CN112799431B - Intelligent transmission system based on unmanned aerial vehicle cooperation - Google Patents
Intelligent transmission system based on unmanned aerial vehicle cooperation Download PDFInfo
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Abstract
The invention discloses an intelligent transmission system based on unmanned aerial vehicle cooperation, relating to the technical field of unmanned aerial vehicle transmission, the system comprises an unmanned aerial vehicle group formation control system, a remote control end, an airplane cooperation system and a safety guarantee system, wherein the unmanned aerial vehicle group formation control system is used for an unmanned aerial vehicle set to acquire forest firing end data in real time, and the collected data is sent to a control end, the remote control end is used for receiving the data collected by the unmanned aerial vehicle end and sending instructions to the unmanned aerial vehicle formation and the airplane for control in satellite communication, the airplane cooperation system is used for analyzing and sending fire extinguishing bombs to a fire point according to the information uploaded by the unmanned aerial vehicle formation, thereby enabling the forest fire end to slow down the process of continuing spreading of the fire, the safety guarantee system is used for after the fire is relieved, the firefighter extinguishes the fire area, thereby enabling the firefighter's safety to be guaranteed while the fire is degraded.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle transmission, in particular to an intelligent transmission system based on unmanned aerial vehicle cooperation.
Background
The influence range of forest fires in various disasters is uncontrollable, the forest fires can generate big fires and even destructive results due to one cigarette end, particularly big fires occur in Sichuan summer hills in 2019, ground surface is influenced by strong wind power, and the big fires are generated due to too much combustible. The forest fire disaster can not only burn a piece of forest and destroy vegetation in the forest and the sacrifice of firemen, but also can not grow trees in the burnt area due to lack of nutrients, so that carbon dioxide is generated;
consequently, it eliminates forest fire to need unmanned aerial vehicle marshalling reconnaissance machine and aircraft to mutually support, because, when forest fire takes place, because dense smoke rolls, can lead to the sight impaired, and in order to prevent that the forest from burning out regional further expansion, need throw the fire extinguishing bomb in each corner of forest in advance, guarantee the safety of fire fighter simultaneously in order to make the fire extinguishing that the fire fighter can be more deep when the forest catches fire, it can obtain the unmanned aerial vehicle authority to need the fire fighter, but can't confirm the fire fighter after putting out a fire simultaneously, whether this region can arouse the conflagration once more, consequently, need the fire fighter in time to take precautions against, in. Through satellite communication, the situation that a communication link is disconnected when danger occurs, a control end cannot be contacted, and the overall situation of a field can not be known can be avoided;
therefore, an intelligent transmission system based on unmanned aerial vehicle cooperation is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide an intelligent transmission system based on unmanned aerial vehicle cooperation so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: an intelligent transmission system based on unmanned aerial vehicle cooperation comprises an unmanned aerial vehicle formation control system, a remote control terminal, an airplane cooperation system and a safety guarantee system, wherein the unmanned aerial vehicle formation control system is used for an unmanned aerial vehicle set to collect forest firing terminal data in real time, and transmits the acquired data to a remote control end, the remote control end is used for receiving the data acquired by the unmanned aerial vehicle end and transmitting instructions to the unmanned aerial vehicle formation and the airplane for control in satellite communication, the airplane cooperation system is used for analyzing and sending fire extinguishing bombs to a fire point according to the information uploaded by the unmanned aerial vehicle formation, thereby the fire end of the forest can be built to continue the spreading process of the fire, the safety guarantee system is used for extinguishing the fire by the fireman facing the area of the fire area after the fire is relieved, meanwhile, the life safety of the firemen is guaranteed, so that the safety of the firemen can be guaranteed while the fire is degraded.
Further, unmanned aerial vehicle group formation control system includes image processing module, environment detection sensor end, photo analysis upload module and authority safety transfer module, image processing module is used for shooing and uploading the forest region that unmanned aerial vehicle group was taken to monitor the forest area of catching fire and enlarge or shift, environment detection sensor end is used for gathering current wind speed and the temperature number after the forest catches fire in real time, photo analysis upload module is used for according to the data information who gathers, rationally arranges unmanned aerial vehicle end formation and stops corresponding distance in the sky, authority safety transfer module is used for transferring the control authority of unmanned aerial vehicle end to the fireman by the control end through the satellite for the fireman can better control the area of catching fire, and guarantee fireman's life safety.
In a two-dimensional plane model, judging that the area of the original forest area is m x n according to data collected by a plurality of unmanned aerial vehicles, and calculating the fire spreading process by using a labyrinth algorithm, wherein the calculating process comprises the following steps:
z01: judging the initial accumulated time t for the fire area to spread to the set direction according to the spreading process of the fire area and the current wind speed v and direction f;
z02: the accumulative calculation is expanded from the initial area m x n of the forest fire area to m1*n1Time of t2When the number of the spread directions is detected to exceed the set spread direction number and the fire path delays to the tendrils of the adjacent trees, the time for detecting the fire spread is t3；
Z03: newly formed fire spread area is m2*n2And the total time t for the final fire to spread in all directionsGeneral assembly=t2+t3,t2>t and tGeneral assembly>t' indicates that the fire spread is fast, otherwise the fire spread is slow, and the area of the formed area can be controlled in a short time, wherein: m is2*n2>m '. times.n ', t ' is the set propagation time, and m '. times.n ' is the area of the region where the propagation is set.
Further, the steps of the safe transfer of the authority are as follows:
z001: acquiring a set of a position w of each unmanned aerial vehicle staying in the sky, a dimension and positions corresponding to a plurality of firefighters as Q = { Q =1,q2...qmCalculating the distance between the original unmanned aerial vehicle and each firefighter as M, and matching the unmanned aerial vehicle number close to the position of each firefighter for matching;
z002: acquiring the accuracy of controlling the unmanned aerial vehicle by the firemen stored in the database, judging the grade parameters of controlling the operation of the unmanned aerial vehicle by the firemen, and distributing the suitable unmanned aerial vehicle according to the corresponding grade parameters;
z003: when the fire fighter operates the unmanned aerial vehicle to have a fault or the distance is long, transferring or sharing the authority of the unmanned aerial vehicle under the permission of peripheral fire fighters, and controlling the unmanned aerial vehicle by the fire fighter with the highest authority;
z004: and uploading the area shot by each unmanned aerial vehicle to a control end, and displaying the shot interface.
Further in accordance withThe area of the area where the forest is on fire is detected to be m x n, and the time spent by the unmanned aerial vehicle in the form of a marshalling to reach each vertex of the area of the newly formed fire is t4And the time spent by the plane in the area above the unmanned plane is t5The flying speed of the unmanned aerial vehicle in the formation above the ground is v2The ascending path is L, so the time for the aircraft end to start to project the fire extinguishing bomb is
；
After the permission of the firemen is obtained, the fire extinguishing bomb is projected to the area of the area where the fire extinguishing bomb is put, and the area of the area where the fire extinguishing bomb is put is S1The velocity of the fire extinguishing bomb projected to the corresponding area is v3After the fire extinguishing bomb is projected, the fire fighter can continue to extinguish the fire according to the projection area of the fire extinguishing bomb, and the fire fighter can eliminate part of the area S2Water flow velocity v at fire4When measuring and calculating
When the fire is extinguished, the fire extinguishing area of the part of the firefighter is not reignited, and when the fire extinguishing area is measured
In time, the partial area of the fire-fighting area of the firefighter is relight again, and the fire is needed to be continuously extinguished on the area.
Furthermore, the remote control end comprises an information sending end, an information receiving end and a screen display interface, the information sending end is used for decoding a command code of a person to form a digital signal and sending the digital signal to the signal sending end, so that the formation of the unmanned aerial vehicle is controlled remotely to execute a related command, the information receiving end is used for receiving information and pictures sent by the formation of the unmanned aerial vehicle and the airplane and sending the related command to control the formation end of the unmanned aerial vehicle, the screen display interface is used for transmitting photos shot by the unmanned aerial vehicle in the interface through a satellite, the unmanned aerial vehicle can store the shot photos and select areas in the photos through the command of the control end, and the unmanned aerial vehicle set positions and repeatedly shoots specific parts, so that a combustible point is found out.
The airplane cooperation system comprises an instruction sending end and a fire extinguishing bomb projection module, wherein the instruction sending end is used for starting a plurality of airplanes to reach a designated area according to an instruction sent by a control end to assist fire extinguishing, the fire extinguishing bomb projection module is used for projecting fire extinguishing bombs at the positions of the airplanes by taking the radius r as the circle center and h as the height, and sending the area of the projected area to a remote control end, so that the eliminated area can be known in an electronic map;
the instruction sending end comprises one or more of the following components:
when the fire extinguishing bomb projected by the airplane is detected not to be in the designated fire extinguishing area, the height projected by the fire extinguishing bomb and the position of the airplane can be adjusted, and the projection task is continuously executed;
when detecting that the fire extinguishing bomb projected by the airplane does not extinguish the fire in the designated area, sending an instruction to the control end, and requiring a fireman to perform auxiliary fire extinguishing by the control end;
when communication faults occur in the flight process of the airplane and the command transmitted by the unmanned aerial vehicle is not received for a long time for communication, the command is sent to the control end, the control end returns to the original position to be set, and the command of the control end and the unmanned aerial vehicle marshalling end is waited for again.
The safety guarantee system comprises a GPS positioning module and a fireman safety degree prediction module, wherein the GPS positioning module is used for positioning the position of the fireman, and the fireman safety degree prediction module is used for predicting whether the damage condition of combustible materials can lead to the occurrence of the dangerous condition of the fireman when the fireman puts out the fire to the combustible materials, so that the safety of the fireman can be guaranteed.
In the two-dimensional plane model, the GPS positioning module detects that the position set of a plurality of firefighters is H = { (x)1,y1),(x2,y2)...(xm,ym) And when detecting that the combustible materials in the forest are inclined due to the fire condition, the unmanned aerial vehicle bends the angle
The position of the combustible of (a) is set to J = { (a)1,b1),(a2,b2),(a3,b3)...(am,bm) Uploading the combustible materials to a screen display interface of a remote control end, wherein the pace speed of a fire fighter in the fire extinguishing process is i, and the set of positions of the combustible materials after dumping is P = { (x)1 ’,y1 ’),(x2 ’,y2 ’)...(xm ’,ym ’) The next position of the firefighter is set as (a)i ’,bm ’）;
According to the formula:
when in use
<Z, indicating that a fire fighter is dangerous, setting the linear segment generated before and after the combustible is poured as Y = kx + b, and substituting the coordinates before and after the combustible is poured;
when the next coordinate of fireman is not in setting for the line segment, the fireman can not produce danger, when the next coordinate of fireman when setting for the preset distance o in the line segment, the fireman can produce danger, wherein: k. b is the coefficient within the line segment, y is a function of combustible toppling, M is the distance between one of the combustibles before and after toppling,
refers to the distance between the other combustible before and after pouring, ai、bi、x1 ’、y1 ’Refers to one of the coordinate values of combustible material before and after pouring, ak、bk、xe ’、ye ’Means the coordinate values before and after the combustible material is pouredAnd Z refers to the preset distance between the plurality of combustible matters after pouring.
Compared with the prior art, the invention has the following beneficial effects:
1. the unmanned aerial vehicle team formation control system is used, data in a forest environment can be collected in real time, whether the area of a fire area is enlarged or transferred is determined according to the fire area of the current forest area, whether partial area is relight or not is judged according to fire extinguishing bombs projected by an airplane and the water flow speed of water injected into the fire extinguishing area by a fireman, and therefore whether fire is to be continuously extinguished in the area is judged, and the life safety of the fireman in the fire area is guaranteed;
2. the airplane cooperation system is used, the digital signal can be sent to the signal sending end after the human instruction is coded and decoded in real time, the photo taken by the unmanned aerial vehicle is transmitted in a corresponding interface through a satellite, the control end or a fireman can select the photo frame according to the stored photo, and the unmanned aerial vehicle can repeatedly take photos in the selected area in the detected similar picture until the fireman can find the detail point which the fireman wants in the picture with high similarity rate;
3. use the safety guarantee system, fix a position the position of fire fighter and a plurality of combustible substance, predict according to fire fighter's position on next step simultaneously, judge whether the fire fighter can take place dangerously before the combustible substance emptys or after emptying to guarantee the safety of fire fighter when the operation in the forest.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of the module composition of an intelligent transmission system based on unmanned aerial vehicle cooperation;
fig. 2 is a schematic diagram illustrating the steps of permission transfer of the intelligent transmission system based on unmanned aerial vehicle cooperation.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution:
the system comprises an unmanned aerial vehicle group formation control system, a remote control end, an aircraft cooperation system and a safety guarantee system, wherein the unmanned aerial vehicle group formation control system is used for an unmanned aerial vehicle unit to acquire forest firing end data in real time and send the acquired data to the control end, the remote control end is used for receiving the data acquired by the unmanned aerial vehicle end and sending instructions to the unmanned aerial vehicle group and the aircraft for control in satellite communication, the aircraft cooperation system is used for analyzing according to information uploaded by the unmanned aerial vehicle group and sending fire extinguishing bombs to a firing point, so that the forest firing end can slow down the process of fire continuing spreading, the safety guarantee system is used for extinguishing fire to a fire area after the fire is relieved, and meanwhile the life safety of a fireman is guaranteed, so that the safety of the fireman can be guaranteed while the fire is degraded.
Unmanned aerial vehicle group formation control system includes image processing module, environment detection sensor end, photo analysis upload module and authority safety transfer module, image processing module is used for shooing and uploading the forest region that unmanned aerial vehicle group was shot to monitoring forest area of catching fire is the expansion or shifts, environment detection sensor end is used for gathering current wind speed and the temperature number after the forest catches fire in real time, photo analysis upload module is used for according to the data information who gathers, and the reasonable unmanned aerial vehicle end formation stops corresponding distance in the sky, authority safety transfer module is used for transferring the control authority of unmanned aerial vehicle end to the fireman through the satellite by the control end for the fireman can be better control regional area of catching fire, and guarantee fireman's life safety.
In a two-dimensional plane model, judging that the area of the original forest area is m x n according to data collected by a plurality of unmanned aerial vehicles, and calculating the fire spreading process by using a labyrinth algorithm, wherein the calculating process comprises the following steps:
z01: judging the initial accumulated time t for the fire area to spread to the set direction according to the spreading process of the fire area and the current wind speed v and direction f;
z02: the accumulative calculation is expanded from the initial area m x n of the forest fire area to m1*n1Time of t2When the number of the spread directions is detected to exceed the set spread direction number and the fire path delays to the tendrils of the adjacent trees, the time for detecting the fire spread is t3；
Z03: newly formed fire spread area is m2*n2And the total time t for the final fire to spread in all directionsGeneral assembly=t2+t3,t2>t and tGeneral assembly>t' indicates that the fire spread is fast, otherwise the fire spread is slow, and the area of the formed area can be controlled in a short time, wherein: m is2*n2>m '. times.n ', t ' is the set propagation time, and m '. times.n ' is the area of the region where the propagation is set.
The steps of the safe transfer of the authority are as follows:
z001: acquiring a set of a position w of each unmanned aerial vehicle staying in the sky, a dimension and positions corresponding to a plurality of firefighters as Q = { Q =1,q2...qmCalculating the distance between the original unmanned aerial vehicle and each firefighter as M, and matching the unmanned aerial vehicle number close to the position of each firefighter for matching;
z002: acquiring the accuracy of controlling the unmanned aerial vehicle by the firemen stored in the database, judging the grade parameters of controlling the operation of the unmanned aerial vehicle by the firemen, and distributing the suitable unmanned aerial vehicle according to the corresponding grade parameters;
z003: when the fire fighter operates the unmanned aerial vehicle to have a fault or the distance is long, transferring or sharing the authority of the unmanned aerial vehicle under the permission of peripheral fire fighters, and controlling the unmanned aerial vehicle by the fire fighter with the highest authority;
z004: and uploading the area shot by each unmanned aerial vehicle to a control end, and displaying the shot interface.
According to the fact that the area of the area where the forest is on fire is detected to be m x n, the time spent by the unmanned aerial vehicle in the form of a group to arrive at each vertex of the area of the newly formed fire is t4And the time spent by the plane in the area above the unmanned plane is t5The flying speed of the unmanned aerial vehicle in the formation above the ground is v2The ascending path is L, so the time for the aircraft end to start to project the fire extinguishing bomb is
；
After the permission of the firemen is obtained, the fire extinguishing bomb is projected to the area of the area where the fire extinguishing bomb is put, and the area of the area where the fire extinguishing bomb is put is S1The velocity of the fire extinguishing bomb projected to the corresponding area is v3After the fire extinguishing bomb is projected, the fire fighter can continue to extinguish the fire according to the projection area of the fire extinguishing bomb, and the fire fighter can eliminate part of the area S2Water flow velocity v at fire4When measuring and calculating
When the fire is extinguished, the area of the part of the firefighter which is extinguished is not reignited, and the area is measured
In time, it means that the partial area of the fire being extinguished by the firefighter is reignited and it is necessary to continue extinguishing the area, where t6Means a preset time;
by passing
The time that the aircraft falls in the area of fire after the fire extinguishing bomb is projected can be judged, and the time that the aircraft falls in the area of fire can be judged
Can judge the time that the fire fighter sprayed rivers, it is earlier that the fire extinguishing bomb carries out preliminary cleaning by a wide margin to some regions, and back fire fighter uses rivers to eliminate the conflagration to the place direction in same fast region after the fire extinguishing bomb sprays, works asIt is determined that when the extinguishing time is longer than the set time in the extinguishing cycle, it indicates that the rear area is reignited again, and the firefighter is required to reignite the area that has been extinguished again, wherein the time cost is increased.
The remote control end comprises an information sending end, an information receiving end and a screen display interface, the information sending end is used for coding and decoding human instructions to form digital signals and sending the digital signals to the signal sending end, so that the formation of the unmanned aerial vehicle can be controlled remotely to execute related commands, the information receiving end is used for receiving information and pictures sent by the formation of the unmanned aerial vehicle and the aircraft and sending related commands to control the formation end of the unmanned aerial vehicle, the screen display interface is used for transmitting photos taken by the unmanned aerial vehicle in the interface through a satellite, the unmanned aerial vehicle can store the photos taken by the unmanned aerial vehicle and select areas in the photos through commands of the control end, and the unmanned aerial vehicle set positions and retakes at specific positions so as to find out ignition points.
The airplane cooperation system comprises an instruction sending end and a fire extinguishing bomb projection module, wherein the instruction sending end is used for starting a plurality of airplanes to reach a designated area according to an instruction sent by a control end to assist fire extinguishing, the fire extinguishing bomb projection module is used for projecting fire extinguishing bombs at the positions of the airplanes by taking the radius r as the circle center and h as the height, and sending the area of the projected area to a remote control end, so that the eliminated area can be known in an electronic map;
the instruction sending end comprises one or more of the following components:
when the fire extinguishing bomb projected by the airplane is detected not to be in the designated fire extinguishing area, the height projected by the fire extinguishing bomb and the position of the airplane can be adjusted, and the projection task is continuously executed;
when detecting that the fire extinguishing bomb projected by the airplane does not extinguish the fire in the designated area, sending an instruction to the control end, and requiring a fireman to perform auxiliary fire extinguishing by the control end;
when communication faults occur in the flight process of the airplane and the command transmitted by the unmanned aerial vehicle is not received for a long time for communication, the command is sent to the control end, the control end returns to the original position to be set, and the command of the control end and the unmanned aerial vehicle marshalling end is waited for again.
The safety guarantee system comprises a GPS positioning module and a fireman safety degree prediction module, wherein the GPS positioning module is used for positioning the position of the fireman, and the fireman safety degree prediction module is used for predicting whether the damage condition of combustible materials can lead to the occurrence of the dangerous condition of the fireman when the fireman puts out the fire to the combustible materials, so that the safety of the fireman can be guaranteed.
In the two-dimensional plane model, the GPS positioning module detects that the position set of a plurality of firefighters is H = { (x)1,y1),(x2,y2)...(xm,ym) And when detecting that the combustible materials in the forest are inclined due to the fire condition, the unmanned aerial vehicle bends the angle
The position of the combustible of (a) is set to J = { (a)1,b1),(a2,b2),(a3,b3)...(am,bm) Uploading the combustible materials to a screen display interface of a remote control end, wherein the set of positions of the combustible materials after the combustible materials are dumped is P = { (x)1 ’,y1 ’),(x2 ’,y2 ’)...(xm ’,ym ’) The next position of the firefighter is set as (a)i ’,bm ’）;
According to the formula:
when in use
<Z, indicating that a fire fighter is dangerous, setting the linear segment generated before and after the combustible is poured as Y = kx + b, and substituting the coordinates before and after the combustible is poured;
when the next coordinate of fireman is not in setting for the line segment, the fireman can not produce danger, when the next coordinate of fireman when setting for the preset distance o in the line segment, the fireman can produce danger, wherein: k. b is the coefficient within the line segment, y is a function of combustible toppling, M is the distance between one of the combustibles before and after toppling,
refers to the distance between the other combustible before and after pouring, ai、bi、x1 ’、y1 ’Refers to one of the coordinate values of combustible material before and after pouring, ak、bk、xe ’、ye ’The value is the other one of the coordinate values before and after the combustible materials are poured, and Z is a preset distance between a plurality of combustible materials after being poured;
through the calculation to M and M ', when the fireman both sides just all had the combustible substance to empty, can judge the length between the combustible substance when empting on the ground, it blocks the fireman in the middle when the fireman walks next step just to draw the distance between M and M' when calculating, can judge whether the fireman can produce danger, y = kx + b has been set up, when the fireman side has the combustible substance to empty, judge whether the fireman is on the straight line through the produced coordinate of the fireman position of walking on next step, thereby can judge the safety of fireman, thereby prevent that the fireman from producing corresponding danger.
Example 1: in the two-dimensional plane model, the GPS positioning module detects that the position set of the current firefighter is H = (x)1,y1) = (20, 15), detect that combustible substance leads to the slope because of the fire condition in the forest, unmanned aerial vehicle will bend angle
The position of the combustible of (a) is set to J = { (a)1,b1)、(a2,b2) The position of combustible materials after dumping is P = { (x) in a screen display interface uploaded to a remote control end1 ’,y1 ’)、（x2 ’,y2 ’) = { (12, 30), (20,35) }, and sets the next position of the firefighter as (a)i ’,bm ’) = (35, 30), the set preset distance Z is 30;
according to the formula:
example 2: in the two-dimensional plane model, the GPS positioning module detects that the position set of the current firefighter is H = (x)1,y1) = (30, 20), detect that combustible substance leads to the slope because of the conflagration condition in the forest, unmanned aerial vehicle will bend angle
The position of the combustible of (a) is set to J = { (a)1,b1) Uploading the combustible materials to a screen display interface of a remote control end, wherein the position of the combustible materials after dumping is P = (x) = (40, 80) } in the screen display interface of the remote control end1 ’,y1 ’) = (12, 30), set firefighter next position as (a)i ’,bm ’) = 35, 30, the preset distance Z is set to 30, and the preset distance o = 40;
according to the formula:
let Y = kx + b;
substituting (40, 80) and (12, 30) into the formula; the following can be obtained: y =1.7x +8.5;
after the position of the firefighter is substituted into the formula,
=68,
O=68-30=58>40;
indicating that the firefighter is not creating a hazard.
When the next coordinate of fireman is not in setting for the line segment, the fireman can not produce danger, when the next coordinate of fireman when setting for the preset distance o in the line segment, the fireman can produce danger, wherein: k. b is the coefficient within the line segment, y is a function of combustible toppling, M is the distance between one of the combustibles before and after toppling,
refers to the distance between the other combustible before and after pouring, ai、bi、x1 ’、y1 ’Refers to one of the coordinate values of combustible material before and after pouring, ak、bk、xe ’、ye ’The value is the other one of the coordinate values before and after the combustible materials are poured, and Z is a preset distance between a plurality of combustible materials after being poured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an intelligent transmission system based on unmanned aerial vehicle cooperation which characterized in that: the system comprises an unmanned aerial vehicle group formation control system, a remote control end, an airplane cooperation system and a safety guarantee system, wherein the unmanned aerial vehicle group formation control system is used for an unmanned aerial vehicle unit to acquire forest firing end data in real time and send the acquired data to the remote control end, the remote control end is used for receiving the data acquired by the unmanned aerial vehicle end and sending instructions to the unmanned aerial vehicle group and the airplane for control in satellite communication, the airplane cooperation system is used for analyzing according to information uploaded by the unmanned aerial vehicle group and sending fire extinguishing bombs to a firing point, and the safety guarantee system is used for extinguishing a fire by a fireman facing to a fire area after the fire is relieved and simultaneously guaranteeing the life safety of the fireman;
the safety guarantee system comprises a GPS positioning module and a fireman safety degree prediction module, wherein the GPS positioning module is used for positioning the position of a fireman, and the fireman safety degree prediction module is used for predicting whether the damage condition of combustible materials can cause the dangerous condition of the fireman when the fireman extinguishes the combustible materials, so that the safety of the fireman can be guaranteed;
in the two-dimensional plane model, the GPS positioning module detects that the position set of a plurality of firefighters is H = { (x)1,y1),(x2,y2)...(xm,ym) And when detecting that the combustible materials in the forest are inclined due to the fire condition, the unmanned aerial vehicle bends the angle
The position of the combustible of (a) is set to J = { (a)1,b1),(a2,b2),(a3,b3)...(am,bm) Uploading the combustible materials to a screen display interface of a remote control end, wherein the set of positions of the combustible materials after the combustible materials are dumped is P = { (x)1 ’,y1 ’),(x2 ’,y2 ’)...(xm ’,ym ’) The next position of the firefighter is set as (a)i ’,bm ’）;
According to the formula:
when more than 1 combustible is poured:
when in use
<Z, the firefighter is dangerous, otherwise, the firefighter is not dangerous;
when 1 combustible was poured:
setting a linear segment generated before and after the combustible material is poured as Y = kx + b, and substituting coordinates before and after the combustible material is poured;
when the next coordinate of fireman is not in setting for the line segment, the fireman can not produce danger, when the next coordinate of fireman when setting for the preset distance o in the line segment, the fireman can produce danger, wherein: k. b is the coefficient within the line segment, y is a function of combustible toppling, M is the distance between one of the combustibles before and after toppling,
refers to the distance between the other combustible before and after pouring, ai、bi、x1 ’、y1 ’Refers to one of the coordinate values of combustible material before and after pouring, ak、bk、xe ’、ye ’The value is the other one of the coordinate values before and after the combustible materials are poured, and Z is a preset distance between a plurality of combustible materials after being poured;
the combustible is tree.
2. The unmanned aerial vehicle cooperation-based intelligent transmission system of claim 1, wherein: unmanned aerial vehicle group formation control system includes image processing module, environment detection sensor end, GPS orientation module, photo analysis upload module and authority safety transfer module, image processing module is used for shooing and uploading the forest region that unmanned aerial vehicle group was taken to the area to monitor the forest area of catching fire, environment detection sensor end is used for the temperature number after current wind speed of real-time collection and the forest catches fire, photo analysis upload module is used for according to the data information who gathers, and reasonable arrangement unmanned aerial vehicle end formation stops corresponding distance in the sky, authority safety transfer module is used for transferring the control authority of unmanned aerial vehicle end to the fireman through the satellite by the control end, GPS orientation module is used for detecting the area that unmanned aerial vehicle catches fire in the forest area.
3. The unmanned aerial vehicle cooperation-based intelligent transmission system of claim 2, wherein: in a two-dimensional plane model, judging that the area of the original forest area is m x n according to data collected by a plurality of unmanned aerial vehicles, and calculating the fire spreading process by using a labyrinth algorithm, wherein the calculating process comprises the following steps:
z01: judging the initial accumulated time t for the fire area to spread to the set direction according to the spreading process of the fire area and the current wind speed v and direction f;
z02: cumulative calculation from forestThe initial area m x n of the fire zone extends to m1*n1Time of t2When the number of the spread directions is detected to exceed the set spread direction number and the fire path delays to the tendrils of the adjacent trees, the time for detecting the fire spread is t3；
Z03: newly formed fire spread area is m2*n2And the total time t for the final fire to spread in all directionsGeneral assembly=t2+t3,t2>t and tGeneral assembly>t' indicates that the fire spread is fast, otherwise the fire spread is slow, and the area of the formed area can be controlled in a short time, wherein: m is2*n2>m '. times.n ', t ' is the set propagation time, and m '. times.n ' is the area of the region where the propagation is set.
4. The unmanned aerial vehicle cooperation-based intelligent transmission system of claim 2, wherein: the steps of the safe transfer of the authority are as follows:
z001: acquiring a set of a position w of each unmanned aerial vehicle staying in the sky, a dimension and positions corresponding to a plurality of firefighters as Q = { Q =1,q2...qmCalculating the distance between the original unmanned aerial vehicle and each firefighter as M, and matching the unmanned aerial vehicle number close to the position of each firefighter for matching;
z002: acquiring the accuracy of controlling the unmanned aerial vehicle by the firemen stored in the database, judging the grade parameters of controlling the operation of the unmanned aerial vehicle by the firemen, and distributing the suitable unmanned aerial vehicle according to the corresponding grade parameters;
z003: when the fire fighter operates the unmanned aerial vehicle to have a fault or the distance is long, transferring or sharing the authority of the unmanned aerial vehicle under the permission of peripheral fire fighters, and controlling the unmanned aerial vehicle by the fire fighter with the highest authority;
z004: and uploading the area shot by each unmanned aerial vehicle to a control end, and displaying the shot interface.
5. The unmanned aerial vehicle cooperation-based intelligent transmission system of claim 2, wherein: according to detecting the forestThe area of the area on fire is m x n, and the time spent by the unmanned aerial vehicle in the form of a group to arrive at each vertex of the area of the newly formed fire is t4And the time spent by the plane in the area above the unmanned plane is t5The flying speed of the unmanned aerial vehicle in the formation above the ground is v2The ascending path is L, so the time for the aircraft end to start to project the fire extinguishing bomb is
；
After the permission of the firemen is obtained, the fire extinguishing bomb is projected to the area of the area where the fire extinguishing bomb is put, and the area of the area where the fire extinguishing bomb is put is S1The velocity of the fire extinguishing bomb projected to the corresponding area is v3After the fire extinguishing bomb is projected, the fire fighter can continue to extinguish the fire according to the projection area of the fire extinguishing bomb, and the fire fighter can eliminate part of the area S2Water flow velocity v at fire4When measuring and calculating
When the fire is extinguished, the fire extinguishing area of the part of the firefighter is not reignited, and when the fire extinguishing area is measured
In time, the partial area of the fire-fighting area of the firefighter is relight again, and the fire is needed to be continuously extinguished on the area.
6. The unmanned aerial vehicle cooperation-based intelligent transmission system of claim 1, wherein: the remote control end comprises an information sending end, an information receiving end and a screen display interface, the information sending end is used for coding and decoding a human instruction to form a digital signal and sending the digital signal to the signal sending end, the information receiving end is used for receiving information and pictures sent by an unmanned aerial vehicle formation and an airplane and sending related instructions to control the unmanned aerial vehicle formation end, the screen display interface is used for transmitting photos taken by the unmanned aerial vehicle in the interface through a satellite, the unmanned aerial vehicle can store the photos taken and select areas in the photos through commands of the control end, and the unmanned aerial vehicle set positions and retakes at specific positions.
7. The unmanned aerial vehicle cooperation-based intelligent transmission system of claim 1, wherein: the airplane cooperation system comprises an instruction sending end and a fire extinguishing bomb projection module, wherein the instruction sending end is used for starting a plurality of airplanes to reach a designated area according to an instruction sent by a control end to assist fire extinguishing, the fire extinguishing bomb projection module is used for projecting fire extinguishing bombs at the positions of the airplanes by taking the radius r as the circle center and h as the height, and sending the area of the projected area to a remote control end, so that the eliminated area can be known in an electronic map;
the instruction sending end comprises one or more of the following components:
when the fire extinguishing bomb projected by the airplane is detected not to be in the designated fire extinguishing area, the height projected by the fire extinguishing bomb and the position of the airplane can be adjusted, and the projection task is continuously executed;
when detecting that the fire extinguishing bomb projected by the airplane does not extinguish the fire in the designated area, sending an instruction to the control end, and requiring a fireman to perform auxiliary fire extinguishing by the control end;
when communication faults occur in the flight process of the airplane and the command transmitted by the unmanned aerial vehicle is not received for a long time for communication, the command is sent to the control end, the control end returns to the original position to be set, and the command of the control end and the unmanned aerial vehicle marshalling end is waited for again.
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