CN115671617A - Fire positioning method, device, equipment and storage medium for flexible direct current converter station - Google Patents
Fire positioning method, device, equipment and storage medium for flexible direct current converter station Download PDFInfo
- Publication number
- CN115671617A CN115671617A CN202211372097.XA CN202211372097A CN115671617A CN 115671617 A CN115671617 A CN 115671617A CN 202211372097 A CN202211372097 A CN 202211372097A CN 115671617 A CN115671617 A CN 115671617A
- Authority
- CN
- China
- Prior art keywords
- center
- coordinate
- ignition position
- fire
- ignition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000004590 computer program Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 238000001931 thermography Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 abstract description 12
- 230000007547 defect Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a flexible direct current converter station fire hazard positioning method, a flexible direct current converter station fire hazard positioning device, equipment and a storage medium, wherein the method comprises the following steps: controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least at three coordinate points; respectively measuring the distance between the coordinate point and the center of the ignition position; and obtaining the coordinates of the center of the ignition position based on the distances between at least three coordinate points and the center of the ignition position. The defect that positioning cannot be realized due to the fact that a blind area exists in ground monitoring is avoided.
Description
Technical Field
The application relates to the technical field of computers, in particular to a fire positioning method, a fire positioning device, fire positioning equipment and a fire positioning storage medium for a flexible direct current converter station.
Background
High-capacity converter valves, high-voltage direct-current circuit breakers and the like in a valve hall of the flexible direct-current converter station are core equipment for ensuring stable operation of a flexible direct-current transmission system, and are expensive in manufacturing cost. At present, the valve hall fire-fighting facilities of the converter station are configured into an infrared and smoke sensing device, fire early warning information can be provided, once a fire occurs, field personnel cannot enter a valve hall in time due to the particularity of the valve hall, and a large number of power electronic components lack effective fire-fighting emergency measures.
In the fire positioning technology applied to the flexible direct current convertor station, a certain number of fixed and rail-type cameras are arranged in a valve hall, so that the visible light and infrared detection functions can be realized, and once a fire occurs, the position is sent to a control center to realize the positioning of the fire position. However, because the valve tower in the valve hall has a compact structure, and the layout of auxiliary facilities such as heating ventilation is dispersed, a monitoring blind area exists, so that accurate positioning cannot be realized.
Disclosure of Invention
Based on the problems, the application provides a fire positioning method, a fire positioning device, fire positioning equipment and a storage medium for a flexible-direct current converter station, and the defect that positioning cannot be achieved due to a ground monitoring blind area is overcome.
The embodiment of the application discloses the following technical scheme:
in a first aspect, the present application provides a method for fire location in a flexible direct current converter station, including:
controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the center of the picture of the unmanned aerial vehicle at least at three coordinate points;
respectively measuring the distance between the coordinate point and the center of the ignition position;
and obtaining the coordinates of the center of the ignition position based on the distances between at least three coordinate points and the center of the ignition position.
Optionally, when the number of the coordinate points is equal to three, the obtaining of the coordinates of the center of the ignition position based on the distances between at least three of the coordinate points and the center of the ignition position includes:
respectively establishing a three-dimensional linear equation set of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position;
and simultaneously establishing an equation set of the three primary equations to obtain the central coordinate of the ignition position.
Optionally, when the number of the coordinate points is greater than three, the obtaining of the coordinates of the center of the ignition position based on the distances between at least three of the coordinate points and the center of the ignition position includes:
respectively establishing a three-dimensional linear equation of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position;
simultaneously establishing an equation set of any three of the three-dimensional linear equations to obtain a plurality of coordinates of the centers of the prepared ignition positions;
and fitting the central coordinates of the prepared ignition positions to obtain the central coordinates of the ignition positions.
Optionally, said measuring the distance between said coordinate point and said center of fire location respectively comprises:
and respectively measuring the distance between the coordinate point and the center of the ignition position by using laser ranging.
Optionally, the controlling the drone to move to coincide the center of the location of fire with the center of the frame of the drone at least at three coordinate points includes:
obtaining the center of the fire position through a thermal imaging technology;
and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least at three coordinate points.
Optionally, the method further comprises:
and controlling the unmanned aerial vehicle to patrol in a target range through an infrared technology.
In a second aspect, the present application provides a flexible direct current converter station fire location apparatus, the apparatus comprising: the device comprises a control module, a measurement module and a positioning module;
the control module is used for controlling the unmanned aerial vehicle to move, and at least enabling the center of the ignition position to be superposed with the center of the picture of the unmanned aerial vehicle at three coordinate points;
the measuring module is used for respectively measuring the distances between the coordinate points and the center of the ignition position;
the positioning module is used for obtaining the coordinates of the center of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position.
Optionally, when the number of the coordinate points is equal to three, the positioning module is specifically configured to:
respectively establishing a three-dimensional linear equation set of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position;
and simultaneously establishing an equation set of the three primary equations to obtain the central coordinate of the ignition position.
Optionally, when the number of the coordinate points is greater than three, the positioning module is specifically configured to:
respectively establishing a ternary linear equation of the distance between each coordinate point, the center coordinate of the ignition position and the center coordinate of the ignition position;
simultaneously establishing an equation set of any three ternary linear equations to obtain a plurality of coordinates of the prepared ignition positions;
and fitting the central coordinates of the prepared ignition positions to obtain the central coordinates of the ignition positions.
Optionally, the control module is specifically configured to:
obtaining the center of the fire position through a thermal imaging technology;
and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least at three coordinate points.
Optionally, the measurement module is specifically configured to:
and respectively measuring the distance between the coordinate point and the center of the ignition position by using laser ranging.
In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method for fire location of a flexible direct current converter station according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein instructions that, when run on a terminal device, cause the terminal device to perform the method for fire location of a flexible direct current converter station according to any one of the first aspect.
Firstly, controlling the unmanned aerial vehicle to move, and superposing the center of a fire position and the center of a picture of the unmanned aerial vehicle at least at three coordinate points; then, respectively measuring the distance between the coordinate point and the center of the ignition position; and finally, obtaining the coordinates of the center of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position.
Compared with the prior art, the method has the following beneficial effects: firstly, the unmanned aerial vehicle patrols and avoids the defect that accurate positioning cannot be realized due to the existence of a monitoring blind area in the prior art; secondly, because the patrol range of the unmanned aerial vehicle is wide, one unmanned aerial vehicle can monitor all flexible direct current converter stations in a certain range, a large amount of monitoring equipment does not need to be arranged in each flexible direct current converter station, and the construction cost of the flexible direct current converter stations is reduced; third, because only there is fire alarm equipment at present in the gentle straight current conversion station, lack the facility of putting out a fire, the unmanned aerial vehicle and the fire engine linkage of this application can compensate this drawback.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a fire location method for a flexible direct current converter station according to an embodiment of the present application;
fig. 2 is a flowchart of another fire locating method for a flexible direct current converter station according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a fire locating device for a flexible direct current converter station according to an embodiment of the present application.
Detailed Description
The terms "first", "second" and "third", etc. in the description and claims of this application and the description of the drawings are used for distinguishing between different objects and not for limiting a particular order.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
As described above, fire monitoring in a valve hall of a flexible direct current converter station is mainly realized by means of infrared detection equipment and smoke detection equipment in the valve hall at present, and due to the fact that a valve tower in the valve hall is compact in structure and auxiliary facilities such as heating ventilation are distributed, existing detection means have multiple blind areas, and accurate monitoring cannot be achieved. Through research, the blind area that appears among the prior art can effectively be avoided in the aerial fire monitoring of carrying out.
In view of the above, the present application provides a fire detection method, including: firstly, controlling the unmanned aerial vehicle to move, and superposing the center of a fire position and the center of a picture of the unmanned aerial vehicle at least at three coordinate points; then, respectively measuring the distance between the coordinate point and the center of the ignition position; and finally, obtaining the coordinates of the center of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position.
In order to make those skilled in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, the figure is a flowchart of a fire locating method for a flexible direct current converter station according to an embodiment of the present application.
As shown in fig. 1, the method includes:
s101: and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least three coordinate points.
The drone may be an unmanned aircraft that is operated with a radio remote control device and self-contained program control, or operated autonomously, either fully or intermittently, by an onboard computer. The unmanned aerial vehicle in this application embodiment still needs to have the display interface to there is the calibration point that is used for the calibration in its center of display interface.
The movement of the unmanned aerial vehicle can be controlled by a built-in CPU, the movement direction can be left and right or up and down until the center of the ignition position coincides with the center of the unmanned aerial vehicle display interface, and the coordinate position of the current unmanned aerial vehicle is recorded.
Specifically, by a thermal imaging technique, the center of the fire position is obtained; and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least at three coordinate points.
By way of example, by controlling the drone to move, the direction of movement includes, but is not limited to, up, down, left, and right. When the center of the display interface of the unmanned aerial vehicle coincides with the center of the ignition position, the coordinate C of the first unmanned aerial vehicle is recorded U1 (a 1, b1, c 1); continuously moving the unmanned aerial vehicle until the center of the display interface of the unmanned aerial vehicle coincides with the center of the ignition position, and recording the coordinate C of a second unmanned aerial vehicle U2 (a 2, b2, c 2); continuously moving the unmanned aerial vehicle until the center of the display interface of the unmanned aerial vehicle coincides with the center of the ignition position, and recording the coordinate C of a third unmanned aerial vehicle U3 (a 3, b3, c 3), if the location of the fire disaster needs to be realized, at least three coordinates of the unmanned aerial vehicle are needed, and of course, if the location is more accurate, the unmanned aerial vehicle can continuously move to obtain more coordinates.
S102: the distance between the coordinate point and the center of the ignition position is measured respectively.
Specifically, the distance between the coordinate point and the center of the fire position may be measured by means of laser ranging.
As an example, when the drone is located at coordinate C U1 Measuring the coordinate C by laser ranging U1 The distance from the center of the ignition position is marked as S1; when the unmanned aerial vehicle is located at the coordinate C U2 Measuring the coordinate C by laser ranging U2 The distance from the center of the ignition position is marked as S2; when the unmanned aerial vehicle is located at the coordinate C U3 Measuring the coordinate C by laser ranging U3 The distance from the center of the ignition position is denoted as S3.
S103: and obtaining the coordinates of the center of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position.
Specifically, a three-dimensional linear equation set of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position is respectively established; and simultaneously establishing an equation set of the three primary equations to obtain the central coordinate of the ignition position.
As an example, assume the coordinates of the center of the fire locationIs C f1 (x, y, z); the first coordinate of the unmanned aerial vehicle is C U1 (a 1, b1, C1) with a second coordinate of C U2 (a 2, b2, C2) and a third coordinate of C U3 (a 3, b3, c 3); the distance between the first coordinate and the center of the ignition position is S1, the coordinate between the second coordinate and the center of the ignition position is S2, and the coordinate between the third coordinate and the center of the ignition position is S3. The following system of equations may be established:
wherein a1, b1, C1 and S1, a2, b2, C2 and S2, and a3, b3, C3 and S3 are known values, so the above equation set is actually a system of equations of a triplet, and it is inevitable that the coordinate of the center of the ignition position is calculated as C f1 Specific values of (x, y, z).
Firstly, controlling the unmanned aerial vehicle to move, and superposing the center of a fire position and the center of a picture of the unmanned aerial vehicle at least at three coordinate points; then, respectively measuring the distance between the coordinate point and the center of the ignition position; and finally, obtaining the coordinates of the center of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position. The method described in the embodiment mainly has the following beneficial effects: firstly, the unmanned aerial vehicle patrol avoids the defect that precise positioning cannot be realized due to the existence of a monitoring blind area in the prior art; secondly, the patrol range of the unmanned aerial vehicle is wide, so that one unmanned aerial vehicle can monitor all flexible direct current converter stations within a certain range, corresponding monitoring equipment does not need to be arranged in each flexible direct current converter station, and the construction cost of the flexible direct current converter stations is reduced; thirdly, because the fire center position cannot be directly measured by laser ranging due to the particularity of the flame, the method provided by the embodiment can indirectly measure the coordinates of the fire center position by laser ranging.
Referring to fig. 2, the figure is a flowchart of another fire location method for a flexible direct current converter station according to an embodiment of the present application.
As shown in fig. 2, the method includes:
s201: and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least four coordinate points.
For convenience of understanding, the present embodiment is illustrated by taking four coordinate points as an example, that is, the first coordinate point of the drone is C U1 (a 1, b1, C1), the second coordinate point being C U2 (a 2, b2, C2), the third coordinate point is C U3 (a 3, b3, C3), the fourth coordinate point is C U4 (a 4, b4, c 4). It should be noted that the number of coordinate points is not limited in this embodiment, that is, the number of coordinate points is only four or more.
S202: the distance between the coordinate point and the center of the ignition position is measured respectively.
Coordinate C U1 The distance from the center of the ignition position is recorded as S2 and the coordinate C U2 The distance from the center of the ignition position is recorded as S2 and the coordinate C U3 The distance from the center of the ignition position is recorded as S3 and the coordinate C U4 The distance from the center of the ignition position is denoted as S4.
S203: and obtaining the coordinates of the center of the ignition position based on the distances between at least four coordinate points and the center of the ignition position.
Specifically, a three-dimensional linear equation of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position is respectively established; simultaneously establishing an equation set of any three ternary linear equations to obtain a plurality of coordinates of the prepared ignition positions; and fitting the central coordinates of the prepared ignition positions to obtain the central coordinates of the ignition positions.
As an example, assume the coordinate of the center of the fire location is C f (x, y, z); the first coordinate of the unmanned aerial vehicle is C U1 (a 1, b1, C1), the second coordinate being C U2 (a 2, b2, C2) and a third coordinate of C U3 (a 3, b3, C3), the fourth coordinate is C U4 (a 4, b4, c 4); the distance between the first coordinate and the center of the ignition position is S1, the coordinate between the second coordinate and the center of the ignition position is S2, the coordinate between the third coordinate and the center of the ignition position is S3, and the coordinate between the fourth coordinate and the center of the ignition position is S4. The following system of equations may be established:
or
Or
Or
That is, given four drone coordinates, four sets of three-dimensional equations can be obtained, further obtaining the coordinates of the four pre-ignition center positions, namely C f1 、C f2 、C f3 And C f4 。
By mixing C f1 、C f2 、C f3 And C f4 And fitting the four coordinate points to obtain the final coordinate of the ignition center position. The fitting tool can be implemented by using cytoscape, 3Dmax and other related software.
In this embodiment, four coordinates of the unmanned aerial vehicle are taken as an example to correspondingly illustrate, and other situations will be illustrated below, assuming that the number of coordinates of the unmanned aerial vehicle is N, distances between N coordinates and the fire center position can be measured respectively, and any three coordinates are taken to form an equation set, that is, N points correspond to C3N sets of three-dimensional linear equations, that is, coordinates of C3N preparatory fire center positions can be obtained.
The method described in the embodiment mainly has the following beneficial effects: firstly, the unmanned aerial vehicle patrols and avoids the defect that accurate positioning cannot be realized due to the existence of a monitoring blind area in the prior art; secondly, the patrol range of the unmanned aerial vehicle is wide, so that one unmanned aerial vehicle can monitor all flexible direct current converter stations within a certain range, corresponding monitoring equipment does not need to be arranged in each flexible direct current converter station, and the construction cost of the flexible direct current converter stations is reduced; thirdly, because the fire center position cannot be directly measured through laser ranging due to the particularity of the flame, the method provided by the embodiment can indirectly measure the coordinates of the fire center position through laser ranging; fourthly, compared with a mode of determining the coordinates of the fire center position through three coordinate points, the embodiment is more accurate.
Referring to fig. 3, the diagram is a schematic structural diagram of a fire location device of a flexible direct current converter station according to an embodiment of the present application.
As shown in fig. 3, the apparatus includes: a control module 301, a measurement module 302 and a positioning module 303;
the control module 301 is used for controlling the unmanned aerial vehicle to move, and at least coinciding the center of the ignition position with the picture center of the unmanned aerial vehicle at three coordinate points;
a measuring module 302 for measuring the distance between the coordinate point and the center of the ignition position respectively;
and the positioning module 303 is configured to obtain the coordinates of the center of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position.
Optionally, when the number of coordinate points is equal to three, the positioning module 303 is specifically configured to:
respectively establishing a three-dimensional linear equation set of each coordinate point, the central coordinate of the ignition position and the distance between each coordinate point and the central coordinate of the ignition position;
and simultaneously establishing an equation set of the three primary equations to obtain the central coordinate of the ignition position.
Optionally, when the number of the coordinate points is greater than three, the positioning module 303 is specifically configured to:
respectively establishing a ternary linear equation of each coordinate point, the center coordinate of the ignition position and the distance between each coordinate point and the center coordinate of the ignition position;
simultaneously establishing an equation set of any three of the three-dimensional linear equations to obtain a plurality of coordinates of the centers of the prepared ignition positions;
and fitting the central coordinates of the plurality of prepared ignition positions to obtain the central coordinates of the ignition positions.
Optionally, the control module 301 is specifically configured to:
obtaining the center of the fire position through a thermal imaging technology;
and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least at three coordinate points.
Optionally, the measurement module 302 is specifically configured to:
the distances between the coordinate points and the center of the ignition position are measured respectively using laser ranging.
The embodiment of the application provides a fire extinguishing systems, this system includes: CPU, unmanned aerial vehicle and fire engine;
the CPU is used for controlling the unmanned aerial vehicle to move, and the center of the ignition position is coincided with the center of the picture of the unmanned aerial vehicle at least at three coordinate points; respectively measuring the distance between the coordinate point and the center of the ignition position; obtaining a center coordinate of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position;
the CPU is also used for sending the center coordinates of the fire position to the fire truck so that the fire truck can locate the fire position and conduct fire extinguishing.
Specifically, the emergency fire fighting truck combines the self-coordinate C c And (d, e, f), controlling the fire monitor control holder to enable the jet flow landing point to coincide with the center of the unmanned aerial vehicle display interface, calculating the distance position, and determining the jet flow terminal point coordinate to be accurate again by utilizing the airborne laser range finder.
Optionally, the fire engine pipeline of putting out a fire adopts telescopically, can be according to the intensity of a fire position, and accurate fire extinguishing is ensured to dynamic adjustment pipeline length and angle.
The embodiment of the application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the fire location method for the flexible direct current converter station according to the embodiment of the application.
In practice, the computer-readable storage medium may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that, in this specification, each embodiment is described in a progressive manner, and the same and similar parts between the embodiments are referred to each other, and each embodiment focuses on differences from other embodiments. In particular, as for the apparatus, since it is substantially similar to the method embodiment, it is relatively simple to describe, and for the relevant points, refer to the partial description of the method embodiment. The above-described apparatuses are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts referred to as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement without inventive effort.
The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for fire location in a flexible direct current converter station, the method comprising:
controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the center of the picture of the unmanned aerial vehicle at least at three coordinate points;
respectively measuring the distance between the coordinate point and the center of the ignition position;
and obtaining the coordinates of the center of the ignition position based on the distances between at least three coordinate points and the center of the ignition position.
2. The method of claim 1, wherein said deriving fire location center coordinates based on distances between at least three of said coordinate points and said fire location center when said number of coordinate points is equal to three comprises:
respectively establishing a three-dimensional linear equation set of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position;
and simultaneously establishing an equation set of the three primary equations to obtain the central coordinate of the ignition position.
3. The method of claim 1, wherein said deriving fire location center coordinates based on distances between at least three of said coordinate points and said fire location center when said number of coordinate points is greater than three comprises:
respectively establishing a ternary linear equation of the distance between each coordinate point, the center coordinate of the ignition position and the center coordinate of the ignition position;
simultaneously establishing an equation set of any three ternary linear equations to obtain a plurality of coordinates of the prepared ignition positions;
and fitting the plurality of prepared ignition position center coordinates to obtain the ignition position center coordinates.
4. The method of any one of claims 1 to 3, wherein said measuring the distance between said coordinate point and the center of said fire position, respectively, comprises:
and respectively measuring the distance between the coordinate point and the center of the ignition position by using laser ranging.
5. The method of any of claims 1 to 3, wherein said controlling the drone to move, coinciding a center of a location of fire with a center of a frame of the drone at least at three coordinate points, comprises:
obtaining the center of the fire position through a thermal imaging technology;
and controlling the unmanned aerial vehicle to move, and enabling the center of the ignition position to coincide with the picture center of the unmanned aerial vehicle at least at three coordinate points.
6. A flexible direct current converter station fire location apparatus, the apparatus comprising: the device comprises a control module, a measurement module and a positioning module;
the control module is used for controlling the unmanned aerial vehicle to move, and at least enabling the center of the ignition position to be superposed with the center of the picture of the unmanned aerial vehicle at three coordinate points;
the measuring module is used for respectively measuring the distances between the coordinate points and the center of the ignition position;
and the positioning module is used for obtaining the center coordinates of the ignition position based on the distances between the at least three coordinate points and the center of the ignition position.
7. The apparatus of claim 6, wherein when the number of coordinate points is equal to three, the positioning module is specifically configured to:
respectively establishing a three-dimensional linear equation set of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position;
and simultaneously establishing an equation set of the three primary equations to obtain the central coordinate of the ignition position.
8. The apparatus of claim 6, wherein when the number of coordinate points is greater than three, the positioning module is specifically configured to:
respectively establishing a three-dimensional linear equation of each coordinate point, a central coordinate of the ignition position and a distance between each coordinate point and the central coordinate of the ignition position;
simultaneously establishing an equation set of any three ternary linear equations to obtain a plurality of coordinates of the prepared ignition positions;
and fitting the central coordinates of the prepared ignition positions to obtain the central coordinates of the ignition positions.
9. A computer device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing the flexible direct current station fire location method of any of claims 1 to 5.
10. A computer readable storage medium having stored therein instructions which, when run on a terminal device, cause the terminal device to perform the method of fire location of a flexible direct current station according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211372097.XA CN115671617A (en) | 2022-11-03 | 2022-11-03 | Fire positioning method, device, equipment and storage medium for flexible direct current converter station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211372097.XA CN115671617A (en) | 2022-11-03 | 2022-11-03 | Fire positioning method, device, equipment and storage medium for flexible direct current converter station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115671617A true CN115671617A (en) | 2023-02-03 |
Family
ID=85048968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211372097.XA Pending CN115671617A (en) | 2022-11-03 | 2022-11-03 | Fire positioning method, device, equipment and storage medium for flexible direct current converter station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115671617A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004144605A (en) * | 2002-10-24 | 2004-05-20 | Nohmi Bosai Ltd | Fire source search system |
| US20160271434A1 (en) * | 2015-03-16 | 2016-09-22 | Jeremy Douglas Dusing | Fire monitoring and suppression system |
| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
| US20210409905A1 (en) * | 2020-06-30 | 2021-12-30 | Boe Technology Group Co., Ltd. | Positioning method, positioning device and system, electronic equipment and computer-readable medium |
| WO2022041212A1 (en) * | 2020-08-31 | 2022-03-03 | 深圳市大疆创新科技有限公司 | Fire source location indication method, and related device and apparatus |
| CN114200471A (en) * | 2021-12-07 | 2022-03-18 | 杭州电子科技大学信息工程学院 | Forest fire source detection system and method based on unmanned aerial vehicle, storage medium and equipment |
| WO2022110912A1 (en) * | 2020-11-27 | 2022-06-02 | 清华大学 | Unmanned aerial vehicle video-based forest fire spreading data assimilation method and apparatus |
-
2022
- 2022-11-03 CN CN202211372097.XA patent/CN115671617A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004144605A (en) * | 2002-10-24 | 2004-05-20 | Nohmi Bosai Ltd | Fire source search system |
| US20160271434A1 (en) * | 2015-03-16 | 2016-09-22 | Jeremy Douglas Dusing | Fire monitoring and suppression system |
| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
| US20210409905A1 (en) * | 2020-06-30 | 2021-12-30 | Boe Technology Group Co., Ltd. | Positioning method, positioning device and system, electronic equipment and computer-readable medium |
| WO2022041212A1 (en) * | 2020-08-31 | 2022-03-03 | 深圳市大疆创新科技有限公司 | Fire source location indication method, and related device and apparatus |
| WO2022110912A1 (en) * | 2020-11-27 | 2022-06-02 | 清华大学 | Unmanned aerial vehicle video-based forest fire spreading data assimilation method and apparatus |
| CN114200471A (en) * | 2021-12-07 | 2022-03-18 | 杭州电子科技大学信息工程学院 | Forest fire source detection system and method based on unmanned aerial vehicle, storage medium and equipment |
Non-Patent Citations (1)
| Title |
|---|
| 韩贤权: "《地面Lidar测量及其在岩体结构面提取中的应用》", 中国地质大学出版社, pages: 33 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11709491B2 (en) | Dynamically adjusting UAV flight operations based on radio frequency signal data | |
| US10850840B2 (en) | Drone and rover preplacement for remote autonomous inspection of utility system components | |
| CN203773355U (en) | Three-dimensional multi-image layer type unmanned aerial vehicle real-time positioning monitoring device | |
| JP6997578B2 (en) | Control system | |
| US11275376B2 (en) | Large scale unmanned monitoring device assessment of utility system components | |
| US9704292B2 (en) | Virtualized site survey systems and methods for cell sites | |
| CN105976563B (en) | A kind of fire-fighting and rescue system | |
| CN111982291B (en) | Fire point positioning method, device and system based on unmanned aerial vehicle | |
| US20160232792A1 (en) | UAV Inspection Flight Segment Planning | |
| CN101763605A (en) | Three-dimensional digital urban fire protection pre-control and management system | |
| CN109946729B (en) | Aerial target tracking method and device | |
| CN103427366B (en) | For controlling the real-time locus dynamic measurement method of the Helicopter loading system of identifying transmission line of electricity | |
| KR102208152B1 (en) | System and method for response disaster situations in mountain area using UAS | |
| CN110244765B (en) | Aircraft route track generation method and device, unmanned aerial vehicle and storage medium | |
| CN108734356B (en) | Indoor positioning and path planning method under fire-fighting rescue condition | |
| KR20170101519A (en) | Apparatus and method for disaster monitoring using unmanned aerial vehicle | |
| WO2019187954A1 (en) | Flight device, flight system, flight method, and program | |
| CN114138020B (en) | Method and device for checking route of transformer substation unmanned aerial vehicle | |
| CN113077561A (en) | Intelligent inspection system for unmanned aerial vehicle | |
| US20200391882A1 (en) | Monitoring System for Monitoring Multiple Locations with 360 Degree Camera Apparatuses | |
| CN112969977A (en) | Catching auxiliary method, ground command platform, unmanned aerial vehicle, system and storage medium | |
| CN115508375A (en) | Method and system for quickly positioning atmospheric pollution leakage source | |
| KR101648625B1 (en) | Apparatus and Method for Flying Flight Sensor Robot Platform | |
| Yu et al. | An iBeacon-based indoor and outdoor positioning system for the fire emergency command | |
| US20200404175A1 (en) | 360 Degree Camera Apparatus and Monitoring System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20230203 |