPS global position. The image module comprises a camera module. The communication interaction module includes an NB-IoT communication module. The unmanned aerial vehicle attitude module, the position module and the image module are in communication connection with the communication interaction module.
Forest fire prevention system based on many unmanned aerial vehicles still includes:
a fire-fighting unmanned aerial vehicle;
the fire-fighting unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles, is used for receiving the police-out task sent by the ground station, flies to the fire area to complete the unmanned aerial vehicle fire-fighting task, and records and stores the whole fire-fighting process.
The fire-fighting unmanned aerial vehicle of the forest fire prevention system based on the multiple unmanned aerial vehicles comprises an unmanned aerial vehicle attitude module, a position module, an image module, a communication interaction module and a fire-fighting module; the unmanned aerial vehicle attitude module comprises a gyroscope; an accelerometer; an inertial sensor; a magnetometer. The location module comprises a barometer; GPS global positioning. The image module comprises a camera module. The communication interaction module includes an NB-IoT communication module. The fire control module includes fire extinguishing bomb projection unit, fire extinguishing bomb projection unit links to each other with fire control unmanned aerial vehicle control end, and wherein, the fire extinguishing bomb is equipped with many pieces of fire extinguishing bombs on the fire extinguishing bomb projection unit.
A forest fire prevention system based on multiple unmanned aerial vehicles is characterized in that the patrol unmanned aerial vehicle and the fire-fighting unmanned aerial vehicle carry lithium batteries and solar panels.
According to the invention, the unmanned aerial vehicle is used for inspection, so that the labor input cost is reduced, and the inspection efficiency is improved. The small smoke sensor nodes are sown through the unmanned aerial vehicle in the forest, the monitoring coverage rate can be effectively increased, the fire hazard can be timely alarmed, the fire hazard can be extinguished at the initial stage as far as possible, and the generation of greater loss is avoided. The conflagration takes place in the forest, will spread around very fast, at this moment want through an unmanned aerial vehicle just hardly to shoot the global image in fire scene, if adopt an unmanned aerial vehicle to make a round trip to shoot, the real-time can not obtain the guarantee, can delay the opportunity of putting out a fire, if consider for global, promotes unmanned aerial vehicle's altitude of flight, and the accuracy of detection has received the influence again. Therefore, the invention adopts a plurality of unmanned aerial vehicles to hover above the fire scene, shoots and sends back fire scene images in real time, and the ground station splices the images shot by the unmanned aerial vehicles, thereby not only guaranteeing the real-time performance, but also judging the whole situation of the forest fire integrally. And then, by means of big data, combining weather information of the day issued by a local weather department, vegetation types and relevant fire fighting knowledge of the fire scene area, spreading prediction is carried out on the fire scene area, and the area of the fire scene area after prediction is calculated. The major strategic zones are divided with a large tendency to spread, and the minor strategic zones are divided with a small tendency to spread. The ground station converts the area of the fire scene into the task load, the fire-fighting unmanned aerial vehicle is dispatched according to the proportion of 1:2 of the fire-fighting task load, the fire in the main zone is extinguished first, and then the fire in the secondary zone is extinguished. Fire control unmanned aerial vehicle flies to the alarm position, according to the wind direction at that time, gets into the scene of a fire by last wind gap, and the fire extinguishing bomb is put in to the position of tail of a fire and wing to the priority, prevents that the conflagration from spreading to more regions. Unmanned aerial vehicle combines machine vision to make entire system nimble more mobile. Carry the fire extinguishing bomb through fire control unmanned aerial vehicle and put out a fire, fire fighter's life safety has obtained effectual guarantee. Patrol and examine unmanned aerial vehicle, fire control unmanned aerial vehicle all adopts the lithium cell to combine solar panel, can effectively increase continuation of the journey mileage.
While the present invention has been described above in terms of procedures illustrated in embodiments, it will be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, and that various changes, alterations, and substitutions can be made without departing from the scope of the present invention.
Claims (10)
1. A method of a forest fire prevention system based on multiple unmanned aerial vehicles is characterized by comprising the following steps:
step 1: the ground station receives smoke information which is sent by the smoke sensor and is used as alarm information of the place where the smoke sensor is located;
step 2: the ground station controls the inspection unmanned aerial vehicle to take off and go to acquire images of suspected ignition areas, and transmits the images to the ground station to detect fire so as to judge whether the fire really occurs.
2. A method for a multi-drone based forest fire prevention system as claimed in claim 1, wherein the method of transmitting the image to a ground station for fire detection to determine if a fire is actually occurring includes:
the inspection unmanned aerial vehicle hovers above the suspected fire area to shoot and sends back live images of the suspected fire area to the ground station in real time, the inspection unmanned aerial vehicle splices the live images to obtain a panoramic image, and then fire detection and fire spreading prediction are carried out.
3. The method of claim 1, wherein the patrol unmanned aerial vehicle periodically patrol the area of the forest, simultaneously shoot an image of the area of the forest and send the image back to the ground station, and then the workers of the ground station count the vegetation type of each area according to the image information and input the vegetation type into a database of the ground station.
4. The method for the forest fire prevention system based on multiple unmanned aerial vehicles according to claim 2, wherein after obtaining the panoramic image, the method further comprises: the ground station carries out fire detection on the picture, if the detection result is false, the false alarm is determined as a smoke sensor node false alarm, and the ground station informs all dispatched inspection unmanned aerial vehicles to return to the air; and if the detection result is true, the ground station inquires the vegetation type of the fire scene area through a database according to the spliced image and the weather information of the day including the local temperature, the humidity, the rainfall, the wind speed, the wind direction, the ground temperature and the air pressure issued by the local weather department, and calculates the area of the fire scene area after prediction by combining with related fire-fighting knowledge.
5. A method of multi-drone based forest fire protection system according to claim 4, characterised in that the tendency to spread is divided into major strategic zones and the tendency to spread is small into minor strategic zones.
6. The method of a multi-drone based forest fire protection system of claim 4, wherein the ground station converts the fire scene area into a mission volume, commanding the fire fighting drones to extinguish the fire in the primary zone first and then in the secondary zone in a ratio of 1:2 of the fire fighting mission volume; the fire-fighting unmanned aerial vehicle flies to an alarm position, enters a fire scene from an upper air port according to the current wind direction, and preferentially puts fire-fighting bombs at the fire tail and the fire wing position to prevent the fire from spreading to more areas;
after the fire-fighting unmanned aerial vehicle puts in the fire extinguishing bomb, the patrol unmanned aerial vehicle shoots the fire area again and sends the image back to the ground station, the ground station carries out fire detection on the image sent back by the patrol unmanned aerial vehicle again and compares the images before and after putting in the fire extinguishing bomb, and the areas in the image are respectively marked as an unburned area, a combustion area and a burnout area; and then the fire-fighting unmanned aerial vehicle continues to extinguish the fire in the combustion area, and the process is circulated until the combustion area is not detected, and the ground station informs all the unmanned aerial vehicles to return to the air again.
7. The utility model provides a forest fire prevention system based on many unmanned aerial vehicles which characterized in that includes:
the system comprises a plurality of smoke sensor nodes, a plurality of smoke sensor nodes and a plurality of monitoring units, wherein the smoke sensor nodes are arranged at places where forest fires need to be monitored, and are used for collecting smoke information of the places where the smoke sensor nodes are located;
the smoke sensor node is in wireless connection with a ground station, and the ground station is used for receiving smoke information which is sent by the smoke sensor and is used as alarm information of a place where the smoke sensor is located;
the ground station is also in wireless connection with the inspection unmanned aerial vehicle, and the ground station is also used for receiving alarm information sent by the smoke sensor, controlling the inspection unmanned aerial vehicle to take off and go to carry out image acquisition on a suspected fire area, and transmitting the image to the ground station to carry out fire detection so as to judge whether a true fire occurs.
8. The multi-drone based forest fire prevention system according to claim 7, wherein the smoke sensor node includes a smoke detection module, a GPS global positioning module and a communication interaction module, the smoke detection module and the GPS global positioning module are all in communication connection with the communication interaction module, the smoke sensor is used for early stage recognition of forest fires and the GPS global positioning module sends a suspected fire area location to the ground station through the communication interaction module.
9. The multi-unmanned aerial vehicle-based forest fire prevention system of claim 7, wherein the inspection unmanned aerial vehicle comprises an unmanned aerial vehicle attitude module, a position module, an image module and a communication interaction module; the unmanned aerial vehicle attitude module, the position module and the image module are in communication connection with the communication interaction module.
10. The multi-drone based forest fire protection system of claim 7, further comprising:
a fire-fighting unmanned aerial vehicle;
the fire-fighting unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles, a fire-fighting control system and a control system, wherein the fire-fighting unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles and is used for receiving a police-out task sent by the ground station, flying to a fire area to complete the fire-fighting task of the unmanned aerial vehicle, and recording and storing the whole fire-fighting process;
the fire-fighting unmanned aerial vehicle comprises an unmanned aerial vehicle attitude module, a position module, an image module, a communication interaction module and a fire-fighting module; the fire-fighting module comprises a fire-fighting bomb projecting device, and the fire-fighting bomb projecting device is connected with a control end of the fire-fighting unmanned aerial vehicle;
patrol and examine unmanned aerial vehicle and fire control unmanned aerial vehicle and carry on lithium cell and solar panel.
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