CN115294717B - Unmanned aerial vehicle fire detection method, unmanned aerial vehicle fire detection device and unmanned aerial vehicle fire detection medium - Google Patents
Unmanned aerial vehicle fire detection method, unmanned aerial vehicle fire detection device and unmanned aerial vehicle fire detection medium Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/06—Electric actuation of the alarm, e.g. using a thermally-operated switch
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
Abstract
The invention relates to the field of fire protection, and discloses a fire detection method, a fire detection device and a fire detection medium for an unmanned aerial vehicle, which comprise the following steps: the application provides an unmanned aerial vehicle fire detection method, which comprises the following steps: temperature information, distance information and image information sent by a sensor are acquired, the sensor is arranged on the unmanned aerial vehicle, and the sensor arranged on the unmanned aerial vehicle can avoid the interference of a complex environment. And determining the ignition point according to the image information and the temperature information, and creating an environment map according to the image information and the distance information to determine the relative coordinate information of the ignition point, and sending the relative coordinate information to the terminal equipment so as to facilitate the rescue personnel to determine the position of the ignition point. Therefore, according to the unmanned aerial vehicle fire detection method, the sensor arranged on the unmanned aerial vehicle is used for acquiring the image information, the temperature information and the distance information, so that the position of the ignition point is determined in a narrow closed environment, and data support is provided for rescue work.
Description
Technical Field
The application relates to the field of fire protection, in particular to a fire detection method, device and medium for an unmanned aerial vehicle.
Background
The aircraft cargo hold is the main article storage area in the air transportation process, when the condition of a fire takes place in the aircraft cargo hold, because the cargo quantity of depositing in the aircraft cargo hold is more and put densely, can influence the action and the field of vision of fire-fighting rescue workers, makes the rescue workers unable in time confirm the ignition point, leads to the condition of a fire to be difficult to put out.
The current method for detecting ignition point for protecting safety of rescue workers is to determine the ignition point according to non-contact detection modes such as temperature, gas smoke, radiant light and the like, but the method is not suitable for a narrow closed space similar to an aircraft cargo hold.
Therefore, how to provide a fire detection device for an unmanned aerial vehicle, so that the fire point can be accurately determined in a narrow closed space is a problem to be solved by those skilled in the art.
Disclosure of Invention
The purpose of the application is to provide a fire detection method, a fire detection device and a fire detection medium for unmanned aerial vehicles, so as to accurately determine the ignition point in a narrow closed space and provide data support for rescue workers.
In order to solve the technical problem, the application provides an unmanned aerial vehicle fire detection method, which comprises the following steps:
acquiring temperature information, distance information and image information sent by a sensor, wherein the sensor is arranged on an unmanned aerial vehicle;
determining a firing point according to the image information and the temperature information;
creating an environment map according to the image information and the distance information to determine relative coordinate information of the ignition point;
and sending the relative coordinate information to the terminal equipment.
Preferably, the unmanned aerial vehicle fire detection method further comprises:
when the internal temperature of the unmanned aerial vehicle is detected to be higher than a temperature threshold value, the unmanned aerial vehicle is controlled to be far away from the ignition point until the internal temperature is lower than the temperature threshold value.
Preferably, the unmanned aerial vehicle fire detection method further comprises:
determining ignition material information and flame information according to the image information, wherein the ignition material information comprises ignition material information and ignition material distribution information, and the flame information comprises flame size information and flame distribution information;
and constructing a fire development model of't square fire' according to the fire object information and the flame information so as to predict the fire development.
Preferably, the unmanned aerial vehicle fire detection method further comprises:
predicting the flame information of each subsequent time point according to the fire development model;
and determining a fire fighting path which is close to the ignition point and has the minimum flame distribution according to the flame information and the relative coordinate information.
Preferably, the unmanned aerial vehicle fire detection method further comprises:
acquiring smoke information and air composition information;
inputting the smoke information and the air component information into the fire development model to judge whether a bombing combustion phenomenon occurs;
if so, an alert is sent to the rescuer.
Preferably, after the step of obtaining the temperature information, the distance information and the image information sent by the sensor, the method further includes:
establishing a neighborhood space map for the unmanned aerial vehicle according to the temperature information, the distance information and the image information;
and planning a moving route of the unmanned aerial vehicle according to the neighborhood space map.
Preferably, the sending the relative coordinate information to the terminal device specifically includes:
and sending the relative coordinate information to the terminal equipment by adopting a WIFI protocol.
In order to solve the technical problem, the application still provides an unmanned aerial vehicle fire detection device, include:
the acquisition module is used for acquiring temperature information, distance information and image information sent by a sensor, and the sensor is arranged on the unmanned aerial vehicle;
the ignition point determining module is used for determining an ignition point according to the image information and the temperature information;
a coordinate information determining module for creating an environment map based on the image information and the distance information to determine relative coordinate information of the ignition point;
and the sending module is used for sending the relative coordinate information to the terminal equipment.
In order to solve the technical problem, the application also provides an unmanned aerial vehicle fire detection device, which comprises a memory for storing a computer program;
and the processor is used for realizing the steps of the unmanned aerial vehicle fire detection method when executing the computer program.
In order to solve the technical problem, the application further provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the unmanned aerial vehicle fire detection step when being executed by a processor.
The application provides an unmanned aerial vehicle fire detection method, which comprises the following steps: temperature information, distance information and image information sent by a sensor are acquired, the sensor is arranged on the unmanned aerial vehicle, and the sensor arranged on the unmanned aerial vehicle can avoid the interference of a complex environment. And determining the ignition point according to the image information and the temperature information, and creating an environment map according to the image information and the distance information to determine the relative coordinate information of the ignition point, and sending the relative coordinate information to the terminal equipment so as to facilitate the rescue personnel to determine the position of the ignition point. Therefore, according to the unmanned aerial vehicle fire detection method, the sensor arranged on the unmanned aerial vehicle is used for acquiring the image information, the temperature information and the distance information, so that the position of the ignition point is determined in a narrow closed environment, and data support is provided for rescue work.
In addition, the application also provides an unmanned aerial vehicle fire detection device and medium, which correspond to the method and have the same effects.
Drawings
For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a fire detection method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a structural diagram of a fire detection device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a block diagram of an unmanned aerial vehicle fire detection device according to another embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments herein without making any inventive effort are intended to fall within the scope of the present application.
The core of the application is to provide a fire detection method, device and medium for unmanned aerial vehicle, so as to accurately determine the ignition point in a narrow closed space such as a cabin, a warehouse and the like, thereby providing data support for technicians.
In a fire rescue scene, cargo is densely piled due to the small space of areas such as an aircraft cargo hold. When a fire disaster occurs, as the cargoes are more and the smoke is larger in the fire scene, the vision of the personnel can be blocked and the rescue personnel can be prevented from entering the fire scene, so that the fire point can not be determined quickly by the rescue personnel. According to the unmanned aerial vehicle fire detection method, the unmanned aerial vehicle carrying the infrared sensor, the laser sensor, the camera and other equipment is put into a fire scene, the unmanned aerial vehicle is controlled to move in the fire scene by utilizing the advantages that the unmanned aerial vehicle is small in size and can fly at a high altitude, temperature information, distance information and image information of each point in the fire scene are acquired, the ignition point and relative coordinate information of the ignition point in the environment are determined according to the acquired information, and therefore a rescuer can quickly and accurately determine the ignition point, and data support is provided for subsequent rescue work.
In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.
Fig. 1 is a flowchart of a fire detection method for an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 1, where the method includes:
s10: and acquiring temperature information, distance information and image information sent by a sensor, wherein the sensor is arranged on the unmanned aerial vehicle.
In an implementation, the sensors required to obtain information include: temperature sensors, laser sensors, radar, cameras, etc.
The temperature sensor is used for acquiring the temperature of each place of the fire scene, and it can be understood that in the fire development process, the higher the temperature is, the closer the distance between the area and the ignition point is, so that the temperature sensor mounted on the unmanned aerial vehicle can be understood to acquire temperature information, and the unmanned aerial vehicle is controlled to move to the area with higher temperature so as to find the ignition point. Further, the temperature sensor can also be used for detecting the temperature inside the unmanned aerial vehicle so as to prevent the unmanned aerial vehicle from being damaged due to overhigh temperature.
It can be understood that the unmanned aerial vehicle can fly autonomously, and the unmanned aerial vehicle can also be controlled by external rescue workers to fly. When the unmanned aerial vehicle is in an autonomous flight state, surrounding environment information is detected through the radar and the laser sensor and used for constructing an unmanned aerial vehicle distance detection system and an unmanned aerial vehicle neighborhood space map, so that the unmanned aerial vehicle can construct a three-dimensional space topography around the unmanned aerial vehicle, the unmanned aerial vehicle can be helped to bypass the obstacle, and the unmanned aerial vehicle can be assisted to fly autonomously. When the rescue personnel control the unmanned aerial vehicle to fly, the video information acquired through the camera is required to send a control instruction to the unmanned aerial vehicle. Specifically, a neighborhood space map can be constructed around the aircraft according to relative position information and distance information of the unmanned aerial vehicle and the obstacle, temperature information in a fire scene and the like. The neighborhood space may be rectangular, fan-shaped, circular, etc., and is not limited herein. Further, in the process of searching for the ignition point by the unmanned aerial vehicle, monitoring information in the cabin and cargo information in the cabin before the fire occurs can be sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can determine a searching route.
It can be appreciated that the unmanned aerial vehicle can communicate with the control end through the WIFI protocol or the 5G protocol, so that the purposes of transmitting video information and receiving control instructions are achieved.
S11: the ignition point is determined from the image information and the temperature information. S12: an environment map is created from the image information and the distance information to determine relative coordinate information of the ignition point.
It will be appreciated that the fire extinguishing effect of spraying the fire extinguishing agent against the fire is best and therefore the information acquired by the unmanned aerial vehicle is used to determine the area in which the fire is located.
In a specific implementation, the video image of the ignition region can be generated to a rescue worker so that the rescue worker can determine the ignition point through the image; the control unit carried by the unmanned aerial vehicle can also be used for identifying the image information and determining the ignition point by combining the temperature information and the infrared information of each point in the fire scene; the ignition point can be determined by both the above methods, and the present invention is not limited thereto.
After the ignition point is determined, the distance measurement can be performed by using a machine vision algorithm so as to determine the relative position of the unmanned aerial vehicle and the ignition point. Further, a laser range finder or millimeter wave radar arranged on the unmanned aerial vehicle can be used for determining the accurate position of the ignition point.
It should be noted that, when the unmanned aerial vehicle determines the ignition point, only the position information of the unmanned aerial vehicle corresponding to the ignition point can be obtained, the rescue personnel cannot determine the specific position of the ignition point in the cargo hold according to the position information, and the difficulty of determining the area where the ignition point is located according to the video image is also high because the environmental change of the cargo hold is large after the ignition in the cargo hold. Therefore, the unmanned aerial vehicle is required to create an environment map in the engine room according to the image information acquired by the camera and the distance information acquired by the radar, and the relative coordinate information of the ignition point relative to the engine room can be determined by comparing the environment map with the actual map of the engine room, so that data support is provided for rescue workers.
S13: the relative coordinate information is transmitted to the terminal device.
After the relative coordinate information is acquired, the coordinate information needs to be sent to external terminal equipment so as to be convenient for rescue workers to check. In the specific implementation, a WIFI module or a 4G communication module can be adopted, and the 5G communication module is communicated with a background system to send video image information in a fire scene and relative coordinate information of a fire point in real time.
The application provides an unmanned aerial vehicle fire detection method, which comprises the following steps: temperature information, distance information and image information sent by a sensor are acquired, the sensor is arranged on the unmanned aerial vehicle, and the sensor arranged on the unmanned aerial vehicle can avoid the interference of a complex environment. And determining the ignition point according to the image information and the temperature information, and creating an environment map according to the image information and the distance information to determine the relative coordinate information of the ignition point, and sending the relative coordinate information to the terminal equipment so as to facilitate the rescue personnel to determine the position of the ignition point. Therefore, according to the unmanned aerial vehicle fire detection method, the sensor arranged on the unmanned aerial vehicle is used for acquiring the image information, the temperature information and the distance information, so that the position of the ignition point is determined in a narrow closed environment, and data support is provided for rescue work.
In concrete implementation, because the temperature is higher and the environment is complicated in the scene of a fire, in order to guarantee unmanned aerial vehicle's normal work, need make unmanned aerial vehicle and firing point keep certain distance, prevent that the high temperature from leading to unmanned aerial vehicle structural deformation or inside chip damage.
On the basis of the above embodiment, the unmanned aerial vehicle fire detection method further includes:
when the internal temperature of the unmanned aerial vehicle is detected to be higher than the temperature threshold value, the unmanned aerial vehicle is controlled to be far away from the ignition point until the internal temperature is lower than the temperature threshold value.
It can be appreciated that when the unmanned aerial vehicle is in an autonomous flight state, the internal temperature of the unmanned aerial vehicle is obtained through a temperature sensor provided inside the unmanned aerial vehicle. Preferably, the temperature sensor may be provided in a control circuit inside the unmanned aerial vehicle for more accurate influence of the reaction temperature on the unmanned aerial vehicle. When the internal temperature of the unmanned aerial vehicle is higher than a temperature threshold value, enabling the unmanned aerial vehicle to be far away from the ignition point; when the unmanned aerial vehicle is in a manual control flight state, when the internal temperature of the unmanned aerial vehicle is higher than a temperature threshold value, an alarm is sent to a control person to remind the control person to control the unmanned aerial vehicle to be far away from a firing point until the internal temperature of the unmanned aerial vehicle is lower than the temperature threshold value or the descending rate meets a preset condition; if the control personnel do not operate the unmanned aerial vehicle to keep away from, when detecting that the temperature in the unmanned aerial vehicle is higher than the damage threshold value and the duration exceeds the time threshold value, the control personnel automatically keep away from the ignition point.
Further, because the high temperature may cause damage to the external structure of the unmanned aerial vehicle, the unmanned aerial vehicle is affected to fly, and therefore, a temperature sensor is further required to be arranged on the outer surface of the unmanned aerial vehicle to detect the temperature of the outer surface of the unmanned aerial vehicle.
In the embodiment, the temperature of the inner surface and the temperature of the outer surface of the unmanned aerial vehicle are detected, and when the temperature is higher than a threshold value, the unmanned aerial vehicle is controlled to be far away from the ignition point, so that the unmanned aerial vehicle is protected.
In the implementation, in order to assist rescue workers to work, data support is provided for the rescue workers, and a fire development model can be established according to information acquired by the unmanned aerial vehicle so as to predict the ignition condition change condition at each time.
On the basis of the embodiment, the ignition material information and the flame information can be determined according to the image information, the ignition material information comprises ignition material information and ignition material distribution information, and the flame information comprises flame size information and flame distribution information;
and constructing a fire development model of't square fire' according to the fire object information and the flame information so as to predict the fire development.
In specific implementation, other fire development models may be selected to predict fire development, for example: the method can carry out combustion experiments on typical combustibles such as corrugated paper, wood blocks, luggage and the like in a narrow space, and collect data such as infrared images of different combustion stages and different sampling space points, environmental temperature of the sampling points and the like. Training is carried out according to the fact that the acquired data are larger than the convolutional neural network, so that a fire deep learning prediction model is determined. In specific implementation, the image information obtained by the camera is processed, and according to the inner flame and outer flame information of the flame, cargo information in the cargo hold and monitoring video information before fire disaster occurs are combined to determine the material of the fire object and how the fire object is distributed in the cargo hold. In addition, it is also necessary to acquire flame size information and flame distribution information in the cargo space based on the image information to determine how the flame will spread.
In specific implementation, a fire situation development model of't square fire' can be constructed according to the fire object information and the flame information so as to judge the flame information in the cargo hold at each subsequent time point.
It can be understood that after a fire occurs, the fire point in the cargo hold may be more than one, and for rapid fire extinguishing, a fire fighting path close to the fire point and with minimum flame distribution needs to be determined according to flame information and relative coordinate information, so that rescue workers can extinguish the fire according to the rescue path, the fire fighting efficiency is improved, and the safety of the rescue workers is ensured as much as possible.
In a specific implementation, the oxygen concentration is lower as the aircraft flight altitude is higher. After the fire in the flight process of the aircraft is extinguished, the condition of re-combustion possibly occurs after the aircraft lands, and the situation that the aircraft is bombed due to the fact that a large amount of oxygen is filled after the aircraft is opened can threaten the life safety of rescue workers.
To solve this problem, the airport of the above embodiment further comprises:
acquiring smoke information and air composition information;
inputting smoke information and air component information into a fire development model to judge whether a bombing combustion phenomenon occurs;
if so, an alert is sent to the rescuer.
In a specific implementation, obtaining the air composition information includes: and when the probability of occurrence of the bombing or shock wave is larger than a bombing threshold, an alarm is sent to a manager so as to ensure the safety of rescue workers.
Fig. 2 is a block diagram of a fire detection device of an unmanned aerial vehicle provided in an embodiment of the present application, as shown in fig. 2, the device includes:
the acquisition module 10 is used for acquiring temperature information, distance information and image information sent by a sensor, and the sensor is arranged on the unmanned aerial vehicle;
a fire point determination module 11 for determining a fire point based on the image information and the temperature information;
a coordinate information determination module 12 for creating an environment map from the image information and the distance information to determine relative coordinate information of the ignition point;
a transmitting module 13, configured to transmit the relative coordinate information to the terminal device.
Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.
The application provides an unmanned aerial vehicle fire detection device, include: temperature information, distance information and image information sent by a sensor are acquired, the sensor is arranged on the unmanned aerial vehicle, and the sensor arranged on the unmanned aerial vehicle can avoid the interference of a complex environment. And determining the ignition point according to the image information and the temperature information, and creating an environment map according to the image information and the distance information to determine the relative coordinate information of the ignition point, and sending the relative coordinate information to the terminal equipment so as to facilitate the rescue personnel to determine the position of the ignition point. Therefore, according to the unmanned aerial vehicle fire detection method, the sensor arranged on the unmanned aerial vehicle is used for acquiring the image information, the temperature information and the distance information, so that the position of the ignition point is determined in a narrow closed environment, and data support is provided for rescue work.
In the foregoing embodiments, a detailed description is given of a fire detection method of an unmanned aerial vehicle, and the application further provides a corresponding embodiment of a fire detection device of an unmanned aerial vehicle. It should be noted that the present application describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware.
Fig. 3 is a block diagram of an unmanned aerial vehicle fire detection device according to another embodiment of the present application, as shown in fig. 3, the unmanned aerial vehicle fire detection device includes: a memory 20 for storing a computer program;
a processor 21 for carrying out the steps of the method of acquiring fire scene image information according to the above embodiment when executing a computer program.
The terminal device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with an image processor (Graphics Processing Unit, GPU) for taking care of rendering and rendering of the content that the display screen is required to display. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, where the computer program, when loaded and executed by the processor 21, can implement the relevant steps of the unmanned aerial vehicle fire detection method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. The operating system 202 may include Windows, unix, linux, among others. The data 203 may include, but is not limited to, image information, and the like.
In some embodiments, the unmanned aerial vehicle fire detection device can further comprise a display screen 22, an input-output interface 23, a communication interface 24, a power supply 25 and a communication bus 26.
It will be appreciated by those skilled in the art that the configuration shown in fig. 3 is not limiting of the unmanned fire detection device and may include more or fewer components than shown.
The unmanned aerial vehicle fire detection device provided by the embodiment of the application comprises a memory and a processor, wherein when the processor executes a program stored in the memory, the processor can realize the following method:
acquiring temperature information, distance information and image information sent by a sensor, wherein the sensor is arranged on an unmanned aerial vehicle;
determining a firing point according to the image information and the temperature information;
creating an environment map according to the image information and the distance information to determine the relative coordinate information of the ignition point;
the relative coordinate information is transmitted to the terminal device.
Finally, the present application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. With such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, performing all or part of the steps of the method described in the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The unmanned aerial vehicle fire detection method, the unmanned aerial vehicle fire detection device and the unmanned aerial vehicle fire detection medium provided by the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are 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. Moreover, 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. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. A method of unmanned aerial vehicle fire detection comprising:
acquiring temperature information, distance information, smoke information, air component information and image information sent by a sensor, wherein the sensor is arranged at the bottom of the unmanned aerial vehicle;
determining a firing point according to the image information and the temperature information;
creating an environment map according to the image information and the distance information to determine relative coordinate information of the ignition point;
sending the relative coordinate information to a terminal device;
determining ignition material information and flame information according to the image information, wherein the ignition material information comprises ignition material information and ignition material distribution information, and the flame information comprises flame size information and flame distribution information;
constructing a fire development model of't square fire' according to the fire object information and the flame information, inputting the smoke information and the air component information into the fire development model to judge whether a bombing phenomenon occurs or not, and sending an alarm to a rescue worker if the bombing phenomenon occurs;
predicting the flame information of each subsequent time point according to the fire development model;
and determining a fire fighting path which is close to the ignition point and has the minimum flame distribution according to the flame information and the relative coordinate information.
2. The unmanned aerial vehicle fire detection method of claim 1, further comprising:
when the internal temperature of the unmanned aerial vehicle is detected to be higher than a temperature threshold value, the unmanned aerial vehicle is controlled to be far away from the ignition point until the internal temperature is lower than the temperature threshold value.
3. The unmanned aerial vehicle fire detection method according to claim 1 or 2, wherein after the step of acquiring the temperature information, the distance information, and the image information transmitted by the sensor, further comprising:
establishing a neighborhood space map for the unmanned aerial vehicle according to the temperature information, the distance information and the image information;
and planning a moving route of the unmanned aerial vehicle according to the neighborhood space map.
4. The unmanned aerial vehicle fire detection method of claim 1, wherein the sending the relative coordinate information to the terminal device is specifically:
and sending the relative coordinate information to the terminal equipment by adopting a WIFI protocol.
5. An unmanned aerial vehicle fire detection device, characterized by comprising:
the acquisition module is used for acquiring temperature information, distance information, smoke information, air component information and image information sent by the sensor, and the sensor is arranged at the bottom of the unmanned aerial vehicle;
the ignition point determining module is used for determining an ignition point according to the image information and the temperature information;
a coordinate information determining module for creating an environment map based on the image information and the distance information to determine relative coordinate information of the ignition point;
the sending module is used for sending the relative coordinate information to the terminal equipment, and determining ignition material information and flame information according to the image information, wherein the ignition material information comprises ignition material information and ignition material distribution information, and the flame information comprises flame size information and flame distribution information; constructing a fire development model of't square fire' according to the fire object information and the flame information, inputting the smoke information and the air component information into the fire development model to judge whether a bombing phenomenon occurs or not, and sending an alarm to a rescue worker if the bombing phenomenon occurs; predicting the flame information of each subsequent time point according to the fire development model; and determining a fire fighting path which is close to the ignition point and has the minimum flame distribution according to the flame information and the relative coordinate information.
6. An unmanned aerial vehicle fire detection device, comprising a memory for storing a computer program;
a processor for implementing the steps of the unmanned aerial vehicle fire detection method of any one of claims 1 to 4 when executing the computer program.
7. A computer readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of unmanned aerial vehicle fire detection according to any of claims 1 to 4.
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