CN113426044B - Forest fire extinguishing method for cluster unmanned aerial vehicle - Google Patents
Forest fire extinguishing method for cluster unmanned aerial vehicle Download PDFInfo
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- 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
- A62C3/0235—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 by means of containers, e.g. buckets
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/009—Methods or equipment not provided for in groups A62C99/0009 - A62C99/0081
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Abstract
The invention discloses a forest fire extinguishing method for cluster unmanned aerial vehicles, which comprises the following steps: s101, constructing a single unmanned aerial vehicle fire extinguishing mounting device; comprises a hanging support plate, a left fire extinguishing box, a middle fire extinguishing box, a right fire extinguishing box, a fire extinguishing box bottom plate, a fire extinguishing box rotating shaft and a fire extinguishing box electromagnetic lock; s102, planning and implementing a multi-machine cooperative forest fire extinguishing path; constructing an unmanned aerial vehicle collaborative fire extinguishing path planning neural network, establishing a corresponding relation between forest fire information parameters and unmanned aerial vehicle cluster fire extinguishing path planning, acquiring planning and implementing fire extinguishing operation; s103, implementing supplementary fire extinguishing by the cluster unmanned aerial vehicle; setting parameters, grid division, cluster flight planning and implementation of cluster unmanned aerial vehicle supplementary fire extinguishing planning; through the execution and implementation of the steps, the forest fire extinguishing effect of the cluster unmanned aerial vehicle is achieved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle application, in particular to forest fire extinguishing mounting device design based on cluster unmanned aerial vehicles and research on a forest fire extinguishing cooperation method of unmanned aerial vehicle cluster.
Background
In recent years, global forest fires are continuously generated, and the seriousness of part of the forest fires attracts people in the world; at present, in forest fire extinguishing, unmanned aerial vehicles are used to a certain extent, and how to extinguish the forest fire based on cluster unmanned aerial vehicles becomes a research topic.
At present, research on patents for fire extinguishing of unmanned aerial vehicles is abundant, and if an invention patent entitled "unmanned aerial vehicle fire extinguishing system based on unmanned aerial vehicle group operation" is applied in 2018, 9 months, a main unmanned aerial vehicle carrying electronic induction equipment and an auxiliary unmanned aerial vehicle capable of carrying fire extinguishing bombs are integrated, and through cooperative work of the main unmanned aerial vehicle and the auxiliary unmanned aerial vehicle, a ground fireman controls a PC (personal computer), and power supply of an electromagnetic grapple is cut off at a proper time, so that accurate throwing of the fire extinguishing bombs is realized; also as an invention patent entitled "an unmanned aerial vehicle capable of suppressing forest fire underground" applied in 6 months in 2018, the top end of the unmanned aerial vehicle body is provided with a sealing cover, six arms are arranged around the edge of the body, and a motor is arranged on a mounting seat; the water storage tank is arranged on the support plate and filled with the fire extinguishing agent, so that the forest fire can be monitored, positioned and effectively cleaned in real time; and can be adjusted according to local conditions and time, and has enough processing mechanism; still like the utility model patent of the problem of 2018 application in 5 months "a forest fire prevention system and unmanned aerial vehicle forest fire prevention system", integrated main control unit, solar panel, DC converter, battery, voltage stabilizing module, smoke detector, alarm, have unmanned aerial vehicle forest fire prevention function.
Disclosure of Invention
In view of the background information, the invention aims to provide a forest fire-extinguishing method for cluster unmanned aerial vehicles, wherein a mounting device of the unmanned aerial vehicles is designed, a cluster cooperative fire-extinguishing strategy for the unmanned aerial vehicles is provided, and the problem of forest fire-extinguishing by utilizing the cluster unmanned aerial vehicles is solved; in order to achieve the purpose, the invention adopts the following technical scheme.
A forest fire extinguishing method for cluster unmanned aerial vehicles comprises the following steps:
s101, constructing a single unmanned aerial vehicle fire extinguishing mounting device; the hanging and carrying plate comprises a hanging and carrying plate I, a hanging and carrying plate II, a hanging and carrying plate III and a hanging and carrying plate IV; the first hanging and supporting plate, the second hanging and supporting plate, the third hanging and supporting plate and the fourth hanging and supporting plate are identical in structure and are used for being hung on a rack of the unmanned aerial vehicle and keeping firmness; the fire extinguishing device also comprises a left fire extinguishing box, a middle fire extinguishing box and a right fire extinguishing box; the left fire extinguishing box, the middle fire extinguishing box and the right fire extinguishing box are of the same structure, are all cuboid boxes with upper openings and are made of carbon fibers; the left fire extinguishing box, the middle fire extinguishing box and the right fire extinguishing box can be loaded with the same or different fire extinguishing materials according to the fire extinguishing requirements, such as water, sand, foam, dry powder, chemical fire retardants and the like; the fire extinguishing box also comprises a left fire extinguishing box bottom plate, a left fire extinguishing box rotating shaft and a left box electromagnetic lock; when the electromagnetic lock of the left fire extinguishing box is opened, the bottom plate of the left fire extinguishing box can rotate downwards around the rotating shaft of the left fire extinguishing box under the action of gravity, so that the lower opening of the left fire extinguishing box is completely opened, and fire extinguishing substances in the left fire extinguishing box completely fall down under the action of gravity; lifting the bottom plate of the left fire extinguishing box to close the lower opening of the left fire extinguishing box, and closing the electromagnetic lock of the left fire extinguishing box by a user through a remote controller to prevent the bottom plate of the left fire extinguishing box from moving; the fire extinguishing box also comprises a middle fire extinguishing box bottom plate, a middle fire extinguishing box rotating shaft and a middle box electromagnetic lock; a user can control the switch of the electromagnetic lock of the middle fire box through a remote controller, when the electromagnetic lock of the middle fire box is opened, the bottom plate of the middle fire box can rotate downwards around the rotating shaft of the middle fire box under the action of gravity, so that the lower opening of the middle fire box is completely opened, and fire extinguishing substances in the middle fire box completely fall under the action of gravity; lifting the bottom plate of the middle fire extinguishing box to close the lower opening of the middle fire extinguishing box, and closing the electromagnetic lock of the middle fire extinguishing box by a user through a remote controller to prevent the bottom plate of the middle fire extinguishing box from moving; the fire extinguishing box also comprises a right fire extinguishing box bottom plate, a right fire extinguishing box rotating shaft and a right box electromagnetic lock; when the right box electromagnetic lock is opened, the bottom plate of the right fire extinguishing box can rotate downwards around the rotating shaft of the right fire extinguishing box under the action of gravity, so that the lower opening of the right fire extinguishing box is completely opened, and fire extinguishing substances in the right fire extinguishing box completely fall down under the action of gravity; the bottom plate of the right fire extinguishing box is lifted up, the lower opening of the right fire extinguishing box is closed, and a user can close the electromagnetic lock of the right fire extinguishing box through a remote controller, so that the bottom plate of the right fire extinguishing box does not move any more.
The first mounting plate comprises a first expansion plate and a second expansion plate, and the lengths of the first expansion plate and the second expansion plate can be adjusted, so that the mounting requirements of different unmanned aerial vehicles can be met; the fire extinguishing device also comprises a vertical plate, a fire extinguishing box wall, a bottom plate rotating shaft, a bottom plate, a hanging plate lock and a top plate; when the hanging plate lock is opened, the bottom plate can rotate downwards around the bottom plate rotating shaft under the action of gravity, and at the moment, the hanging rod of the unmanned aerial vehicle can be clamped by the top plate and the bottom plate; the bottom plate is lifted up, and the hanging plate lock is closed, so that the bottom plate does not move any more.
S102, planning and implementing a multi-machine cooperative forest fire extinguishing path; firstly, constructing an unmanned aerial vehicle collaborative fire extinguishing path planning neural network, and establishing a corresponding relation between forest fire information parameters and unmanned aerial vehicle cluster fire extinguishing path planning; secondly, inputting actual forest fire information and unmanned aerial vehicle cluster parameter information to the unmanned aerial vehicle collaborative fire extinguishing path planning neural network; thirdly, obtaining a multi-machine cooperative forest fire extinguishing path plan generated from the unmanned aerial vehicle cooperative fire extinguishing path planning neural network; fourthly, implementing multi-machine cooperative forest fire extinguishing.
The unmanned aerial vehicle collaborative fire extinguishing path planning neural network comprises an information receiving area, a neural perception area, a learning decision area and an information output area; the information receiving area comprises personnel information conditions, forest area, ignition range, field wind speed, weather conditions, the number of unmanned aerial vehicles, fire extinguishing materials, peripheral resident conditions, peripheral landform conditions and fire conditions; the personnel information condition comprises unmanned aerial vehicle driver condition, ground service personnel condition, commander condition, support personnel condition and professional technician condition; the forest area refers to area data of a forest in a forest fire occurrence area and comprises discrete longitude and latitude information of a boundary; the fire range refers to the coverage range of the current forest fire and comprises discrete longitude and latitude information of the boundary; the field wind speed refers to wind speed information of a forest fire scene; the weather conditions comprise visibility of forest fire sites and cloudy, sunny, rainy and snowy conditions; the number of the unmanned aerial vehicles comprises the number information of the unmanned aerial vehicle clusters; the fire extinguishing material comprises information of fire extinguishing materials carried by the unmanned aerial vehicle, such as water, foam and dry powder; the surrounding resident condition comprises the number of residents around the forest and distance information between the resident residents and the forest; the peripheral landform condition refers to landform information of mountains, rivers, hills, basins and the like; the fire condition comprises the information of the spread speed of the fire and the current fire degree; the nerve sensing area comprises a nerve cell matrix I, a nerve cell matrix II, a nerve cell matrix III, a nerve cell matrix IV, a nerve cell matrix V, a nerve cell matrix VI, a nerve cell matrix VII, a nerve cell matrix VIII, a nerve cell matrix VII and a nerve cell matrix VIII; the structure principles of the nerve cell matrix I, the nerve cell matrix II, the nerve cell matrix III, the nerve cell matrix IV, the nerve cell matrix V, the nerve cell matrix VI, the nerve cell matrix VII, the nerve cell matrix VIII, the nerve cell matrix IX and the nerve cell matrix VIII are the same, and the nerve cell matrix has the function of sensing information; the learning decision area comprises a memory unit, a mode scheduling interface, a decision device and a learner; the memory unit is used for memorizing the corresponding relation between the input information and the output information; the mode scheduling interface is used for driving the path planning neural network to enter a learning mode or a decision mode according to a user instruction; the decision maker is used for determining various information of the information output area according to the information fed back by the neural perception area and the memory information of the memory unit in a decision mode; the learner is used for constructing the corresponding relation between each item of information of the neural perception area and the information output area and storing the corresponding relation in the memory unit after the information receiving area and the information output area are filled with information in the learning mode; the information output area comprises personnel configuration, unmanned aerial vehicle formation division, fire extinguishing material configuration, unmanned aerial vehicle path planning and unmanned aerial vehicle cluster fire extinguishing implementation strategies.
The nerve cell matrix comprises an information input interface,mLine ofnThe device comprises a column of neural memory cells and an information output interface;the work flow of the nerve cell matrix is as follows: firstly, if the unmanned aerial vehicle collaborative fire extinguishing path planning neural network is in a learning mode, when information is input into the information input interface, the input information is assumed to bet(ii) a Step two, traversing according to the sequence of the row values from small to largemLine ofnColumn of neural memory cells, which, assuming that the current neural memory cell does not store information, will storetStoring in current neural memory cell, and making information output port output informationt(ii) a If the current neural memory cell has information, and its value isxThen judgexWhether or not the value of (A) is equal totIf the same, the information output port outputs informationx(ii) a Thirdly, if the unmanned aerial vehicle collaborative fire extinguishing path planning neural network is in a decision mode, when information is input into the information input interface, the input information is assumed to bet(ii) a Fourthly, traversing according to the sequence of the row values from small to largemLine ofnThe method comprises the following steps that a plurality of nerve storage units are arranged, and an information output port is made to output null information if the current nerve storage unit does not store information; if the current neural memory cell has information, and its value isxThen judgexWhether or not the value of (A) is equal totIf the same, the information output port outputs informationx。
S103, implementing supplementary fire extinguishing by the cluster unmanned aerial vehicle; supposing that after S102, the forest fire is extinguished, in order to consolidate the forest fire extinguishing effect of the cluster unmanned aerial vehicle and prevent re-combustion, the forest fire passing zone needs to be subjected to primary full-coverage supplementary fire extinguishing; the cluster unmanned aerial vehicle supplementary fire extinguishing algorithm is as follows: firstly, setting parameters; suppose the number of unmanned planes in the unmanned plane cluster isiThe area of forest fire passing iskThe length of the middle fire box bottom plate 114 isaIs as wide asbThe set of fire passing point longitude and latitude isQ={(x 1,y 1),(x 2,y 2),...(x n ,y n )},x 1， x 2...x n As the information of the longitude, it is,y 1， y 2...y n is latitude information and is collectedQThe distance between adjacent points in the array is
(ii) a A second step, meshing, ofQThe adjacent four points can form a closed area element, and the set of the area elements is assumed to beR={r 1,r 2,...,r j }; third, cluster flight planning, assumingj/i=e，j-i*e=p(ii) a Then a flag is setflagIs 1, is marked withcalIs 0, traverse the setR(ii) a If it isflagIs not thate+1, andcalis not thatiPut the current element into the setw flag In (1),cal=cal+ 1; if it isflagIs not thate+1, andcalis composed ofiThen order the markcalIs a non-volatile organic compound (I) with a value of 0,flag=flag+1, put the current element into the setw flag In (1),cal=cal+ 1; if it isflagIs composed ofe+1, then put the current element into the setuPerforming the following steps; then set upR={w 1,w 2,...,w e ,uH, sub-set of themw 1,w 2,...,w e The number of elements in isiA, a subsetuThe number of elements in ispA plurality of; fourthly, implementing a supplementary fire extinguishing plan of the cluster unmanned aerial vehicle; setting markteagIs 1; traversing a set of region elementsR={w 1,w 2,...,w e ,uIf the current element iszAnd is andteagis not thate+1, then organizationiSet up unmanned aerial vehicle pairzIn (1)iThe elements of each area are respectively subjected to the supplementary fire extinguishing operation,teag=teag+ 1; if the current element iszAnd is andteagis composed ofe+1, then organizationpSet up unmanned aerial vehicle pairzIn (1)pAnd (4) respectively carrying out supplementary fire extinguishing operation on each area element.
Drawings
Fig. 1 is a step diagram of a forest fire extinguishing method for cluster unmanned aerial vehicles according to the invention.
Fig. 2 is a structural diagram of the fire extinguishing mounting device of the single unmanned aerial vehicle.
Fig. 3 is a structural diagram of the first suspension board 101 in fig. 2.
Fig. 4 is a structural diagram of the unmanned aerial vehicle collaborative fire extinguishing path planning neural network.
Fig. 5 is a schematic diagram of the neural cell matrix.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings; a forest fire extinguishing method for cluster unmanned aerial vehicles comprises the following steps:
s101, constructing a single unmanned aerial vehicle fire extinguishing mounting device; as shown in fig. 2, mounting plate one is denoted by 101, mounting plate two is denoted by 102, mounting plate three is denoted by 103, and mounting plate four is denoted by 104; the first mounting plate 101, the second mounting plate 102, the third mounting plate 103 and the fourth mounting plate 104 are identical in structure and are used for being mounted on a rack of the unmanned aerial vehicle and keeping firm; 105 is a left fire extinguishing box, 106 is a middle fire extinguishing box, and 107 is a right fire extinguishing box; the left fire extinguishing box 105, the middle fire extinguishing box 106 and the right fire extinguishing box 107 are of the same structure, are all rectangular boxes with upper openings and are made of carbon fibers; the left fire extinguishing box 105, the middle fire extinguishing box 106 and the right fire extinguishing box 107 can be loaded with the same or different fire extinguishing materials according to fire extinguishing requirements, such as water, sand, foam, dry powder, chemical fire retardants and the like; 115 is a bottom plate of the left fire-extinguishing box, 108 is a rotating shaft of the left fire-extinguishing box, and 116 is an electromagnetic lock of the left fire-extinguishing box; a user can control the switch of the left box electromagnetic lock 116 through a remote controller, when the left box electromagnetic lock 116 is opened, the bottom plate 115 of the left fire-extinguishing box can rotate downwards around the rotating shaft 108 of the left fire-extinguishing box under the action of gravity, so that the lower opening of the left fire-extinguishing box 105 is completely opened, and fire-extinguishing substances in the left fire-extinguishing box 105 can fall completely under the action of gravity; lifting the bottom plate 115 of the left fire extinguishing box to close the lower opening of the left fire extinguishing box 105, and closing the electromagnetic lock 116 of the left fire extinguishing box by a user through a remote controller to prevent the bottom plate 115 of the left fire extinguishing box from moving; 114 is a middle fire-extinguishing box bottom plate, 109 is a middle fire-extinguishing box rotating shaft, and 113 is a middle box electromagnetic lock; a user can control the opening and closing of the middle box electromagnetic lock 113 through a remote controller, when the middle box electromagnetic lock 113 is opened, the bottom plate 114 of the middle fire-extinguishing box can rotate downwards around the rotating shaft 109 of the middle fire-extinguishing box under the action of gravity, so that the lower opening of the middle fire-extinguishing box 106 is completely opened, and fire-extinguishing substances in the middle fire-extinguishing box 106 can fall completely under the action of gravity; lifting the bottom plate 114 of the middle fire-extinguishing box to close the lower opening of the middle fire-extinguishing box 106, and closing the electromagnetic lock 113 of the middle box by a user through a remote controller to prevent the bottom plate 114 of the middle fire-extinguishing box from moving; 112 is a bottom plate of the right fire-extinguishing box, 110 is a rotating shaft of the right fire-extinguishing box, and 111 is an electromagnetic lock of the right box; a user can control the switch of the right box electromagnetic lock 111 through a remote controller, when the right box electromagnetic lock 111 is opened, the bottom plate 112 of the right fire-extinguishing box can rotate downwards around the rotating shaft 110 of the right fire-extinguishing box under the action of gravity, so that the lower opening of the right fire-extinguishing box 107 is completely opened, and fire-extinguishing substances in the right fire-extinguishing box 107 can fall completely under the action of gravity; the bottom plate 112 of the right fire-extinguishing box is lifted up to close the lower opening of the right fire-extinguishing box 107, and the user can close the electromagnetic lock 111 of the right box through a remote controller to prevent the bottom plate 112 of the right fire-extinguishing box from moving.
Fig. 3 is a structural diagram of the first mounting plate 101 in fig. 2, and as shown in fig. 3, 201 is a first expansion plate, 202 is a second expansion plate, and the lengths of the first expansion plate 201 and the second expansion plate 202 can be adjusted to meet mounting requirements of different unmanned aerial vehicles; 207 is a vertical plate, 206 is a fire extinguishing box wall, 204 is a bottom plate rotating shaft, 205 is a bottom plate, 203 is a hanging plate lock, and 208 is a top plate; when the hanging plate lock 203 is opened, the bottom plate 205 can rotate downwards around the bottom plate rotating shaft 204 under the action of gravity, and at the moment, the hanging rod of the unmanned aerial vehicle can be clamped by the top plate 208 and the bottom plate 205; the bottom plate 205 is lifted up and the panel lock 203 is closed so that the bottom plate 205 does not move any more.
S102, planning and implementing a multi-machine cooperative forest fire extinguishing path; firstly, constructing an unmanned aerial vehicle collaborative fire extinguishing path planning neural network, and establishing a corresponding relation between forest fire information parameters and unmanned aerial vehicle cluster fire extinguishing path planning; secondly, inputting actual forest fire information and unmanned aerial vehicle cluster parameter information to the unmanned aerial vehicle collaborative fire extinguishing path planning neural network; thirdly, obtaining a multi-machine cooperative forest fire extinguishing path plan generated from the unmanned aerial vehicle cooperative fire extinguishing path planning neural network; fourthly, implementing multi-machine cooperative forest fire extinguishing.
Fig. 4 is a structural diagram of the unmanned aerial vehicle collaborative fire extinguishing path planning neural network, and as shown in fig. 4, the unmanned aerial vehicle collaborative fire extinguishing path planning neural network includes an information receiving area, a neural sensing area, a learning decision area, and an information output area; in the information receiving area, 301 represents personnel information condition, 303 forest area, 305 fire range, 307 site wind speed, 309 weather condition, 311 unmanned aerial vehicle number, 313 fire extinguishing material, 315 peripheral resident condition, 317 peripheral landform condition and 319 fire condition; the personnel information condition 301 comprises an unmanned aerial vehicle driver condition, a ground crew condition, a commander condition, a support personnel condition and a professional technician condition; the forest area 303 refers to area data of a forest in a forest fire occurrence area, and includes discrete longitude and latitude information of a boundary; the fire range 305 refers to the coverage of the current forest fire, and includes discrete longitude and latitude information of the boundary; the field wind speed 307 refers to wind speed information of a forest fire scene; weather conditions 309 include visibility at a forest fire site, cloudy, sunny, rainy, and snowy conditions; the number 311 of drones includes information on the number of drone clusters; the fire extinguishing material 313 comprises information of fire extinguishing materials carried by the unmanned aerial vehicle, such as water, foam and dry powder; the surrounding resident condition 315 includes the number of residents around the forest and the distance information between the residents and the forest; the surrounding landform conditions 317 refer to landform information such as mountains, rivers, hills, basins and the like; the fire condition 319 includes information on the spread rate of the fire and the current degree of the fire; in the nerve sensing area, 302 is a nerve cell matrix I, 304 is a nerve cell matrix II, 306 is a nerve cell matrix III, 308 is a nerve cell matrix IV, 310 is a nerve cell matrix V, 312 is a nerve cell matrix VI, 314 is a nerve cell matrix seven, 316 is a nerve cell matrix eight, 318 is a nerve cell matrix nine, and 320 is a nerve cell matrix ten; the structure principles of the nerve cell matrix I302, the nerve cell matrix II 304, the nerve cell matrix III 306, the nerve cell matrix IV 308, the nerve cell matrix V310, the nerve cell matrix VI 312, the nerve cell matrix VII 314, the nerve cell matrix VIII 316, the nerve cell matrix IX 318 and the nerve cell matrix VIII are the same, the nerve cell matrix is used for sensing information, and a schematic diagram of the nerve cell matrix is given in FIG. 5; in the learning decision area, 321 is a memory unit, 322 is a mode scheduling interface, 323 is a decision device, and 324 is a learner; the memory unit 321 is used for memorizing the corresponding relationship between the input information and the output information; the mode scheduling interface 322 is used for driving the path planning neural network to enter a learning mode or a decision mode according to a user instruction; the decision device 323 is used for determining various information of the information output area according to the information fed back by the neural sensing area and the memory information of the memory unit 321 in the decision mode; the learner 324 is configured to, in the learning mode, construct a corresponding relationship between each item of information in the neural sensing area and the information output area after the information receiving area and the information output area are filled with information, and store the corresponding relationship in the memory unit 321; in the information output zone, 325 policies are implemented for personnel configuration, 326 for drone formation division, 327 for fire suppression material configuration, 328 for drone path planning, 329 for drone cluster fire suppression.
FIG. 5 is a schematic diagram of the nerve cell matrix, which is shown in FIG. 5 and includes an information input interface,mLine ofnThe device comprises a column of neural memory cells and an information output interface; the work flow of the nerve cell matrix is as follows: firstly, if the unmanned aerial vehicle collaborative fire extinguishing path planning neural network is in a learning mode, when information is input into the information input interface, the input information is assumed to bet(ii) a Step two, traversing according to the sequence of the row values from small to largemLine ofnColumn of neural memory cells, which, assuming that the current neural memory cell does not store information, will storetStoring in current neural memory cell, and making information output port output informationt(ii) a If the current neural memory cell has information, and its value isxThen judgexWhether or not the value of (A) is equal totIf the same, the information output port outputs informationx(ii) a Thirdly, if the unmanned aerial vehicle collaborative fire extinguishing path planning neural network is in a decision mode, when information is input into the information input interface, the input information is assumed to bet(ii) a Fourthly, traversing according to the sequence of the row values from small to largemLine ofnThe method comprises the following steps that a plurality of nerve storage units are arranged, and an information output port is made to output null information if the current nerve storage unit does not store information; if the current neural memory cell has information, and its value isxThen judgexWhether or not the value of (A) is equal totIf the same, the information output port outputs informationx。
S103、Implementing supplementary fire extinguishing by the cluster unmanned aerial vehicle; supposing that after S102, the forest fire is extinguished, in order to consolidate the forest fire extinguishing effect of the cluster unmanned aerial vehicle and prevent re-combustion, the forest fire passing zone needs to be subjected to primary full-coverage supplementary fire extinguishing; the cluster unmanned aerial vehicle supplementary fire extinguishing algorithm is as follows: firstly, setting parameters; suppose the number of unmanned planes in the unmanned plane cluster isiThe area of forest fire passing iskThe length of the middle fire box bottom plate 114 isaIs as wide asbThe set of fire passing point longitude and latitude isQ={(x 1,y 1),(x 2,y 2),...(x n ,y n )},x 1， x 2...x n As the information of the longitude, it is,y 1， y 2...y n is latitude information and is collectedQThe distance between adjacent points in the array is(ii) a A second step, meshing, ofQThe adjacent four points can form a closed area element, and the set of the area elements is assumed to beR={r 1,r 2,...,r j }; third, cluster flight planning, assumingj/i=e，j-i*e=p(ii) a Then a flag is setflagIs 1, is marked withcalIs 0, traverse the setR(ii) a If it isflagIs not thate+1, andcalis not thatiPut the current element into the setw flag In (1),cal=cal+ 1; if it isflagIs not thate+1, andcalis composed ofiThen order the markcalIs a non-volatile organic compound (I) with a value of 0,flag=flag+1, put the current element into the setw flag In (1),cal=cal+ 1; if it isflagIs composed ofe+1, then put the current element into the setuPerforming the following steps; then set upR={w 1,w 2,...,w e ,uH, sub-set of themw 1,w 2,...,w e The number of elements in isiA, a subsetuThe number of elements in ispA plurality of; fourthly, implementing a supplementary fire extinguishing plan of the cluster unmanned aerial vehicle; setting markteagIs 1; traversing a set of region elementsR={w 1,w 2,...,w e ,uIf the current element iszAnd is andteagis not thate+1, then organizationiSet up unmanned aerial vehicle pairzIn (1)iThe elements of each area are respectively subjected to the supplementary fire extinguishing operation,teag=teag+ 1; if the current element iszAnd is andteagis composed ofe+1, then organizationpSet up unmanned aerial vehicle pairzIn (1)pAnd (4) respectively carrying out supplementary fire extinguishing operation on each area element.
It should be apparent that the above-described embodiment is merely an example of the present invention, and any simple modification of the structure or principle provided by the present invention is within the protection scope of the present invention.
Claims (4)
1. A forest fire extinguishing method for cluster unmanned aerial vehicles is characterized by comprising the following steps:
s101, constructing a single unmanned aerial vehicle fire extinguishing mounting device; the hanging and carrying plate comprises a hanging and carrying plate I, a hanging and carrying plate II, a hanging and carrying plate III and a hanging and carrying plate IV; the first hanging and supporting plate, the second hanging and supporting plate, the third hanging and supporting plate and the fourth hanging and supporting plate are identical in structure and are used for being hung on a rack of the unmanned aerial vehicle and keeping firmness; the fire extinguishing device also comprises a left fire extinguishing box, a middle fire extinguishing box and a right fire extinguishing box; the left fire extinguishing box, the middle fire extinguishing box and the right fire extinguishing box are of the same structure, are all cuboid boxes with upper openings and are made of carbon fibers; the left fire extinguishing box, the middle fire extinguishing box and the right fire extinguishing box can be loaded with the same or different fire extinguishing materials according to the fire extinguishing requirements, such as water, sand, foam, dry powder, chemical fire retardants and the like; the fire extinguishing box also comprises a left fire extinguishing box bottom plate, a left fire extinguishing box rotating shaft and a left box electromagnetic lock; when the electromagnetic lock of the left fire extinguishing box is opened, the bottom plate of the left fire extinguishing box can rotate downwards around the rotating shaft of the left fire extinguishing box under the action of gravity, so that the lower opening of the left fire extinguishing box is completely opened, and fire extinguishing substances in the left fire extinguishing box completely fall down under the action of gravity; lifting the bottom plate of the left fire extinguishing box to close the lower opening of the left fire extinguishing box, and closing the electromagnetic lock of the left fire extinguishing box by a user through a remote controller to prevent the bottom plate of the left fire extinguishing box from moving; the fire extinguishing box also comprises a middle fire extinguishing box bottom plate, a middle fire extinguishing box rotating shaft and a middle box electromagnetic lock; a user can control the switch of the electromagnetic lock of the middle fire box through a remote controller, when the electromagnetic lock of the middle fire box is opened, the bottom plate of the middle fire box can rotate downwards around the rotating shaft of the middle fire box under the action of gravity, so that the lower opening of the middle fire box is completely opened, and fire extinguishing substances in the middle fire box completely fall under the action of gravity; lifting the bottom plate of the middle fire extinguishing box to close the lower opening of the middle fire extinguishing box, and closing the electromagnetic lock of the middle fire extinguishing box by a user through a remote controller to prevent the bottom plate of the middle fire extinguishing box from moving; the fire extinguishing box also comprises a right fire extinguishing box bottom plate, a right fire extinguishing box rotating shaft and a right box electromagnetic lock; when the right box electromagnetic lock is opened, the bottom plate of the right fire extinguishing box can rotate downwards around the rotating shaft of the right fire extinguishing box under the action of gravity, so that the lower opening of the right fire extinguishing box is completely opened, and fire extinguishing substances in the right fire extinguishing box completely fall down under the action of gravity; lifting the bottom plate of the right fire extinguishing box to close the lower opening of the right fire extinguishing box, and closing the electromagnetic lock of the right fire extinguishing box by a user through a remote controller to prevent the bottom plate of the right fire extinguishing box from moving;
s102, planning and implementing a multi-machine cooperative forest fire extinguishing path; firstly, constructing an unmanned aerial vehicle collaborative fire extinguishing path planning neural network, and establishing a corresponding relation between forest fire information parameters and unmanned aerial vehicle cluster fire extinguishing path planning; secondly, inputting actual forest fire information and unmanned aerial vehicle cluster parameter information to the unmanned aerial vehicle collaborative fire extinguishing path planning neural network; thirdly, obtaining a multi-machine cooperative forest fire extinguishing path plan generated from the unmanned aerial vehicle cooperative fire extinguishing path planning neural network; fourthly, implementing multi-machine cooperative forest fire extinguishing;
s103, implementing supplementary fire extinguishing by the cluster unmanned aerial vehicle; supposing that after S102, the forest fire is extinguished, in order to consolidate the forest fire extinguishing effect of the cluster unmanned aerial vehicle and prevent re-combustion, the forest fire passing zone needs to be subjected to primary full-coverage supplementary fire extinguishing; the cluster unmanned aerial vehicle supplementary fire extinguishing algorithm is as follows: firstly, setting parameters; suppose the number of unmanned planes in the unmanned plane cluster isiThe area of forest fire passing iskThe length of the middle fire box bottom plate 114 isaIs as wide asbThe set of fire passing point longitude and latitude isQ={(x 1,y 1),(x 2,y 2),...(x n ,y n )},x 1,x 2,...,x n Is longitude information;y 1,y 2,...,y n is latitude information and is collectedQThe distance between adjacent points in the array is
(ii) a A second step, meshing, ofQThe adjacent four points can form a closed area element, and the set of the area elements is assumed to beR={r 1,r 2,...,r j }; thirdly, planning cluster flight; suppose thatj/i=e，j-i*e=p(ii) a Then a flag is setflagIs 1, is marked withcalIs 0, traverse the setR(ii) a If it isflagIs not thate+1, andcalis not thatiPut the current element into the setw flag In (1),cal=cal+ 1; if it isflagIs not thate+1, andcalis composed ofiThen order the markcalIs a non-volatile organic compound (I) with a value of 0,flag=flag+1, put the current element into the setw flag In (1),cal=cal+ 1; if it isflagIs composed ofe+1, then put the current element into the setuPerforming the following steps; then set upR={w 1,w 2,...,w e ,uH, sub-set of themw 1,w 2,...,w e The number of elements in isiA, a subsetuThe number of elements in ispA plurality of; fourthly, implementing a supplementary fire extinguishing plan of the cluster unmanned aerial vehicle; setting markteagIs 1; traversing a set of region elementsR={w 1,w 2,...,w e ,uIf the current element iszAnd is andteagis not thate+1, then organizationiSet up unmanned aerial vehicle pairzIn (1)iIndividual region elementThe elements are respectively used for carrying out the supplementary fire extinguishing operation,teag=teag+ 1; if the current element iszAnd is andteagis composed ofe+1, then organizationpSet up unmanned aerial vehicle pairzIn (1)pAnd (4) respectively carrying out supplementary fire extinguishing operation on each area element.
2. The forest fire extinguishing method for the cluster unmanned aerial vehicles according to claim 1, wherein in the step S101, the first mounting plate comprises a first expansion plate and a second expansion plate, and the lengths of the first expansion plate and the second expansion plate can be adjusted to meet mounting requirements of different unmanned aerial vehicles; the fire extinguishing device also comprises a vertical plate, a fire extinguishing box wall, a bottom plate rotating shaft, a bottom plate, a hanging plate lock and a top plate; when the hanging plate lock is opened, the bottom plate can rotate downwards around the bottom plate rotating shaft under the action of gravity, and at the moment, the hanging rod of the unmanned aerial vehicle can be clamped by the top plate and the bottom plate; the bottom plate is lifted up, and the hanging plate lock is closed, so that the bottom plate does not move any more.
3. The forest fire extinguishing method for the cluster unmanned aerial vehicles according to claim 1, wherein in the step S102, the unmanned aerial vehicle collaborative fire extinguishing path planning neural network comprises an information receiving area, a neural sensing area, a learning decision area and an information output area; the information receiving area comprises personnel information conditions, forest area, ignition range, field wind speed, weather conditions, the number of unmanned aerial vehicles, fire extinguishing materials, peripheral resident conditions, peripheral landform conditions and fire conditions; the personnel information condition comprises unmanned aerial vehicle driver condition, ground service personnel condition, commander condition, support personnel condition and professional technician condition; the forest area refers to area data of a forest in a forest fire occurrence area and comprises discrete longitude and latitude information of a boundary; the fire range refers to the coverage range of the current forest fire and comprises discrete longitude and latitude information of the boundary; the field wind speed refers to wind speed information of a forest fire scene; the weather conditions comprise visibility of forest fire sites and cloudy, sunny, rainy and snowy conditions; the number of the unmanned aerial vehicles comprises the number information of the unmanned aerial vehicle clusters; the fire extinguishing material comprises information of fire extinguishing materials carried by the unmanned aerial vehicle, such as water, foam and dry powder; the surrounding resident condition comprises the number of residents around the forest and distance information between the resident residents and the forest; the peripheral landform condition refers to landform information of mountains, rivers, hills, basins and the like; the fire condition comprises the information of the spread speed of the fire and the current fire degree; the nerve sensing area comprises a nerve cell matrix I, a nerve cell matrix II, a nerve cell matrix III, a nerve cell matrix IV, a nerve cell matrix V, a nerve cell matrix VI, a nerve cell matrix VII, a nerve cell matrix VIII, a nerve cell matrix VII and a nerve cell matrix VIII; the structure principles of the nerve cell matrix I, the nerve cell matrix II, the nerve cell matrix III, the nerve cell matrix IV, the nerve cell matrix V, the nerve cell matrix VI, the nerve cell matrix VII, the nerve cell matrix VIII, the nerve cell matrix IX and the nerve cell matrix VIII are the same, and the nerve cell matrix has the function of sensing information; the learning decision area comprises a memory unit, a mode scheduling interface, a decision device and a learner; the memory unit is used for memorizing the corresponding relation between the input information and the output information; the mode scheduling interface is used for driving the path planning neural network to enter a learning mode or a decision mode according to a user instruction; the decision maker is used for determining various information of the information output area according to the information fed back by the neural perception area and the memory information of the memory unit in a decision mode; the learner is used for constructing the corresponding relation between each item of information of the neural perception area and the information output area and storing the corresponding relation in the memory unit after the information receiving area and the information output area are filled with information in the learning mode; the information output area comprises personnel configuration, unmanned aerial vehicle formation division, fire extinguishing material configuration, unmanned aerial vehicle path planning and unmanned aerial vehicle cluster fire extinguishing implementation strategies.
4. The forest fire extinguishing method for the cluster unmanned aerial vehicles as claimed in claim 1, wherein the nerve cell matrix comprises an information input interface,mLine ofnThe device comprises a column of neural memory cells and an information output interface; the work flow of the nerve cell matrix is as follows: firstly, if the unmanned aerial vehicle collaborative fire extinguishing path planning neural network is in a learning mode, when information is input into the information input interface, the input information is assumed to bet(ii) a In the second step, the first step is that,traversing according to the sequence of small to large row and column valuesmLine ofnColumn of neural memory cells, which, assuming that the current neural memory cell does not store information, will storetStoring in current neural memory cell, and making information output port output informationt(ii) a If the current neural memory cell has information, and its value isxThen judgexWhether or not the value of (A) is equal totIf the same, the information output port outputs informationx(ii) a Thirdly, if the unmanned aerial vehicle collaborative fire extinguishing path planning neural network is in a decision mode, when information is input into the information input interface, the input information is assumed to bet(ii) a Fourthly, traversing according to the sequence of the row values from small to largemLine ofnThe method comprises the following steps that a plurality of nerve storage units are arranged, and an information output port is made to output null information if the current nerve storage unit does not store information; if the current neural memory cell has information, and its value isxThen judgexWhether or not the value of (A) is equal totIf the same, the information output port outputs informationx。
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