WO2022041212A1 - 一种火源位置指示方法、相关设备及装置 - Google Patents

一种火源位置指示方法、相关设备及装置 Download PDF

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Publication number
WO2022041212A1
WO2022041212A1 PCT/CN2020/112534 CN2020112534W WO2022041212A1 WO 2022041212 A1 WO2022041212 A1 WO 2022041212A1 CN 2020112534 W CN2020112534 W CN 2020112534W WO 2022041212 A1 WO2022041212 A1 WO 2022041212A1
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WIPO (PCT)
Prior art keywords
fire source
terminal device
fire
image
target
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Application number
PCT/CN2020/112534
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English (en)
French (fr)
Inventor
钱亮
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080035320.4A priority Critical patent/CN113853634A/zh
Priority to PCT/CN2020/112534 priority patent/WO2022041212A1/zh
Publication of WO2022041212A1 publication Critical patent/WO2022041212A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/005—Fire alarms; Alarms responsive to explosion for forest fires, e.g. detecting fires spread over a large or outdoors area
    • 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
    • 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

Definitions

  • the present application relates to the field of communication technologies, and in particular, to a fire source position indication method, related equipment and devices.
  • the embodiments of the present application provide a method for indicating the position of a fire source, related equipment and devices, and through the method for indicating the position of a fire source, the fire source can be inspected in time.
  • an embodiment of the present application provides a method for indicating the location of a fire source.
  • the method is applied to a management terminal device, and the method includes: acquiring an environmental image about a target environment collected by an aircraft during flight, and extracting an image from the target environment. Identify the fire source characteristic image object in the environmental image; obtain the image position of the fire source characteristic image object in the environmental image; determine according to the image position that the fire source object corresponding to the fire source characteristic image object is in the fire source location information in the target environment; obtain the target terminal equipment identifier from the registered terminal equipment identifier set; send the fire indication message carrying the fire source location information to the corresponding target terminal equipment identifier Terminal Equipment.
  • an embodiment of the present application provides another method for indicating the location of a fire source.
  • the method is applied to a terminal device, and the method includes: receiving a fire indication message carrying information on the location of the fire source; Display the fire source feature image on the display interface; determine the terminal device according to the fire source location information of the fire source object corresponding to the fire source feature image object in the target environment and the position of the terminal device Navigation information to the fire source object corresponding to the fire source characteristic image object; displaying the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object on the electronic map.
  • an embodiment of the present application provides a management end device, and the management end device includes: a memory and a processor, wherein:
  • the processor invokes the computer program for performing the following steps:
  • the fire indication message carrying the fire source location information is sent to the terminal equipment corresponding to each of the target terminal equipment identifiers.
  • an aircraft which is characterized by comprising:
  • a controller running the computer program, is used to perform the following steps:
  • the fire indication message carrying the fire source location information is sent to the terminal equipment corresponding to each of the target terminal equipment identifiers.
  • an embodiment of the present application provides a terminal device, where the terminal device includes: a memory and a processor, wherein:
  • the processor invokes the computer program for performing the following steps:
  • the fire source location information of the fire source object corresponding to the fire source characteristic image object in the target environment and the position of the terminal device determine the fire source corresponding to the fire source characteristic image object from the terminal device navigation information for the object;
  • Navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object is displayed on the electronic map.
  • an embodiment of the present application provides a fire source position indication device, and the fire source position indication device includes:
  • the processing unit is used to obtain the environmental image about the target environment collected by the aircraft during the flight, and identify the fire source characteristic image object from the environmental image; obtain the fire source characteristic image object in the environmental image. Image position; determine the fire source position information in the target environment of the fire source object corresponding to the fire source feature image object according to the image position; obtain the target terminal device identification from the registered terminal device identification set;
  • the sending unit is configured to send the fire indication message carrying the fire source location information to the terminal equipment corresponding to each of the target terminal equipment identifiers.
  • the embodiment of the present application provides another fire source position indicating device, and the fire source position indicating device includes:
  • a receiving unit configured to receive a fire indication message carrying the location information of the fire source
  • a processing unit configured to display the fire source characteristic image on the display interface according to the fire source position information; according to the fire source position information and the fire source position information of the fire source object corresponding to the fire source characteristic image object in the target environment and the position of the terminal device, determine the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object; display the terminal device to the fire source corresponding to the fire source characteristic image object on the electronic map Navigation information for the object.
  • an embodiment of the present application provides a computer-readable storage medium for storing computer software instructions used by the user equipment, including a program for executing any of the methods described in the first aspect.
  • an embodiment of the present application provides a computer-readable storage medium for storing computer software instructions used by the user equipment, including a program for executing any of the methods described in the second aspect above.
  • the embodiments of the present application can take advantage of the aircraft to determine the location information of the fire source in time through image recognition and positioning, and can quickly indicate the fire location to relevant users, thereby improving the efficiency of finding the fire source.
  • FIG. 1 is a schematic diagram of the system structure of a fire source position indication system provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a method for indicating a fire source position according to an embodiment of the present application
  • 3a is a schematic flowchart of another method for indicating the position of a fire source provided by an embodiment of the present application
  • 3b is a schematic diagram of an electronic map interface provided by an embodiment of the application.
  • FIG. 4 is a schematic flowchart of another fire source interaction method provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of determining fire source location information according to an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another method for indicating the position of a fire source provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a management terminal device according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an aircraft according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a fire source position indicating device provided by an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of another fire source position indicating device according to an embodiment of the present application.
  • An embodiment of the present application provides a method for indicating the location of a fire source.
  • an aircraft is used to conduct flight inspections in some target environments, such as forests and other areas where there is a risk of fire, and the management terminal device obtains the information of the aircraft during the flight inspection process.
  • the environmental images about one or more target environments collected from the environment image and identify the fire source characteristic image object from the environmental image, and then determine the fire source characteristic image according to the image position of the acquired fire source characteristic image object in the environmental image.
  • the fire source location information of the fire source object corresponding to the object in the target environment, and the fire indication message carrying the fire source location information is sent to the terminal equipment corresponding to some target terminal equipment identifiers.
  • the terminal equipment may refer to Equipment carried by firefighters, such as smart phones installed with related applications, enables firefighters to know the location information of the fire source in time.
  • the terminal equipment can also be equipment carried by other fire management users.
  • the embodiment of the present application utilizes the advantages of the aircraft, and designs a series of processes such as fire identification, location positioning, notification, etc., which can timely detect the fire situation and notify relevant users in time, and improve the efficiency of fire detection and processing.
  • the management terminal device can be a central server, which can be connected to multiple aircraft, and can establish a communication connection through a mobile communication network such as a 5G network, or establish a communication connection through a radio frequency.
  • the received environmental images are analyzed and fire indication messages are sent.
  • the management terminal device can also be a portable device, carried by a forest ranger or other fire management users, and can be connected to multiple aircraft to obtain environmental images collected by each aircraft for analysis and sending of fire indication messages.
  • the management terminal device can also be a dedicated device that can be mounted on the aircraft, and can be connected to the currently mounted aircraft to obtain images collected by the aircraft, analyze the images, and send fire indication messages.
  • the management end device may also be a special device among the terminal devices.
  • the top terminal device in FIG. 1 is the management end device. In this case, it can be understood that the terminal device shown at the top
  • the corresponding user A is the management user or scheduling user of this fire prevention and disaster prevention.
  • FIG. 1 is a schematic structural diagram of a fire source position indication system according to an embodiment of the present invention.
  • the fire source position indication system 10 is composed of an aircraft 101, a management terminal device 102, and at least one terminal device 103.
  • the embodiment of this application does not limit the number of terminal devices.
  • three terminal devices are used as example to illustrate.
  • the management terminal device 102 is an independent dispatching center that performs fire dispatching according to fire conditions, and is a central server.
  • the terminal device 103 is an auxiliary device worn on a firefighter.
  • the auxiliary device may be a smart phone, a smart watch, or other terminal devices with communication functions.
  • One or a group of firefighters may correspond to a terminal device 103 .
  • the management terminal device 102 can execute the method for indicating the position of a fire source described in the embodiment of the present application, acquire an environmental image about the target environment collected by the aircraft 101 during the flight, and identify the fire source from the environmental image
  • the characteristic image object is used for the steps of issuing fire indication after corresponding processing.
  • the terminal device 103 can receive the fire source location information of the fire source object corresponding to the fire source characteristic image object in the target environment, and then display it to fire-related users such as firefighters.
  • the target environment is the environment for aircraft inspection, and fire may occur in these environmental areas.
  • the characteristic image object can be regarded as the target environment as the fire scene environment.
  • the environmental image is the image collected during the flight of the aircraft.
  • subsequent processing will be performed to facilitate the final fire indication. information.
  • the fire source feature image object is an image object in the environmental image that corresponds to the fire source feature. For example, an object with characteristics such as high brightness and red color in a certain image area of the environmental image can be regarded as a fire source characteristic image object.
  • FIG. 2 and FIG. 3 a respectively describes the embodiments of the related methods executed on the management terminal device and the terminal device, wherein, FIG. 2 shows the realization of the fire source location on the management terminal device.
  • the method in this embodiment may include the following steps.
  • the aircraft may take the current inspection environment as the target environment, and successively send the set of images captured in the target environment to the management end device, and the management end device will perform image recognition on some or all of the images, and then Determines if there is a fire signature image object with a fire signature. If it is recognized that there is a fire source characteristic image object, the following step S202 is performed.
  • the environmental image may be an image captured by a camera
  • the management terminal device may have a built-in image recognition model. The image recognition model is generated after training and learning based on a large number of fire images of various scales, and can compare Efficiently identify images of a wide variety of fire scenes.
  • the management terminal device may schedule one or more aircraft to fly over the suspected fire scene to perform the task of taking pictures of the fire. Therefore, the aircraft will collect environmental images of the fire during the flight.
  • an infrared sensor may be set on the aircraft, and the environmental image obtained by the aircraft is an infrared image.
  • the gray value corresponds to the temperature of the environmental object, and the larger the gray value, the higher the temperature. Therefore,
  • the management terminal device can identify the fire source characteristic image object from the environmental image according to the gray value in the infrared image. For example, the management terminal device determines an area formed by a plurality of consecutive pixels in the infrared image with a grayscale value greater than a first threshold value as a fire source characteristic image object.
  • S202 Acquire the image position of the fire source characteristic image object in the environment image. Based on the image position, the relative orientation of the fire source object in the actual environment corresponding to the fire source feature image object can be conveniently determined, so as to facilitate the execution of the following S203. For example, if the determined image position is the lower left of the environment image, the In other images, such as the depth image collected by the depth sensor, the relative position of the fire source object relative to the aircraft is only determined according to the depth value of the relevant area at the lower left, so as to obtain the fire source position information.
  • S203 Determine the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object according to the image position.
  • the management terminal device can first obtain the relative position of the fire source object corresponding to the fire source feature image relative to the aircraft, and then determine the fire source position information based on the position of the aircraft obtained by positioning modules such as GPS in the aircraft and the relative position.
  • positioning modules such as GPS in the aircraft and the relative position.
  • the depth value of multiple depth images collected by the aircraft at different positions can be used (the depth value represents the fire source object determined by depth sensors such as distance sensors. The distance to the aircraft), calculated using algorithms such as triangulation.
  • the registered terminal equipment identification set includes multiple terminal equipment identifications, each terminal equipment identification is a terminal equipment identification that has been registered in the management terminal equipment, that is, the terminal equipment corresponding to the terminal equipment identification is already worn on the firefighter.
  • the auxiliary device, the subsequent management terminal device can communicate with the terminal device corresponding to the terminal device ID in the registered terminal device ID set.
  • the set of registered terminal device identities involved in S204 may further be a set of registered and online terminal device identities.
  • An online terminal device can be understood as a terminal device worn by firefighters who are currently in a running state and can receive fire instructions.
  • S205 Send the fire indication message carrying the fire source location information to the terminal equipment corresponding to each target terminal equipment identifier.
  • the management terminal device directly sends a fire indication message carrying fire source location information to terminal devices corresponding to each target terminal device identifier, so as to initiate a fire alert in these terminal devices.
  • the fire indication message carries the location information of the fire source and the characteristic image of the fire source, and the terminal device displays it to the user on the display interface.
  • the fire source feature image may be a partial image area deducted from the environment image by the management terminal device including the area where the identified fire source feature image object is located, or may be the entire environment image.
  • the management terminal device can also determine the fire level according to the fire source characteristic image objects in the environmental image. For example, the proportion of the fire source characteristic image objects in the environmental image is larger than the preset threshold, for example, half of the image area on the environmental image is full. Corresponding to the image object with fire characteristics, it can be considered as the severity level at this time.
  • Different fire levels have different notification rules, wherein the different notification rules include any one or more of: different target devices for notification, different intervals of continuous notification, and different notification frequencies.
  • the management end device determines the first target terminal device whose distance to the management end device is less than a distance threshold among the terminal devices corresponding to each target terminal identifier, and the management end device identifies the fire situation carrying the fire source location information.
  • the indication message is sent to the first target terminal device, and the first target terminal device forwards it to other terminal devices. That is to say, when the number of terminal devices corresponding to the target terminal device identifier is large, the management terminal device first sends the fire indication message carrying the fire source location information to the terminal device closer to the management terminal device, and then the terminal device Send fire indication messages to other terminal devices.
  • This method is beneficial for the management terminal device to quickly send the fire indication message to the terminal device corresponding to the target terminal identification closest to the management terminal device, so that the firefighters closer to the management terminal device can obtain the fire source location information in time.
  • the management terminal device can obtain environmental images about the target environment collected by the aircraft during the flight, the aircraft has a wide field of view, and can inspect many inaccessible locations, through a series of process steps deployed in the embodiments of the present application , the fire source location information can be determined in time, the fire location can be quickly indicated to the relevant users, and the efficiency of finding the fire source is improved.
  • Fig. 3a shows a flow of implementing a fire source indication method on a terminal device.
  • the method in this embodiment includes the following steps.
  • S301 Receive a fire indication message carrying fire source location information; the fire indication message includes the fire source location information analyzed by the management terminal device from the environmental image, and the content related to the generation of the fire indication message may be Refer to the description of the related content in the foregoing embodiment.
  • the fire indication message carries the location information of the fire source and the characteristic image of the fire source, so that the following S302 can be displayed to the user on the display interface.
  • the fire source feature image may be a partial image area deducted from the environment image by the management terminal device including the area where the identified fire source feature image object is located, or may be the entire environment image area.
  • S302 Display the fire source feature image on the display interface according to the fire source location information; the interface schematic diagram of the display interface can be referred to as shown in FIG.
  • the electronic map 310 including the location 312, so that the firefighter who receives the fire source location information can intuitively know the fire source location, the distance between the firefighter's current location and the fire source location, and at the same time, on the display interface 300
  • the displayed electronic map 310 can also be zoomed as required, so that firefighters can more intuitively know more accurate location information of the area where the fire is located.
  • a fire source characteristic image 320 is also displayed at the position 312 corresponding to the fire source position information corresponding to the electronic map 310 on the display interface 300, and the fire source characteristic image is the original environment image or a part of the environment image.
  • the advantages of displaying it to relevant users such as firefighters are: on the one hand, if there is a fire, firefighters can intuitively understand the actual fire state, and different fire states can be handled in different ways, for example, if the fire source feature image If it is determined that the fire state is serious, more firefighters, fire trucks, etc. can be called to avoid delaying the firefighting time;
  • the source feature image 320 determines whether there is a fire, and if it is a false alarm, it can also avoid the occurrence of a false alarm.
  • the fire source characteristic image 320 is displayed on the electronic map 310 in the form of a thumbnail, and the original fire source characteristic image is cached in the local storage.
  • the original fire source characteristic image 320 is acquired from the cache and displayed in an enlarged manner, so that the user can observe the fire source situation more intuitively.
  • the terminal device will acquire the fire indication message in real time, and display the fire source location information and the fire source characteristic image 320 in the most recently received fire indication message on the display interface 310 in real time.
  • the fire level determined by the management terminal device is higher, such as the severity level, the frequency of receiving the fire indication message is higher.
  • S303 Determine the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object according to the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object and the position of the terminal device .
  • the nearest traffic location point to the location corresponding to the fire source location information can be quickly determined, which is convenient for special vehicles such as fire trucks to reach the nearest location.
  • the navigation information can further navigate possible walking locations, especially Some forest parks have trail location maps, so that firefighters can quickly reach the location closest to the fire scene in unfamiliar forest parks.
  • the navigation information includes vehicle driving navigation information, or includes vehicle driving navigation information and walking navigation information, and is visually displayed on the electronic map to facilitate the firefighter user to quickly arrive at the fire scene inspected.
  • the solid line 330 is the vehicle driving navigation instruction
  • the dotted line 340 is the walking navigation instruction. It is understood that FIG. 3b is only an example.
  • N fire source characteristic images and the corresponding positions of the N fire source characteristic images can also be displayed on the display interface, where M and N are positive integers, and N is less than or equal to M. . N less than or equal to M means that the displayed fire source characteristic image may be less than or equal to the fire source characteristic image object determined by the management terminal device.
  • the S304 may specifically include: in response to the touch command received on the display interface, determining the target fire source characteristic image object selected by the touch command; displaying the target on the electronic map Navigation information of the fire source object corresponding to the fire source feature image object. That is to say, users such as firefighters can be provided to make choices, and the firefighters or the firefighter management users can determine a target fire source to navigate and go to put out the fire. Further, after a certain target fire source characteristic image object is selected, the terminal device can also send the identification of the selected target fire source characteristic image or the fire source position information corresponding to the target fire source characteristic image to other terminal devices, To avoid repeated selection by users of other terminal devices.
  • the terminal device When the terminal device receives the identification of the target fire source feature image or the fire source location information corresponding to the target fire source feature image sent by other terminal devices, and determines that a repeated selection event occurs, it can notify the user, re-select, or be selected If the time when the terminal equipment selects the characteristic image of the target fire source is later than the selection time of other terminal equipment, it will prompt the user to re-select, otherwise, no prompt will be given or a notification message will be sent to other terminal equipment to notify the other terminal equipment. Reselect the Determining Fire Feature Image.
  • relevant users can intuitively understand the fire situation, and the terminal can intelligently navigate for the user, which maximally facilitates firefighters and other users to quickly understand the fire and reach the fire, and greatly improves the fire response capability.
  • the fire extinguishing efficiency is improved.
  • FIG. 4 is a flowchart of a fire interaction method according to an embodiment of the present application.
  • the interaction process involves an aircraft, a management terminal device, and a terminal device.
  • the central server that communicates with different terminal devices can also be a portable device that can be connected to one or the aircraft and can communicate with different terminal devices, or can be mounted on the aircraft and can communicate with the aircraft, and can also communicate with different terminal devices.
  • the terminal device may be a portable device, such as a smart phone, a computer and other devices configured by a firefighter.
  • the method of the embodiment of the present invention may include but is not limited to the following steps:
  • the aircraft captures an environment image, and sends the environment image to the management terminal device in real time or periodically.
  • the environment image can be a color image collected by an image sensor such as a camera, the environment image can also be an infrared image collected by an infrared sensor, or includes both a color image and an infrared image. / or IR sensor to acquire an image of the environment.
  • the management terminal device acquires an environmental image about the target environment collected by the aircraft during the flight, and identifies an image object with characteristics of a fire source from the environmental image. Based on the image recognition technology or the gray value recognition technology on the infrared image, the fire source characteristic image object can be quickly determined.
  • identifying the image object with the characteristics of the fire source from the image of the environment may include: if it is determined based on the infrared image collected by the infrared sensor that there is a fire source in the target environment fire source object, then identify the relative orientation information of the fire source object in the target environment; according to the relative orientation information of the fire source object, determine the image area in the environmental image collected by the image sensor; identify the fire source characteristic image in the image area object. That is to say, using the infrared image to quickly determine the approximate position, and then using the image recognition technology to identify the local image area, can speed up the recognition speed and accuracy of the fire source characteristic image object.
  • the gray value corresponding to each pixel in the infrared image the temperature of the environmental object corresponding to the gray value, the larger the gray value, the higher the temperature. If the gray value is greater than the second threshold, it is determined that there is a fire source object in the target environment, and the relative position information of the fire source object in the target environment is identified according to the positions of the preset number of pixels in the environmental image.
  • the management terminal device can identify the fire source characteristic image object from the environmental image according to the gray value in the infrared image. For example, the management terminal device determines an area formed by a plurality of consecutive pixels in the infrared image with a grayscale value greater than a first threshold value as a fire source characteristic image object.
  • the management terminal device acquires the image position of the fire source characteristic image object in the environment image.
  • the acquired image position is the position of the fire source feature graphic object in the image area covered by the environmental image.
  • the management terminal device determines, according to the image position, the fire source position information of the fire source object corresponding to the fire source feature image object in the target environment. Specifically, the management terminal device determines the fire source position information of the fire source object in the target environment according to the position of the fire source object relative to the aircraft and the positioning position of the aircraft.
  • the aircraft is provided with a distance sensor
  • the management terminal device determines the fire source position information of the fire source object corresponding to the fire source feature image object in the target environment according to the image position, which may include: determining the position set of the aircraft, the position The set includes the position information of the aircraft at at least two different positions; at least two distances from the aircraft to the fire source object corresponding to the fire source feature image object when the distance sensor is used to obtain at least two different positions; according to the position set and at least Two distances to determine the fire source position information of the fire source object corresponding to the fire source feature image object in the target environment.
  • the position set of the aircraft includes the position information of the aircraft at three points A, B, and C in FIG. 5 , and the position information is determined by the positioning sensor installed on the aircraft.
  • the distances from the aircraft to a certain target point of the fire source A are L1, L2, and L3 marked in Figure 5.
  • the L1, L2, and L3 are measured by the distance sensors installed on the aircraft.
  • the management terminal equipment According to the position information and distances L1, L2, L3 of the aircraft at points A, B, and C, the relative position information of the target point in the fire source A relative to the aircraft is determined by using triangulation ranging.
  • the relative position information of the target point can obtain more accurate position information of fire source A relative to the aircraft in the environment. Based on the position information relative to the aircraft and the position of the aircraft (for example, a GPS coordinate), the GPS of fire source A can be obtained. coordinate.
  • the management terminal device selects the target terminal device identifier according to the fire source location information.
  • the selected target terminal device identifier may be the top N terminal device identifiers among the terminal device identifiers arranged in order in the set of registered terminal device identifiers.
  • in order refers to the order of distances to the position indicated by the fire source location information
  • the identifiers of the top N terminal devices refer to the terminals corresponding to the top N terminal devices in the distance from the fire source object.
  • logo. N is preset. That is to say, the management terminal device acquires N target terminal device identifiers from the set of registered terminal device identifiers according to the distance between the firefighter wearing the terminal device and the fire source. This method can be selected nearby and select the terminal device that needs to be notified.
  • the management terminal device sends the fire indication message carrying the fire source location information to the terminal device corresponding to each target terminal device identifier.
  • the management terminal device may notify the target terminal device identification corresponding to the terminal device through the mobile communication network and/or the computer network, and the target terminal device identification may be a phone number or an instant messaging application account.
  • the management end device further includes a mobile communication module. If the management end device does not select the target terminal device identification, the mobile communication module is invoked to send a notification message to the terminal device corresponding to the preset terminal device identification.
  • the mobile communication module may For the emergency communication module, the preset terminal equipment is the terminal equipment corresponding to the fire center closest to the fire scene.
  • the aircraft does not select the target terminal equipment identification, indicating that no firefighters have received the fire command about the fire.
  • the aircraft can call the mobile communication module to send notification information to the nearest fire department, informing the fire department of the location. In the event of a fire, it is helpful for the fire department to dispatch firefighters to deal with the fire in time.
  • the terminal device receives the fire indication message carrying the fire source location information.
  • the fire indication message may also include a fire source characteristic image, so as to be displayed on the terminal device.
  • the terminal device that receives the fire indication message may also send the fire indication message to other terminal devices.
  • the management terminal device may further carry the forwarding terminal identification in the fire indication message, so that the fire indication message carrying the forwarding terminal identification and the fire source location information is used to instruct the terminal equipment corresponding to the target terminal equipment identification to The terminal equipment indicated by the forwarding terminal identifier forwards the fire source location information.
  • the management end device it may communicate by means of radio frequency and other methods whose communication range is not very large.
  • the management terminal device Take this part of the terminal equipment as the target terminal equipment, and use the terminal equipment with a farther distance among all the registered terminal equipment as the forwarding terminal, obtain the forwarding terminal identifier of this part of the forwarding terminal, and carry it in the fire indication message, so that The target terminal device that receives the fire indication message can continue to forward it, ensuring that all or most of the registered terminal devices can obtain the fire indication message and obtain the indication of the fire location.
  • the management terminal device can detect the distance of the registered terminal device. For example, the management terminal device will collect the information reported by the registered terminal device in real time or periodically. The terminal equipment at the sending end of the information is used as the target terminal equipment.
  • the forwarding device can perform the same operations and steps as the target terminal device identification multi-corresponding terminal device.
  • the terminal device displays the fire source characteristic image on the display interface according to the fire source location information.
  • the fire source characteristic image may be an image carried in the fire source indication message, or may also be a schematic diagram, such as an icon about a fire, to conveniently and intuitively prompt users such as firefighters.
  • the terminal device determines the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object according to the fire source position information in the target environment and the position of the terminal device of the fire source object corresponding to the fire source characteristic image object.
  • the terminal device displays the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object on the electronic map. Further, if the fire indication message also carries the forwarding terminal identifier, the terminal device will also forward the fire source location information to the terminal device indicated by the forwarding terminal identifier.
  • the management terminal device sends a fire indication message carrying the fire source location information to the terminal device corresponding to the target terminal device identifier, and the terminal device determines and determines the fire source location information and the location of the terminal device according to the fire source location information and the location of the terminal device. Display the navigation information from the terminal device to the fire source object.
  • This method enables the firefighters wearing the terminal device to obtain the navigation information to the fire source, which is beneficial for the firefighters to go to the fire source according to the navigation information and carry out the fire source inspection. Fire fighting operations.
  • the management terminal device can also determine the fire risk of the target environment according to the target image object and further determine the fire reporting object set corresponding to the target environment according to the fire risk level of the target environment.
  • Different fire risk levels have different sets of reported objects. For example, the fire risk level of a small fire can be reported to some firefighters. If the fire risk level is high, such as corresponding to the serious state mentioned above, in addition to reporting to In addition to a large number of firefighters, it also needs to be reported to users such as the designated emergency command office.
  • the management terminal device determines the fire risk level of the target environment according to the target image object, including: determining the influence level of the fire source characteristic image object according to the infrared image collected by the infrared sensor, and the influence level of the fire source characteristic image object is It is determined according to the number of fire source characteristic image objects and/or the area size determined according to the infrared image; if the influence level of the fire source characteristic image objects satisfies the first condition, the fire risk level of the target environment is determined to be the first level; If the influence level of the fire source characteristic image object satisfies the second condition, the fire risk level of the target environment is determined to be the second level; the first level and the second level correspond to different fire reporting object sets.
  • the influence level of the fire source characteristic image object may be understood as the influence level of the fire corresponding to the fire source characteristic image object, and may also be understood as the severity level of the fire.
  • the influence level of the fire source characteristic image objects is determined to be the first level; If the number of image objects is less than the third threshold, or the size of the area determined by the infrared image is less than the fourth threshold, the influence level of the fire source feature image object is determined to be the second level, and the influence level of the first level is greater than the second level. That is to say, when the influence of the fire source feature image object is the first level, the fire severity level corresponding to the fire source feature image object is greater than that of the fire source feature image object. severity level.
  • the first condition and the second condition are preset conditions.
  • the first condition is that the influence level of the fire source characteristic image object is greater than the preset level
  • the second condition is that the influence level of the fire source characteristic image object is less than or equal to the preset level.
  • the management terminal device determines the fire report object set corresponding to the target environment according to the fire risk level of the target environment, including: if the fire risk level of the target environment is the first level, determining the fire report corresponding to the target environment.
  • the object is the first object set; if the fire risk level of the target environment is the second level, it is determined that the fire reporting object corresponding to the target environment is the second object set, and the scheduling level of the objects in the second object set is lower than that of the first object set
  • the dispatch level of the object in is beneficial for the management terminal device to report fires of different fire risk levels to objects in different fire reporting object sets.
  • the management terminal device determines that the fire corresponds to the first fire report.
  • the objects included in an object set are the provincial fire center, the city fire center and the district fire center.
  • the management terminal device determines that the fire corresponds to the fire reported in the second object set included in the fire report.
  • the object is the district fire center.
  • the management terminal device After the management terminal device sends the fire indication message, or after the terminal device receives the fire indication message, it can also perform related processing of task allocation. As shown in Figure 6, another fire indication method is described. This method Including but not limited to the following steps:
  • the terminal device acquires location information of the terminal device in the target environment.
  • the terminal device is the first terminal device, and is also the terminal device in the target terminal device corresponding to the target terminal device that has fed back response information, where the response information is information responding to the fire indication message.
  • the terminal device obtains the position information of the terminal device in the target environment through the position sensor (eg, GPS) included in the terminal device, that is, obtains the position information of the firefighter in the current environment.
  • the position sensor eg, GPS
  • the terminal device sends the location information of the terminal device in the target environment to the management terminal device.
  • the terminal device sends the location information of the terminal device in the target environment to the management end device, so that the management end device can obtain the location information of the terminal device, that is, obtain the location information of the firefighter wearing the terminal device.
  • the management terminal device receives the location information from the terminal device.
  • the management end device may send fire indication messages to multiple terminal devices, and different terminal devices feed back to the management end device that they are in a working state by feeding back location information.
  • the terminal equipment that has not fed back the location information may not correctly receive the fire indication message, or the terminal equipment may be online.
  • the administrator or commander can perform task assignment management according to the management terminal device.
  • the management terminal device acquires operation information, where the operation information includes the fire source location allocated according to the location information of the terminal device. That is to say, after obtaining the location information of the terminal device, the management terminal device allocates one or more fire source location information that is closer to the terminal device to the terminal device according to the distance between each fire source location and the terminal device. Therefore, The operation information includes the fire source position allocated to the terminal device by the management terminal device according to the position information of the terminal device and the distance from the terminal device to each fire source, and the fire source position is the fire source position closer to the terminal device. It can be seen that, through overall management, this method is conducive to the firefighters wearing terminal equipment rushing to the fire source near the firefighters as soon as possible, which is conducive to improving the fire extinguishing efficiency.
  • S605 The management terminal device sends the job information to the terminal device.
  • the terminal device receives the job information from the management terminal device.
  • the terminal device displays the fire source location allocated according to the location information of the terminal device on the electronic map. And further, the navigation can be completed based on the fire source position of the assigned fire source and its own position.
  • the terminal device displays one or more fire source positions included in the operation information on the electronic map, which is beneficial to provide firefighters with selection and choose the fire source position to go to.
  • the operation information received by the terminal device includes multiple fire source locations
  • it can receive touch commands from firefighters, and according to the touch
  • the instruction determines the location of the target fire source, and then generates navigation information from the terminal device to the target fire source location according to the location of the target fire source and the location information of the terminal device, and displays the navigation information on the electronic map for firefighters. Go to the target fire source location. It can be seen that the firefighters select the target fire source position from the multiple fire source positions allocated by the management terminal device, and go to the target fire source position according to the navigation information of the target fire source position.
  • an infrared sensor can be configured on the terminal device.
  • the infrared sensor can obtain an infrared image of the current environment where the firefighter is located, so the terminal device can display the The infrared image obtained by the infrared sensor allows firefighters to accurately determine the high temperature point through the infrared image, and then control the sprinkler gun to accurately extinguish the fire.
  • infrared images are displayed on the terminal device, which can guide firefighters to the fire scene in the dark environment.
  • the terminal device can receive a touch command from the firefighter on the infrared image, and respond accordingly to the touch command.
  • the touch command may include commands such as zooming in, zooming out, and switching images.
  • the terminal device amplifies the infrared image in a corresponding proportion according to the magnification ratio of the magnification instruction, so as to help the firefighter to more accurately determine from the infrared image.
  • the high temperature point is conducive to the accurate fire extinguishing of the high temperature point and improves the fire extinguishing efficiency.
  • the terminal device can switch the infrared image to an environmental image on the display interface, or switch to an electronic map showing the location of the fire source, which is beneficial for firefighters to combine
  • the distance to the fire source location, navigation information, etc. are known from multiple images, so that firefighters can quickly and accurately arrive at the fire source location.
  • the terminal device sends the acquired location information of the terminal device to the management end device, so that the management end device allocates a fire source location that is closer to the terminal device to the management end device according to the location information of the terminal device.
  • the terminal equipment is used, so that the firefighter wearing the terminal equipment can go to the fire source corresponding to the nearest fire source position, which is beneficial for the firefighter to go to the nearest fire source at the first time and improve the fire extinguishing efficiency.
  • FIG. 7 is a schematic structural diagram of a management terminal device according to an embodiment of the present application.
  • the terminal device 70 described in the embodiments of the present application includes: a processor 701 and a memory 702.
  • the processor 701 and the memory 702 are connected through one or more communication buses.
  • the above-mentioned processor 701 can be a central processing unit (Central Processing Unit, CPU), and the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC) ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the processor 701 is configured to support the user equipment to perform the corresponding functions of the management end equipment in the methods described in FIG. 2 , FIG. 4 and FIG. 6 .
  • the above-mentioned memory 702 may include read-only memory and random access memory, and provides computer programs and data to the processor 701 .
  • a portion of memory 702 may also include non-volatile random access memory.
  • the processor 701 invokes the computer program, it is used to execute: acquiring an environmental image about the target environment collected by the aircraft during flight, and identifying a fire source characteristic image object from the environmental image; acquiring the The image position of the fire source characteristic image object in the environment image; the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object is determined according to the image position; Obtain the target terminal equipment identifier from the terminal equipment identifier set; send the fire indication message carrying the fire source location information to the terminal equipment corresponding to each of the target terminal equipment identifiers.
  • the aircraft is provided with an infrared sensor and an image sensor for collecting environmental images
  • the processor 701 identifies the fire source characteristic image object from the environmental image, and specifically performs the following steps: if based on the The infrared image collected by the infrared sensor determines that there is a fire source object in the target environment, and then the relative orientation information of the fire source object in the target environment is identified; according to the relative orientation information of the fire source object, in the image sensor An image area is determined in the collected environmental image; an image object with characteristics of a fire source is identified in the image area.
  • the aircraft is provided with a distance sensor
  • the processor 701 determines the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object according to the image position, Specifically, the following steps are performed: determining a position set of the aircraft, where the position set includes the position information of the aircraft at at least two different positions; At least two distances from the aircraft to the fire source object corresponding to the fire source characteristic image object; according to the position set and the at least two distances, determine that the fire source object corresponding to the fire source characteristic image object is in the Describe the location information of the fire source in the target environment.
  • the processor 701 obtains the target terminal device identification from the registered terminal device identification set, and specifically performs the following steps: selecting the target terminal device identification according to the fire source location information, wherein the selected target The terminal device identification is the top N terminal device identification among the terminal device identifications arranged in order in the registered terminal device identification set.
  • the management terminal device further includes a mobile communication module
  • the processor 701 may further perform the following steps: if the target terminal device identifier is not selected, call the mobile communication module to a preset terminal device. Identifies that the corresponding terminal device sends a notification message.
  • the processor 701 may further perform the following steps after acquiring an environmental image about the target environment collected by the aircraft during flight, and identifying the fire source characteristic image object from the environmental image:
  • the fire source characteristic image object determines the fire risk level of the target environment; and determines the fire reporting object set corresponding to the target environment according to the fire risk level of the target environment.
  • the processor 701 determines the fire risk level of the target environment according to the fire source characteristic image object, and specifically performs the following steps: determining the influence level of the fire source characteristic image object, the fire source characteristic image object The influence level of the image object is determined according to the number of the fire source characteristic image objects and/or the size of the area determined according to the infrared image collected by the infrared sensor; if the influence level of the fire source characteristic image object satisfies the first condition , the fire risk level of the target environment is determined to be the first level; if the influence level of the fire source characteristic image object satisfies the second condition, the fire risk level of the target environment is determined to be the second level; the The first level and the second level correspond to different fire reporting object sets.
  • the processor 701 may further perform the following steps: receiving location information from a first terminal device, where the first terminal device is the target terminal device corresponding to the target terminal device identifier that has fed back response information. terminal equipment, the response information is information responding to the fire indication message; obtain operation information, the operation information includes the fire source position allocated according to the position information of the first terminal equipment; information is sent to the first terminal device.
  • the fire indication message also carries a forwarding terminal identification
  • the fire indication message carrying the forwarding terminal identification and the fire source location information is used to instruct the terminal equipment corresponding to the target terminal equipment identification to forward the information.
  • the terminal equipment indicated by the terminal identifier forwards the fire source location information.
  • the processor 701 determines the location information of the fire source according to the acquired environmental image about the target environment collected by the aircraft during the flight, and sends the fire indication message carrying the location information of the fire source to the The terminal equipment corresponding to the target terminal equipment identification obtained from the registered terminal equipment identification set, the terminal equipment is equipped on the firefighters, so that the firefighters can obtain the fire source location information from the terminal equipment in time.
  • FIG. 8 is an aircraft provided by an embodiment of the present application. It is characterized in that, the aircraft 80 described in the embodiment of the present application includes: a power assembly 801, a memory 802, and a controller 803, wherein:
  • the controller 803 runs the computer program for performing the following steps: acquiring an environmental image about the target environment collected by the aircraft during flight, and identifying a fire source characteristic image object from the environmental image; acquiring the fire source The image position of the source characteristic image object in the environment image; the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object is determined according to the image position; from the registered terminal The target terminal device identifier is obtained from the device identifier set; the fire indication message carrying the fire source location information is sent to the terminal device corresponding to each target terminal device identifier.
  • the aircraft is provided with an infrared sensor and an image sensor for collecting environmental images
  • the controller 803 identifies the fire source characteristic image object from the environmental image, and specifically performs the following steps: if based on the The infrared image collected by the infrared sensor determines that there is a fire source object in the target environment, and then the relative orientation information of the fire source object in the target environment is identified; according to the relative orientation information of the fire source object, in the image sensor An image area is determined in the collected environmental image; an image object with characteristics of a fire source is identified in the image area.
  • the aircraft is provided with a distance sensor
  • the controller 803 determines the fire source position information in the target environment of the fire source object corresponding to the fire source feature image object according to the image position, Specifically, the following steps are performed: determining a position set of the aircraft, where the position set includes the position information of the aircraft at at least two different positions; At least two distances from the aircraft to the fire source object corresponding to the fire source characteristic image object; according to the position set and the at least two distances, determine that the fire source object corresponding to the fire source characteristic image object is in the Describe the location information of the fire source in the target environment.
  • the controller 803 obtains the target terminal equipment identification from the registered terminal equipment identification set, and specifically performs the following steps: selecting the target terminal equipment identification according to the fire source location information, wherein the selected target terminal equipment identification
  • the terminal device identification is the top N terminal device identification among the terminal device identifications arranged in order in the registered terminal device identification set.
  • the management terminal device further includes a mobile communication module
  • the controller 803 may further perform the following steps: if the target terminal device identifier is not selected, call the mobile communication module to a preset terminal device. Identifies that the corresponding terminal device sends a notification message.
  • the controller 803 may also perform the following steps after acquiring the environmental image about the target environment collected by the aircraft during the flight, and identifying the fire source characteristic image object from the environmental image:
  • the fire source characteristic image object determines the fire risk level of the target environment; and determines the fire reporting object set corresponding to the target environment according to the fire risk level of the target environment.
  • the controller 803 determines the fire risk level of the target environment according to the fire source characteristic image object, and specifically performs the following steps: determining the influence level of the fire source characteristic image object, the fire source characteristic image object The influence level of the image object is determined according to the number of the fire source characteristic image objects and/or the size of the area determined according to the infrared image collected by the infrared sensor; if the influence level of the fire source characteristic image object satisfies the first condition , the fire risk level of the target environment is determined to be the first level; if the influence level of the fire source characteristic image object satisfies the second condition, the fire risk level of the target environment is determined to be the second level; the The first level and the second level correspond to different fire reporting object sets.
  • the controller 803 may further perform the following steps: receiving the location information from the first terminal device, the first terminal device is the target terminal device corresponding to the target terminal device identifier that has fed back the response information.
  • terminal equipment the response information is information responding to the fire indication message; obtain operation information, the operation information includes the fire source position allocated according to the position information of the first terminal equipment; information is sent to the first terminal device.
  • the fire indication message also carries a forwarding terminal identification
  • the fire indication message carrying the forwarding terminal identification and the fire source location information is used to instruct the terminal equipment corresponding to the target terminal equipment identification to forward the information.
  • the terminal equipment indicated by the terminal identifier forwards the fire source location information.
  • an infrared sensor is configured on the terminal device; the processor is further configured to perform the following step: displaying an infrared image acquired by the infrared sensor on the display interface.
  • controller 803 in this embodiment of the present invention, reference may be made to the description of the related content in the foregoing embodiments, which is not repeated here.
  • the controller 803 determines the location information of the fire source according to the acquired environmental image about the target environment collected by the aircraft during the flight, and sends the fire indication message carrying the location information of the fire source to the
  • the terminal equipment corresponding to the target terminal equipment identification obtained from the registered terminal equipment identification set, the terminal equipment is equipped on the firefighters, so that the firefighters can obtain the fire source location information from the terminal equipment in time.
  • FIG. 9 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • the terminal device 90 described in the embodiments of the present application includes: a processor 901 and a memory 902.
  • the processor 901 and the memory 902 are connected through one or more communication buses.
  • the above-mentioned processor 901 can be a central processing unit (Central Processing Unit, CPU), and the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC) ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the processor 901 is configured to support the user equipment to perform the corresponding functions of the terminal equipment in the methods described in FIG. 3a , FIG. 4 and FIG. 6 .
  • the above-mentioned memory 902 may include read-only memory and random access memory, and provides computer programs and data to the processor 901 .
  • a portion of memory 902 may also include non-volatile random access memory.
  • the processor 901 invokes the computer program, it is used to execute: receiving a fire indication message carrying fire source location information; displaying the fire source characteristic image on the display interface according to the fire source location information; The fire source location information of the fire source object corresponding to the fire source characteristic image object in the target environment and the position of the terminal device, and the fire source object corresponding to the fire source characteristic image object from the terminal device to the fire source characteristic image object is determined navigation information; display the navigation information from the terminal device to the fire source object corresponding to the fire source feature image object on the electronic map.
  • the number of the fire source characteristic image objects is M, and N fire source characteristic images are displayed on the display interface, where M and N are positive integers, and N is less than or equal to M;
  • the processor 901 Display the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object on the electronic map, and specifically perform the following steps: in response to the touch command received on the display interface, determine the touch The target fire source characteristic image object selected by the control instruction; the navigation information of the fire source object corresponding to the target fire source characteristic image object is displayed on the electronic map.
  • the processor 901 may further perform the following steps: acquiring the location information of the terminal device in the target environment; sending the location information of the terminal device in the target environment to the management end device;
  • the operation information of the management terminal equipment, the operation information includes the fire source position allocated according to the position information of the terminal equipment; the fire source position allocated according to the position information of the terminal equipment is displayed on the electronic map.
  • the processor 901 may further perform the following steps: forwarding the fire source location information to the terminal device indicated by the forwarding terminal identifier.
  • an infrared sensor is configured on the terminal device; the processor 901 is further configured to perform the following step: displaying an infrared image acquired by the infrared sensor on the display interface.
  • the terminal device corresponding to the target terminal identifier receives the fire source location information, and generates and displays navigation information from the terminal device to the fire source object according to the location of the terminal device and the fire source location information, which is beneficial to fire fighting According to the navigation information of the fire source object, the personnel go to the fire source to put out the fire.
  • FIG. 10 is a schematic structural diagram of a fire source position indicating device provided by an embodiment of the present invention.
  • the fire source position indicating device is used in a management terminal device or an aircraft, and the fire source position indicating device 100 may include: :
  • a processing unit 1001 configured to acquire an environmental image about a target environment collected by an aircraft during flight, and identify a fire source characteristic image object from the environmental image; acquire the fire source characteristic image object in the environmental image determine the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object according to the image position; obtain the target terminal equipment identification from the registered terminal equipment identification set;
  • the sending unit 1002 is further configured to send a fire indication message carrying the fire source location information to the terminal equipment corresponding to each of the target terminal equipment identifiers.
  • the aircraft is provided with an infrared sensor and an image sensor for collecting environmental images
  • the processing unit 1001 identifies the fire source characteristic image object from the environmental image, and specifically performs the following steps: if based on the The infrared image collected by the infrared sensor determines that there is a fire source object in the target environment, and then the relative orientation information of the fire source object in the target environment is identified; according to the relative orientation information of the fire source object, in the image sensor An image area is determined in the collected environmental image; an image object with characteristics of a fire source is identified in the image area.
  • the aircraft is provided with a distance sensor
  • the processing unit 1001 determines the fire source position information in the target environment of the fire source object corresponding to the fire source characteristic image object according to the image position, Specifically, the following steps are performed: determining a position set of the aircraft, where the position set includes the position information of the aircraft at at least two different positions; At least two distances from the aircraft to the fire source object corresponding to the fire source characteristic image object; according to the position set and the at least two distances, determine that the fire source object corresponding to the fire source characteristic image object is in the Describe the location information of the fire source in the target environment.
  • the processing unit 1001 acquires the target terminal device identifier from the registered terminal device identifier set, and specifically performs the following steps: selecting the target terminal device identifier according to the fire source location information, wherein the selected target terminal device identifier is The terminal device identification is the top N terminal device identification among the terminal device identifications arranged in order in the registered terminal device identification set.
  • the management terminal device further includes a mobile communication module
  • the processing unit 1001 may further perform the following steps: if the target terminal device identifier is not selected, call the mobile communication module to a preset terminal device. Identifies that the corresponding terminal device sends a notification message.
  • the processing unit 1001 acquires an environmental image about the target environment collected by the aircraft during the flight. The following steps may also be performed: determining a fire risk level of the target environment according to the fire source characteristic image object; determining a set of fire reporting objects corresponding to the target environment according to the fire risk level of the target environment.
  • the processing unit 1001 determines the fire risk level of the target environment according to the fire source characteristic image object, and specifically performs the following steps: determining the influence level of the fire source characteristic image object, the fire source characteristic image object The influence level of the image object is determined according to the number of the fire source characteristic image objects and/or the size of the area determined according to the infrared image collected by the infrared sensor; if the influence level of the fire source characteristic image object satisfies the first condition , the fire risk level of the target environment is determined to be the first level; if the influence level of the fire source characteristic image object satisfies the second condition, the fire risk level of the target environment is determined to be the second level; the The first level and the second level correspond to different fire reporting object sets.
  • the processing unit 1001 may further perform the following steps: receiving location information from a first terminal device, the first terminal device identifying the terminal device corresponding to the target terminal device that has fed back the response information among the target terminal devices , the response information is information that responds to the fire indication message; obtain operation information, where the operation information includes the fire source location allocated according to the location information of the first terminal device; send the operation information to the first terminal device.
  • FIG. 11 is a schematic structural diagram of another fire source position indicating device provided by an embodiment of the present invention.
  • the fire source position indicating device is used in terminal equipment, and the fire source position indicating device 110 may include:
  • a receiving unit 1101 configured to receive a fire indication message that carries fire source location information
  • a processing unit 1102 configured to display the fire source characteristic image on the display interface according to the fire source position information; according to the fire source position information of the fire source object corresponding to the fire source characteristic image object in the target environment and the location of the terminal device, determine the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object; display the terminal device to the fire source characteristic image object corresponding to the fire source object on the electronic map. Navigation information for the source object.
  • the number of the fire source characteristic image objects is M, and N fire source characteristic images are displayed on the display interface, where M and N are positive integers, and N is less than or equal to M;
  • the processing unit 1102 Display the navigation information from the terminal device to the fire source object corresponding to the fire source characteristic image object on the electronic map, and specifically perform the following steps: in response to the touch command received on the display interface, determine the touch Instruct the selected target fire source characteristic image object; display the navigation information of the fire source object corresponding to the target fire source characteristic image object on the electronic map.
  • the processing unit 1102 may further perform the following steps: acquiring the location information of the terminal device in the target environment; sending the location information of the terminal device in the target environment to the management terminal device; receiving The operation information from the management terminal equipment, the operation information includes the fire source position allocated according to the position information of the terminal equipment; the fire source allocated according to the position information of the terminal equipment is displayed on the electronic map Location.
  • the processing unit 1102 is further configured to display the infrared image acquired by the infrared sensor on the display interface.
  • An embodiment of the present application further provides a computer-readable storage medium, where the readable storage medium stores a computer program, and when the computer program is executed by a processor, it can be used to implement FIG. 3 a , FIG. 4 , and FIG. The method for indicating the position of the fire source described in the corresponding embodiment 6 will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the terminal device described in any of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the terminal device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal device.
  • the computer-readable storage medium can also be used to temporarily store data that has been or will be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

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Abstract

一种火源位置指示方法、相关设备及装置（100,110）。其中，火源位置指示方法应用于管理端设备（102,70），方法包括：获取飞行器（101,80）在飞行过程中采集到的关于目标环境的环境图像，并从环境图像中识别火源特征图像对象（S201）；获取火源特征图像对象在环境图像中的图像位置（S202）；根据图像位置确定火源特征图像对象所对应的火源对象在目标环境中的火源位置信息（S203）；从已登记的终端设备标识集合中获取目标终端设备标识（S204）；将携带有火源位置信息的火情指示消息发送给各个目标终端设备标识所对应的终端设备（103,90）（S205）。终端设备（103,90）可以是佩戴在消防员身上的终端设备（103,90），从而消防员可从终端设备（103,90）上获知火源位置信息，有利于消防员及时巡查到火源。

Description

一种火源位置指示方法、相关设备及装置 技术领域
本申请涉及通信技术领域，尤其涉及一种火源位置指示方法、相关设备及装置。
背景技术
目前，由于人为、天气等原因造成的火灾事故正在逐年上升，而若一旦火灾发生且得不到及时控制，则会给人们带来较大的损失。因此，日常对火灾的巡查尤为重要，特别是针对森林火灾的巡查。
对于一些特殊环境的火灾，比如森林火灾，主要是通过巡防人员不定期进行巡查的方式，发现是否某处森林发生了火灾。当巡防人员发现了火灾时，由该巡防人员通知相关部门(比如，当地的森林管理部门、消防站等等)，再由相关部门部署灭火措施。
然而，火灾一旦发生，蔓延速度较快，受限于人工巡查的范围非常有限，人工巡查的方式对火灾的反应速度慢，火灾预警通报的效率低下。
发明内容
本申请实施例提供了一种火源位置指示方法、相关设备及装置，通过该火源位置指示方法，可及时巡查到火源。
一方面，本申请实施例提供了一种火源位置指示方法，所述方法应用于管理端设备，该方法包括：获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；获取所述火源特征图像对象在所述环境图像中的图像位置；根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；从已登记的终端设备标识集合中获取目标终端设备标识；将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
另一方面，本申请实施例提供另一种火源位置指示方法，所述方法应用于终端设备，该方法包括：接收携带有火源位置信息的火情指示消息；根据所述火源位置信息在显示界面上显示所述火源特征图像；根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
相应地，本申请实施例提供了一种管理端设备，所述管理端设备包括：存储器和处理器，其中：
存储器，用于存储计算机程序；
处理器，调用计算机程序，用于执行如下步骤：
获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；
获取所述火源特征图像对象在所述环境图像中的图像位置；
根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；
从已登记的终端设备标识集合中获取目标终端设备标识；
将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
相应地、本申请实施例提供了一种飞行器，其特征在于，包括：
动力组件，用于带动飞行器移动；
存储器，用于存储计算机程序；
控制器，运行所述计算机程序，用于执行如下步骤：
获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；
获取所述火源特征图像对象在所述环境图像中的图像位置；
根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；
从已登记的终端设备标识集合中获取目标终端设备标识；
将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
相应地，本申请实施例提供了一种终端设备，所述终端设备包括：存储器和处理器，其中：
存储器，用于存储计算机程序；
处理器，调用计算机程序，用于执行如下步骤：
接收携带有火源位置信息的火情指示消息；
根据所述火源位置信息在显示界面上显示所述火源特征图像；
根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；
在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
相应地，本申请实施例提供了一种火源位置指示装置，所述火源位置指示装置包括：
处理单元，用于获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；获取所述火源特征图像对象在所述环境图像中的图像位置；根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；从已登记的终端设备标识集合中获取目标终端设备标识；
发送单元，用于将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
相应地，本申请实施例提供了另一种火源位置指示装置，所述火源位置指示装置包括：
接收单元，用于接收携带有火源位置信息的火情指示消息；
处理单元，用于根据所述火源位置信息在显示界面上显示所述火源特征图像；根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
相应地，本申请实施例提供一种计算机可读存储介质，用于储存上述用户设备所用的计算机软件指令，其包括用于执行上述第一方面任一所述的方法所涉及的程序。
相应地，本申请实施例提供一种计算机可读存储介质，用于储存上述用户设备所用的计算机软件指令，其包括用于执行上述第二方面任一所述的方法所涉及的程序。
本申请实施例可以利用飞行器的优势，通过图像识别和定位，及时确定火源位置信息，并且可以快捷地将火灾位置指示给相关用户，提高发现火灾火源的效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种火源位置指示系统的系统结构示意图；
图2为本申请实施例提供的一种火源位置指示方法的流程示意图；
图3a为本申请实施例提供的另一种火源位置指示方法的流程示意图；
图3b为本申请实施例提供的一种电子地图界面的示意图；
图4为本申请实施例提供的另一种火源交互方法的流程示意图；
图5为本申请实施例提供的一种确定火源位置信息的示意图；
图6为本申请实施例提供的另一种火源位置指示方法的流程示意图；
图7为本申请实施例提供的一种管理端设备的结构示意图；
图8为本申请实施例提供的一种飞行器的结构示意图；
图9为本申请实施例提供的一种终端设备的结构示意图；
图10为本申请实施例提供的一种火源位置指示装置的结构示意图；
图11为本申请实施例提供的另一种火源位置指示装置的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本申请实施例提供一种火源位置指示方法，该火源位置指示方法中，通过飞行器在一些目标环境飞行巡查，比如山林等存在失火风险的区域中巡查，管理端设备获取飞行器在飞行巡查过程中采集到的关于一个或者多个目标环境的环境图像，并从环境图像中识别火源特征图像对象，然后根据获取的火源特征图像对象在环境图像中的图像位置，来确定火源特征图像对象所对应的火源对象在目标环境中的火源位置信息，并将携带有该火源位置信息的火情指示消息发送至一些目标终端设备标识所对应的终端设备，该终端设备可以是指由消防员携带的设备，比如安装了相关应用的智能手机等设备，从而可使得消防员及时获知火源位置信息，当然，该终端设备也可以是其他火灾管理的用户所携带的设备。本申请实施例利用了飞行器的优势，设计了火灾识别、位置定位、通知等一系列的流程，能够及时发现火情并及时通知相关用户，提高了火灾发现和处理的效率。
所述管理端设备可以是一个中心服务器，该中心服务器可以与多个飞行器连接，可以通过移动通信网络比如5G网络建立通信连接，也可以通过射频方式建立通信连接，中心服务器可以分别获取各个飞行器采集到的环境图像进行分析并进行火情指示消息的发送。该管理端设备也可以是一个便携式的设备，由护林员或者其他火灾管理用户携带，可以与多个飞行 器连接，分别获取各个飞行器采集的环境图像进行分析以及火情指示消息的发送。该管理端设备还可以是一个专用的能够挂载在飞行器上的设备，可以与当前搭载的飞行器连接，获取飞行器采集到图像，对图像进行分析以及火情指示消息的发送。另外，该管理端设备还可以是终端设备中的一个特殊的设备，比如图1中的最顶上的终端设备为管理端设备，在此情况下可以理解为，最顶上所示的终端设备对应的用户A为本次防火防灾的管理用户或者调度用户。
为了更好的理解本申请实施例公开的一种火源位置指示方法、装置及相关设备，下面首先对本发明实施例适用的火源位置指示系统的架构进行描述。
请参见图1，图1是本发明实施例提供的一种火源位置指示系统的架构示意图。如图1所示，该火源位置指示系统10由飞行器101、管理端设备102、至少一个终端设备103组成，本申请实施例并不对终端设备的数量进行限定，图1以三个终端设备为例进行说明。在图1所示的系统中，管理端设备102是根据火灾情况进行消防调度的一个独立调度中心，为一个中心服务器。而终端设备103为佩戴在一个消防人员身上的辅助设备，该辅助设备可以是智能手机，智能手表，或者具有通信功能的其他终端设备等，其中一个或者一队消防人员可对应一个终端设备103。
本申请实施例中，管理端设备102可执行本申请实施例所述的火源位置指示方法，获取飞行器101在飞行过程中采集到的关于目标环境的环境图像，并从环境图像中识别火源特征图像对象以便于进行相应处理后发出火情指示等等步骤。而终端设备103可接收火源特征图像对象所对应的火源对象在目标环境中的火源位置信息，进而显示给消防员等火灾相关用户。
需要说明的是，在本申请实施例中，目标环境为飞行器巡查的环境，在这些环境区域中可能会发生火灾，在图像识别过程中如果从该目标环境所对应的环境图像中识别出火源特征图像对象，即可认为该目标环境为火灾现场环境。环境图像为飞行器飞行过程中采集到的图像，可能存在火源对应的火源特征图像对象，也可能不存在，当存在火源特征图像对象时，会进行后续的处理以便于最终发送火情指示消息。火源特征图像对象为环境图像中具有与火源特征对应的图像对象，比如环境图像的某一个图像区域中亮度高、颜色为红色等等特征的对象均可以认为是火源特征图像对象。
基于上述描述，本申请在下述图2和图3a中，分别描述了在管理端设备和终端设备上执行的相关方法的实施例，其中，图2示出了在管理端设备上实现火源位置指示方法的流程，本实施例的所述方法可以包括如下步骤。
S201：获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从环境图像中识别火源特征图像对象。飞行器可以是在飞行巡查过程中，将当前巡查的环境作为目标环境，将对目标环境拍摄到的图像集合先后发送给管理端设备，管理端设备分别对其中的部分或者全部图像进行图像识别，从中确定是否存在具有火源特征的火源特征图像对象。如果识别存在火源特征图像对象，则执行下述步骤S202。在一个实施例中，环境图像可以为摄像机拍摄到的图像，管理端设备可以内置一个图像识别模型，该图像识别模型是通过基于大量的各种规模的火灾图像进行训练学习后生成的，能够较为有效地识别出各种各样的火灾场景的图像。
在另一个实施例中，也可以是在疑似火灾发生后，管理端设备调度一个或者多个飞行器在疑似火灾现场上方飞行，执行拍摄火灾画面的任务。因此，飞行器会在飞行过程中采集关于火灾的环境图像。
在一个实施例中，飞行器上可以设置红外传感器，飞行器获得到的环境图像为红外图像， 由于在红外图像中，灰度值对应环境对象的温度，灰度值越大，温度越高，因此，管理端设备可根据红外图像中的灰度值从环境图像中识别出火源特征图像对象。例如，管理端设备将红外图像中灰度值大于第一阈值的多个连续像素点构成的区域确定为火源特征图像对象。
S202：获取火源特征图像对象在环境图像中的图像位置。基于图像位置可以便捷地确定火源特征图像对象所对应的实际环境中的火源对象的相对方位，以便于执行下述的S203，比如，确定的图像位置为环境图像的左下方，则可以在诸如深度传感器采集的深度图像等其他图像中，仅仅根据左下方相关区域的深度值来确定火源对象相对于飞行器的相对位置，从而得到火源位置信息。
S203：根据图像位置确定火源特征图像对象所对应的火源对象在目标环境中的火源位置信息。管理端设备可以先获取火源特征图像所对应的火源对象相对于飞行器的相对位置，然后再基于飞行器中GPS等定位模块定位得到的飞行器的位置和该相对位置，来确定火源位置信息。其中，对于火源特征图像所对应的火源对象相对于飞行器的相对位置，可以根据飞行器在不同位置采集到的多张深度图像的深度值(深度值表示距离传感器等深度传感器确定的火源对象到飞行器之间的距离)，利用三角测距等算法计算得到。
S204：从已登记的终端设备标识集合中获取目标终端设备标识。已登记的终端设备标识集合包括多个终端设备标识，各个终端设备标识是已经在管理端设备进行登记的终端设备标识，也就是说，该终端设备标识对应的终端设备是已经佩戴在消防员身上的辅助设备，后续管理端设备可与已登记的终端设备标识集合中的终端设备标识对应的终端设备进行通信。在一个实施例中，在S204中涉及到的已登记的终端设备标识集合可以进一步为已登记、且在线的终端设备标识集合。在线的终端设备可以理解为当前处于运行状态中能够接收到火灾指令的消防人员佩戴的终端设备。
S205：将携带有火源位置信息的火情指示消息发送给各个目标终端设备标识所对应的终端设备。在一个实施例中，管理端设备将携带有火源位置信息的火情指示消息直接发送给各个目标终端设备标识所对应的终端设备，以便于在这些终端设备中发起火灾提示。
所述火情指示消息中携带有火源位置信息、火源特征图像，终端设备在显示界面上显示给用户。火源特征图像可以是管理端设备从环境图像中扣取的包括其识别出的火源特征图像对象所在区域在内的部分图像区域，也可以是整个环境图像。
管理端设备还可以根据环境图像中火源特征图像对象，确定火情等级，比如火源特征图像对象在环境图像中所占的图像比例大于预设的阈值，比如环境图像上一半的图像区域都对应有火灾特征图像对象，此时可以认为是严重等级。不同的火情等级，通知规则不相同，其中，通知规则不相同包括：通知的对象设备不相同、持续通知的间隔时间不相同、通知的频率不相同中的任意一项或多项。
在另一个实施例中，管理端设备确定各个目标终端标识对应的终端设备中到本管理端设备的距离小于距离阈值的第一目标终端设备，管理端设备把携带有火源位置信息的火情指示消息发送给第一目标终端设备，由第一目标终端设备转发给其他终端设备。也就是说，当目标终端设备标识对应的终端设备数量较多时，管理端设备先将携带有火源位置信息的火情指示消息发送至距离管理端设备较近的终端设备，再由该终端设备将火情指示消息发送至其他终端设备。该方式有利于管理端设备快速的将火情指示消息发送至距离管理端设备最近的目标终端标识对应的终端设备上，使得距离管理端设备较近的消防员及时获知到火源位置信息。
通过本发明实施例，管理端设备可根据获取的飞行器在飞行过程中采集到的关于目标环 境的环境图像，飞行器视野广，可以巡查很多人迹罕至的位置，通过本申请实施例部署的一系列流程步骤，可以及时确定火源位置信息，可以快捷地将火灾位置指示给相关用户，提高了发现火灾火源的效率。
再请参见图3a，图3a示出了在终端设备上实现火源指示方法的流程，本实施例的所述方法包括如下步骤。
S301：接收携带有火源位置信息的火情指示消息；所述火情指示消息包括了管理端设备从环境图像中分析得到的火源位置信息，所述火情指示消息的生成相关的内容可参见前述实施例中相关内容的描述。
在一个实施例中，火情指示消息携带有火源位置信息、火源特征图像，以便于下述S302在显示界面上显示给用户。火源特征图像可以是管理端设备从环境图像中扣取的包括其识别出的火源特征图像对象所在区域在内的部分图像区域，也可以是整个环境图像区域。
S302：根据火源位置信息在显示界面上显示火源特征图像；该显示界面的界面示意图可以参考图3b所示，在显示界面300上显示了包括终端设备位置311和火源位置信息所对应的位置312在内的电子地图310，这样一来，收到该火源位置信息的消防员可以直观地了解到火源位置、消防员当前位置与火源位置的距离，同时，在显示界面300上显示的电子地图310还可以根据需要进行缩放，以便于消防员更直观地了解到更准确的火灾所在区域的位置信息。
同时，在显示界面300上的电子地图310对应的火源位置信息所对应位置312处还显示有火源特征图像320，火源特征图像为原始的环境图像或者环境图像的一部分区域，将原始图像显示给相关用户比如消防员的好处在于：一方面，如果确实存在火灾，消防员可以直观地了解到实际火情状态，不同的火情状态可以采用不同的处理方式，例如如果从火源特征图像确定火情状态为严重状态，则可以召集更多的消防员、消防车等，避免贻误灭火时机；另一方面，还可能存在管理端对图像分析错误导致误报，消防员等用户可以基于火源特征图像320确定是否存在火灾，如果是误报，还可以避免误出警的情况发生。
在所述电子地图310上是以缩略图的形式显示所述火源特征图像320的，原始的火源特征图像被缓存在本地存储器中，当用户点击电子地图310上的缩略图时，可以从缓存中获取并放大显示原始的火源特征图像320，以便于用户更直观地观察火源情况。
终端设备上会实时地获取火情指示消息，并在显示界面310上实时显示最近接收到的火情指示消息中火源位置信息和火源特征图像320。当管理端设备确定的火情等级越高比如严重等级，接收到火情指示消息的频率越高。
S303：根据火源特征图像对象所对应的火源对象在目标环境中的火源位置信息和终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。根据火源位置信息可以快速地确定离该火源位置信息所对应位置最近交通位置点，方便消防车等特种车辆到达最近的位置，导航信息还可以进一步对可能存在的步行位置进行导航，特别是一些森林公园，都存在步道位置图，方便消防员在不熟悉的森林公园中快速到达离火灾现场最近的位置。
S304：在电子地图上显示终端设备到火源特征图像对象对应的火源对象的导航信息。如上述，导航信息包括车辆行驶导航信息，或者包括车辆行驶导航信息和步行导航信息，在电子地图上直观地显示出来方便消防员用户快捷地到达巡查到的火灾现场。如图3b所示，实线330为车辆行驶导航指示，虚线340为步行导航指示。可以理解的是，图3b仅为举例。
在一个实施例中，还可能存在识别出多个火源特征图像对象的情况，且由于飞行器的视 野足够大，这些火源特征图像对象所对应火源还可能存在与不同的位置，因此，当所述火源特征图像对象的数量为M个时，在显示界面还可以显示N个火源特征图像，以及N个火源特征图像所对应的位置，M、N为正整数，N小于等于M。N小于等于M是指显示的火源特征图像可能少于或者等于管理端设备确定的火源特征图像对象。在此情况下，所述S304具体可以包括：响应于在所述显示界面上接收到的触控指令，确定所述触控指令选中的目标火源特征图像对象；在电子地图上显示所述目标火源特征图像对象所对应的火源对象的导航信息。也就是说，可以提供给消防员等用户做选择，由消防员或者消防员管理用户确定一个目标火源，以进行导航并前往灭火。进一步地，在某个目标火源特征图像对象被选定后，终端设备还可以向其他终端设备发送其选择的目标火源特征图像的标识或者目标火源特征图像所对应的火源位置信息，以避免其他终端设备的用户重复选择。当终端设备接收到其他终端设备发送的目标火源特征图像的标识或者目标火源特征图像所对应的火源位置信息，确定出现了重复选择事件时，可以通知用户，重新选择，或者以被选择的时间作为基准，如果本终端设备选择目标火源特征图像的时间晚于其他终端设备的选择时间，则提示用户重新选择，否则，不做提示或者向其他终端设备发送通知消息通知该其他终端设备重新选择确定火源特征图像。
通过本发明实施例，相关用户可以直观地了解到火灾情况，并且终端能够智能地为用户导航，最大限度地方便了消防员等用户能够快捷了解火灾、到达火灾，极大地提高了火灾响应能力，提高了灭火效率。
再请参见图4，是本申请实施例的一种火情交互方法的流程图，交互过程涉及飞行器、管理端设备和终端设备，该管理端设备可以为一个能够与一个或者飞行器相连，能够与不同的终端设备通信的中心服务器，也可以为一个能够与一个或者飞行器相连，能够与不同的终端设备通信的便携式设备，还可以为能够搭载在飞行器上的能够与飞行器通信，还能够与不同的终端设备通信的设备。该终端设备可以为便携式设备，比如消防员配置的智能手机、电脑等设备。本发明实施例的所述方法可包括但不限于以下步骤：
S401：飞行器拍摄环境图像，将环境图像实时地或者周期性地发送给管理端设备。所述环境图像可以是一个摄像头等图像传感器采集到的彩色图像，该环境图像也可以是由红外传感器采集到的红外图像，或者即包括彩色图像也包括红外图像，飞行器可通过云台搭载摄像头和/或红外传感器，以获取环境图像。
S402：管理端设备获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从环境图像中识别火源特征图像对象。基于图像识别技术或者红外图像上的灰度值识别技术，可以快捷地确定火源特征图像对象。
在一个实施例中，如果飞行器上设置有红外传感器和用于采集环境图像的图像传感器，那么从环境图像中识别火源特征图像对象可以包括：若基于红外传感器采集的红外图像确定目标环境中存在火源对象，则识别在目标环境中的火源对象的相对方位信息；根据火源对象的相对方位信息，在图像传感器采集到的环境图像中确定图像区域；在图像区域中识别火源特征图像对象。也就是说，利用红外图像快速确定大致位置，再利用图像识别技术进行局部图像区域的识别，可以加快火源特征图像对象的识别速度以及准确性。红外图像中各个像素点对应的灰度值，灰度值对应的环境对象的温度，灰度值越大，温度越高，因此若管理端设备确定出红外图像中存在大于预设数量个像素的灰度值大于第二阈值，则确定目标环境中存在火源对象，并根据该预设数量个像素在环境图像中的方位，识别在目标环境中的火源对象 的相对方位信息。
在一个实施例中，如果飞行器上仅仅设置有红外传感器，那么飞行器获得到的环境图像为红外图像，由于在红外图像中，灰度值对应的环境对象的温度，灰度值越大，温度越高，因此，管理端设备可根据红外图像中的灰度值从环境图像中识别出火源特征图像对象。例如，管理端设备将红外图像中灰度值大于第一阈值的多个连续像素点构成的区域确定为火源特征图像对象。
S403：管理端设备获取火源特征图像对象在环境图像中的图像位置。所获取的图像位置即火源特征图形对象在环境图像所覆盖的图像区域的位置。
S404：管理端设备根据图像位置确定火源特征图像对象所对应的火源对象在目标环境中的火源位置信息。管理端设备具体是根据火源对象相对于飞行器的位置和飞行器的定位位置来确定火源对象在目标环境中的火源位置信息的。
在一个实施例中，飞行器上设置有距离传感器，管理端设备根据图像位置确定火源特征图像对象所对应的火源对象在目标环境中的火源位置信息可以包括：确定飞行器的位置集合，位置集合中包括飞行器在至少两个不同位置处的位置信息；利用距离传感器获取在至少两个不同位置时飞行器到火源特征图像对象所对应的火源对象的至少两个距离；根据位置集合和至少两个距离，确定火源特征图像对象所对应的火源对象在目标环境中的火源位置信息。
如图5所示，飞行器的位置集合包括飞行器在图5中的A、B、C三点的位置信息，该位置信息是设置在飞行器上的定位传感器确定的，当飞行器分别在A、B、C点时，飞行器到火源A的某一个目标点的距离分别为图5中的标示的L1、L2、L3，该L1、L2、L3是设置在飞行器上的距离传感器测量的，管理端设备根据飞行器在A、B、C点的位置信息和距离L1、L2、L3，利用三角测距，确定出火源A中该目标点的相对于飞行器的相对位置信息，同时基于火源A的其他目标点的相对位置信息，可以得到较为准确的火源A在环境中相对于飞行器的位置信息，基于该相对于飞行器的位置信息和飞行器位置(例如一个GPS坐标)，可以得到火源A的GPS坐标。
S405：管理端设备根据火源位置信息选择目标终端设备标识。在一个实施例中，选择的目标终端设备标识可以是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。在一个实施例中，所说的按照顺序是指按照到火源位置信息所指示位置的距离顺序，排名前N的终端设备标识是指距离火源对象距离靠前的N个终端设备对应的终端标识。N为预先设置的。也就是说，管理端设备根据佩戴有终端设备的消防员距离火源处的距离，从已登记的终端设备标识集合中获取出N个目标终端设备标识。该方式可就近选择，选择需要通知的终端设备。
S406：管理端设备将携带有火源位置信息的火情指示消息发送给各个目标终端设备标识所对应的终端设备。管理端设备可以通过移动通信网络和/或计算机网络通知目标终端设备标识所对应的终端设备，该目标终端设备标识可以为一个电话号码、也可以为一个即时通讯应用账号。在一个实施例中，管理端设备还包括移动通信模块，若管理端设备没有选择到目标终端设备标识，则调用移动通信模块向预设终端设备标识对应的终端设备发送通知消息，移动通信模块可为应急通信模块，预设终端设备为距离火灾现场最近的消防中心对应的终端设备。也就是说，飞行器没有选择到目标终端设备标识，表明还没有消防员接收到关于该火灾的火灾指令，此时飞行器可调用移动通信模块向最近的消防部门发送通知信息，通知该消防部门该处发生了火灾，有利于消防部门派出消防人员，及时处理该火灾。
S407：终端设备接收携带有火源位置信息的火情指示消息。该火情指示消息中还可以包括火源特征图像，以便于在终端设备上显示。在一个实施例中，如图4所示，接收到火情指示消息的终端设备还可以向其他终端设备发生该火情指示消息。管理端设备可以在火情指示消息中进一步携带转发终端标识，如此一来，所述携带有转发终端标识和火源位置信息的火情指示消息用于指示目标终端设备标识所对应的终端设备向转发终端标识所指示的终端设备转发火源位置信息。对于管理端设备而言，其可能是通过射频等通信范围并不是很大的方式进行通信，此时，管理端设备可以基于从已登记的所有终端设备中检测出距离较近的一部分终端设备，将这部分终端设备作为目标终端设备，而将已登记的所有终端设备中距离较远的终端设备作为转发终端，获取这部分转发终端的转发终端标识，将其携带在火情指示消息中，以便于接收到该火情指示消息的目标终端设备能够继续转发，保证所有的或者绝大多数已登记的终端设备都能够获取到火情指示消息，得到火情位置的指示。管理端设备检测已登记终端设备的距离的方式包括多种，比如：管理端设备会实时或者周期性地收集已登记终端设备上报的信息，如果能接收到信息，则认为距离较近，能够将信息的发送端的终端设备作为目标终端设备，如果不能接收到信息，则将已登记的终端设备中所有的未能正常上报信息的终端设备作为转发设备，需要目标终端设备转发火情指示消息。转发设备在接收到火情指示消息后，可以执行与目标终端设备标识多对应终端设备相同的操作和步骤。
S408：终端设备根据火源位置信息在显示界面上显示火源特征图像。火源特征图像可以是所述火源指示消息中携带的图像，或者也可以是一个示意图，比如一个关于火苗的图标，方便直观地提示消防员等用户。
S409：终端设备根据火源特征图像对象所对应的火源对象在目标环境中的火源位置信息和终端设备的位置，确定终端设备到火源特征图像对象对应的火源对象的导航信息。
S410：终端设备在电子地图上显示终端设备到火源特征图像对象对应的火源对象的导航信息。进一步地，若所述火情指示消息中还携带有转发终端标识，则所述终端设备还会向转发终端标识所指示的终端设备转发火源位置信息。
本申请实施例中，管理端设备将携带有该火源位置信息的火情指示消息发送给目标终端设备标识对应的终端设备，终端设备根据该火源位置信息和本终端设备的位置，确定并显示本终端设备到火源对象的导航信息，该方式使得佩戴有该终端设备的消防人员获得了到达火源处的导航信息，有利于消防人员根据该导航信息前往火源处，对火源进行灭火操作。
在一个实施例中，获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从环境图像中识别火源特征图像对象后，管理端设备还可以根据目标图像对象确定目标环境的火灾风险级别；并进一步根据目标环境的火灾风险级别确定目标环境对应的火情上报对象集合。不同的火灾风险级别，上报的对象集合不相同，比如小火情的火灾风险级别，上报给部分消防员即可，而如果火灾风险级别大，比如对应上述提及的严重状态，则除了上报给大量的消防员以外，还需要上报给指定的应急指挥办公室之类的用户。
在一个实施例中，管理端设备根据目标图像对象确定目标环境的火灾风险级别，包括：根据红外传感器采集到的红外图像确定火源特征图像对象的影响等级，火源特征图像对象的影响等级是根据火源特征图像对象的数量和/或根据红外图像确定的区域范围尺寸来确定的；若火源特征图像对象的影响等级满足第一条件，则确定目标环境的火灾风险级别为第一级别；若火源特征图像对象的影响等级满足第二条件，则确定目标环境的火灾风险级别为第二级别；第一级别和所述第二级别对应有不同的火情上报对象集合。
火源特征图像对象的影响等级可理解为该火源特征图像对象对应的火灾的影响等级，也可以理解为是该火灾的严重等级。火源特征图像对象的数量越大，或者红外传感器采集到的红外图像确定的区域范围尺寸越大，表明该火灾的严重等级越大，也即火源特征图像对象的影响等级越大。
一个实施例中，若火源特征图像对象的数量大于第三阈值，或红外图像确定的区域范围尺寸大于第四阈值，则确定火源特征图像对象的影响等级为第一等级；若火源特征图像对象的数量小于第三阈值，或红外图像确定的区域范围尺寸小于第四阈值，则确定火源特征图像对象的影响等级为第二等级，第一等级的影响等级大于第二等级。也就是说，火源特征图像对象的影响为第一等级时，火源特征图像对象对应的火灾的严重等级大于火源特征图像对象的影响为第二等级时，火源特征图像对象对应的火灾的严重等级。
第一条件、第二条件为预设的条件。例如，第一条件为火源特征图像对象的影响等级大于预设等级，第二条件为火源特征图像对象的影响等级小于或等于预设等级。
在一个实施例中，管理端设备根据目标环境的火灾风险级别确定目标环境对应的火情上报对象集合，包括：若目标环境的火灾风险级别为第一级别，则确定目标环境对应的火情上报对象为第一对象集合；若目标环境的火灾风险级别为第二级别，则确定目标环境对应的火情上报对象为第二对象集合，第二对象集合中的对象的调度级别小于第一对象集合中对象的调度级别。可见，该方式有利于管理端设备将不同火灾风险级别的火灾上报给不同火情上报对象集合中的对象。
例如，目标环境的火灾风险级别为第一级别时的风险高于级别为第二级别时的风险，当目标环境的火灾风险级别为第一级别，管理端设备确定该火灾对应火情上报的第一对象集合中包括的对象为省消防中心、市消防中心和区消防中心，当目标环境的火灾风险级别为第二级别，管理端设备确定该火灾对应火情上报的第二对象集合中包括的对象为区消防中心。可见，该方式可将不同风险级别的火灾上报给不同的部门，有利于相关部门部署不同的灭火措施。
管理端设备在发送火情指示消息后，或者，终端设备在接收火情指示消息后，还可以进行任务分配的相关处理，如图6所示，描述了另外一种火情指示方法，该方法包括但不限于以下步骤：
S601：终端设备获取终端设备在目标环境中的位置信息。其中，该终端设备为第一终端设备，也为目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，响应信息为对火情指示消息做出响应的信息。终端设备通过本终端设备包括的位置传感器(比如，GPS)，获取本终端设备在目标环境中的位置信息，也即获取了消防员在当前环境中的位置信息。
S602：终端设备将所述终端设备在目标环境中的位置信息发送至管理端设备。终端设备将所述终端设备在目标环境中的位置信息发送至管理端设备，可使得管理端设备获取终端设备的位置信息，即获得佩戴有该终端设备的消防员的位置信息。
S603：管理端设备接收来自终端设备的位置信息。管理端设备可能向多个终端设备发送了火情指示消息，而不同的终端设备通过反馈位置信息的方式向管理端设备反馈其处于工作状态。未反馈位置信息的终端设备可能没有正确接收到火情指示消息，亦或是终端设备部在线。对于反馈了位置信息的终端，管理员或者指挥员可以根据管理端设备进行任务分配管理。
S604：管理端设备获取作业信息，作业信息包括根据终端设备的位置信息分配的火源位 置。也就是说，管理端设备在获取到终端设备的位置信息后，根据各个火源位置到终端设备的距离，为终端设备分配一个到该终端设备较近的一个或多个火源位置信息，所以该作业信息包括管理端设备根据终端设备的位置信息，按照该终端设备到各个火源的距离，给终端设备分配的火源位置，该火源位置为距离终端设备较近的火源位置。可见，该方式通过统筹管理，有利于佩戴有终端设备的消防员第一时间赶往消防员附近的火源处，有利于提高灭火效率。
S605：管理端设备将作业信息发送至终端设备。
S606：终端设备接收来自管理端设备的作业信息。
S607：终端设备在电子地图上显示根据终端设备的位置信息分配的火源位置。并进一步可以基于分配的火源的火源位置和自身的位置，完成导航。
终端设备在电子地图上显示作业信息中包括的一个或多个火源位置，有利于提供给消防员进行选择，选择前往的火源位置。
一个实施例中，若终端设备接收到的作业信息中包括多个火源位置，则在电子地图上显示所述多个火源位置后，可接收来自消防员的触控指令，根据该触控指令确定目标火源位置，再根据目标火源位置到和所述终端设备的位置信息，生成该终端设备到目标火源位置的导航信息，并在电子地图上显示该导航信息，以供消防员前往目标火源位置。可见，消防员在管理端设备分配的多个火源位置中，选择出目标火源位置，并根据目标火源位置的导航信息前往目标火源位置。
一个实施例中，终端设备上可以配置红外传感器，在黑夜等光线较暗的环境中，该红外传感器可获取消防员所处的当前环境的红外图像，因此终端设备可在显示界面上显示所述红外传感器获取到的红外图像，从而消防员可通过红外图像精准的判断高温点，进而控制洒水枪进行精准灭火。同时，在终端设备上显示红外图像，可在黑夜环境下指引消防员前往火灾现场。
另一个实施例中，终端设备在显示界面上显示出红外图像后，可接收消防员对红外图像的触控指令，并对所述触控指令做出对应响应。触控指令可包括放大图像、缩小图像、切换图像等指令。例如，当消防员在显示界面上对红外图像进行放大操作时，终端设备根据该放大指令的放大比例，将红外图像进行对应比例的放大，从而有利于消防员从红外图像中更加精准的确定出高温点，有利于对高温点进行精准灭火，提高灭火效率。再例如，当消防员在显示界面上对红外图像进行切换操作时，终端设备可在显示界面上将红外图像切换为环境图像、或切换到显示有火源位置的电子地图，有利于消防员结合多个图像获知前往火源位置处的距离、导航信息等，使得消防员可快且准确地到达火源位置处。
可见，本申请实施例中，终端设备将获取到的本终端设备的位置信息发送至管理端设备，从而管理端设备根据终端设备的位置信息，分配距离该终端设备较近的火源位置给所述终端设备，从而使得佩戴有该终端设备的消防员前往距离最近的火源位置对应的火源处，进而有利于该消防人员第一时间前往最近的火源处，提高灭火效率。
请参见图7，图7为本申请实施例提供的一种管理端设备的结构示意图。本申请实施例中所描述的终端设备70，包括：处理器701、存储器702，处理器701和存储器702通过一条或多条通信总线连接。
上述处理器701可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路 (Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。处理器701被配置为支持用户设备执行图2、图4和图6所述方法中管理端设备相应的功能。
上述存储器702可以包括只读存储器和随机存取存储器，并向处理器701提供计算机程序和数据。存储器702的一部分还可以包括非易失性随机存取存储器。其中，所述处理器701调用所述计算机程序时用于执行：获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；获取所述火源特征图像对象在所述环境图像中的图像位置；根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；从已登记的终端设备标识集合中获取目标终端设备标识；将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
一个实施例中，所述飞行器上设置有红外传感器和用于采集环境图像的图像传感器，所述处理器701从所述环境图像中识别火源特征图像对象，具体执行以下步骤：若基于所述红外传感器采集的红外图像确定所述目标环境中存在火源对象，则识别在所述目标环境中的火源对象的相对方位信息；根据所述火源对象的相对方位信息，在所述图像传感器采集到的环境图像中确定图像区域；在所述图像区域中识别火源特征图像对象。
一个实施例中，所述飞行器上设置有距离传感器，所述处理器701根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息，具体执行以下步骤：确定所述飞行器的位置集合，所述位置集合中包括所述飞行器在至少两个不同位置处的位置信息；利用所述距离传感器获取在所述至少两个不同位置时所述飞行器到所述火源特征图像对象所对应的火源对象的至少两个距离；根据所述位置集合和所述至少两个距离，确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息。
一个实施例中，所述处理器701从已登记的终端设备标识集合中获取目标终端设备标识，具体执行以下步骤：根据所述火源位置信息选择目标终端设备标识，其中，选择的所述目标终端设备标识是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。
一个实施例中，所述管理端设备还包括移动通信模块，所述处理器701还可以执行以下步骤：若没有选择到所述目标终端设备标识，则调用所述移动通信模块向预设终端设备标识对应的终端设备发送通知消息。
一个实施例中，所述处理器701获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象之后，还可以执行以下步骤：根据所述火源特征图像对象确定所述目标环境的火灾风险级别；根据所述目标环境的火灾风险级别确定所述目标环境对应的火情上报对象集合。
一个实施例中，所述处理器701根据所述火源特征图像对象确定所述目标环境的火灾风险级别，具体执行以下步骤：确定所述火源特征图像对象的影响等级，所述火源特征图像对象的影响等级是根据所述火源特征图像对象的数量和/或根据红外传感器采集到的红外图像确定的区域范围尺寸确定的；若所述火源特征图像对象的影响等级满足第一条件，则确定所述目标环境的火灾风险级别为第一级别；若所述火源特征图像对象的影响等级满足第二条件，则确定所述目标环境的火灾风险级别为第二级别；所述第一级别和所述第二级别对应有不同的火情上报对象集合。
一个实施例中，所述处理器701还可以执行以下步骤：接收来自第一终端设备的位置信息，所述第一终端设备为所述目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，所述响应信息为对所述火情指示消息做出响应的信息；获取作业信息，所述作业信息包括根据所述第一终端设备的位置信息分配的火源位置；将所述作业信息发送至所述第一终端设备。
一个实施例中，所述火情指示消息中还携带有转发终端标识，所述携带有转发终端标识和火源位置信息的火情指示消息用于指示目标终端设备标识所对应的终端设备向转发终端标识所指示的终端设备转发火源位置信息。
需要说明的是，本发明实施例的中所述处理器701的具体实现可参考前述实施例中相关内容的描述，在此不赘述。
本申请实施例中，处理器701根据获取的飞行器在飞行过程中采集到的关于目标环境的环境图像，确定火源位置信息，并将携带有所述火源位置信息的火情指示消息发送给从已登记的终端设备标识集合中获取的目标终端设备标识所对应的终端设备，该终端设备是配备在消防人员身上的，从而有利于消防员从终端设备上及时获知火源位置信息。
请参见图8，图8为本申请实施例提供的一种飞行器，其特征在于，本申请实施例中所描述的飞行器80包括：动力组件801、存储器802以及控制器803，其中：
动力组件801，用于带动飞行器移动；
存储器802，用于存储计算机程序；
控制器803，运行所述计算机程序，用于执行如下步骤：获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；获取所述火源特征图像对象在所述环境图像中的图像位置；根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；从已登记的终端设备标识集合中获取目标终端设备标识；将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
一个实施例中，所述飞行器上设置有红外传感器和用于采集环境图像的图像传感器，所述控制器803从所述环境图像中识别火源特征图像对象，具体执行以下步骤：若基于所述红外传感器采集的红外图像确定所述目标环境中存在火源对象，则识别在所述目标环境中的火源对象的相对方位信息；根据所述火源对象的相对方位信息，在所述图像传感器采集到的环境图像中确定图像区域；在所述图像区域中识别火源特征图像对象。
一个实施例中，所述飞行器上设置有距离传感器，所述控制器803根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息，具体执行以下步骤：确定所述飞行器的位置集合，所述位置集合中包括所述飞行器在至少两个不同位置处的位置信息；利用所述距离传感器获取在所述至少两个不同位置时所述飞行器到所述火源特征图像对象所对应的火源对象的至少两个距离；根据所述位置集合和所述至少两个距离，确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息。
一个实施例中，所述控制器803从已登记的终端设备标识集合中获取目标终端设备标识，具体执行以下步骤：根据所述火源位置信息选择目标终端设备标识，其中，选择的所述目标终端设备标识是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。
一个实施例中，所述管理端设备还包括移动通信模块，所述控制器803还可以执行以下 步骤：若没有选择到所述目标终端设备标识，则调用所述移动通信模块向预设终端设备标识对应的终端设备发送通知消息。
一个实施例中，所述控制器803获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象之后，还可以执行以下步骤：根据所述火源特征图像对象确定所述目标环境的火灾风险级别；根据所述目标环境的火灾风险级别确定所述目标环境对应的火情上报对象集合。
一个实施例中，所述控制器803根据所述火源特征图像对象确定所述目标环境的火灾风险级别，具体执行以下步骤：确定所述火源特征图像对象的影响等级，所述火源特征图像对象的影响等级是根据所述火源特征图像对象的数量和/或根据红外传感器采集到的红外图像确定的区域范围尺寸确定的；若所述火源特征图像对象的影响等级满足第一条件，则确定所述目标环境的火灾风险级别为第一级别；若所述火源特征图像对象的影响等级满足第二条件，则确定所述目标环境的火灾风险级别为第二级别；所述第一级别和所述第二级别对应有不同的火情上报对象集合。
一个实施例中，所述控制器803还可以执行以下步骤：接收来自第一终端设备的位置信息，所述第一终端设备为所述目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，所述响应信息为对所述火情指示消息做出响应的信息；获取作业信息，所述作业信息包括根据所述第一终端设备的位置信息分配的火源位置；将所述作业信息发送至所述第一终端设备。
一个实施例中，所述火情指示消息中还携带有转发终端标识，所述携带有转发终端标识和火源位置信息的火情指示消息用于指示目标终端设备标识所对应的终端设备向转发终端标识所指示的终端设备转发火源位置信息。
一个实施例中，所述终端设备上配置有红外传感器；所述处理器还用于执行以下步骤：在所述显示界面上显示所述红外传感器获取的红外图像。
本发明实施例中所述控制器803的具体实现可参考前述实施例中相关内容的描述，在此不赘述。
本申请实施例中，控制器803根据获取的飞行器在飞行过程中采集到的关于目标环境的环境图像，确定火源位置信息，并将携带有所述火源位置信息的火情指示消息发送给从已登记的终端设备标识集合中获取的目标终端设备标识所对应的终端设备，该终端设备是配备在消防人员身上的，从而有利于消防员从终端设备上及时获知火源位置信息。
请参见图9，图9为本申请实施例提供的一种终端设备的结构示意图。本申请实施例中所描述的终端设备90，包括：处理器901、存储器902，处理器901和存储器902通过一条或多条通信总线连接。
上述处理器901可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。处理器901被配置为支持用户设备执行图3a、图4和图6所述方法中终端设备相应的功能。
上述存储器902可以包括只读存储器和随机存取存储器，并向处理器901提供计算机程序和数据。存储器902的一部分还可以包括非易失性随机存取存储器。其中，所述处理器901 调用所述计算机程序时用于执行：接收携带有火源位置信息的火情指示消息；根据所述火源位置信息在显示界面上显示所述火源特征图像；根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
一个实施例中，所述火源特征图像对象的数量为M个，在所述显示界面上显示了N个火源特征图像，M、N为正整数，N小于等于M；所述处理器901在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息，具体执行以下步骤：响应于在所述显示界面上接收到的触控指令，确定所述触控指令选中的目标火源特征图像对象；在电子地图上显示所述目标火源特征图像对象所对应的火源对象的导航信息。
一个实施例中，处理器901还可以执行以下步骤：获取所述终端设备在目标环境中的位置信息；将所述终端设备在所述目标环境中的位置信息发送至管理端设备；接收来自所述管理端设备的作业信息，所述作业信息包括根据所述终端设备的位置信息分配的火源位置；在所述电子地图上显示所述根据所述终端设备的位置信息分配的火源位置。
一个实施例中，若所述火情指示消息中还携带有转发终端标识，则处理器901还可以执行以下步骤：向转发终端标识所指示的终端设备转发火源位置信息。
一个实施例中，所述终端设备上配置有红外传感器；所述处理器901还用于执行以下步骤：在所述显示界面上显示所述红外传感器获取的红外图像。
本发明实施例的所述处理器901的具体实现可参考前述实施例中相关内容的描述，在此不赘述。
本申请实施例中，目标终端标识对应的终端设备接收到火源位置信息，并根据该终端设备的位置和火源位置信息，生成并显示该终端设备到火源对象的导航信息，有利于消防员根据火源对象的导航信息，前往火源处，进行灭火。
参见图10，图10是本发明实施例提供的一种火源位置指示装置的结构示意图，所述火源位置指示装置用于管理端设备或飞行器中，所述火源位置指示装置100可以包括：
处理单元1001，用于获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；获取所述火源特征图像对象在所述环境图像中的图像位置；根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；从已登记的终端设备标识集合中获取目标终端设备标识；
发送单元1002，还用于将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
一个实施例中，所述飞行器上设置有红外传感器和用于采集环境图像的图像传感器，所述处理单元1001从所述环境图像中识别火源特征图像对象，具体执行以下步骤：若基于所述红外传感器采集的红外图像确定所述目标环境中存在火源对象，则识别在所述目标环境中的火源对象的相对方位信息；根据所述火源对象的相对方位信息，在所述图像传感器采集到的环境图像中确定图像区域；在所述图像区域中识别火源特征图像对象。
一个实施例中，所述飞行器上设置有距离传感器，所述处理单元1001根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息，具体执行以下步骤：确定所述飞行器的位置集合，所述位置集合中包括所述飞行器在至少两个不同位置处的位置信息；利用所述距离传感器获取在所述至少两个不同位置时所述飞行器到所述火 源特征图像对象所对应的火源对象的至少两个距离；根据所述位置集合和所述至少两个距离，确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息。
一个实施例中，所述处理单元1001从已登记的终端设备标识集合中获取目标终端设备标识，具体执行以下步骤：根据所述火源位置信息选择目标终端设备标识，其中，选择的所述目标终端设备标识是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。
一个实施例中，所述管理端设备还包括移动通信模块，所述处理单元1001还可以执行以下步骤：若没有选择到所述目标终端设备标识，则调用所述移动通信模块向预设终端设备标识对应的终端设备发送通知消息。
一个实施例中，所述处理单元1001获取飞行器在飞行过程中采集到的关于目标环境的环境图像，所述处理单元1001从所述环境图像中识别火源特征图像对象之后，所述处理单元1001还可以执行以下步骤：根据所述火源特征图像对象确定所述目标环境的火灾风险级别；根据所述目标环境的火灾风险级别确定所述目标环境对应的火情上报对象集合。
一个实施例中，所述处理单元1001根据所述火源特征图像对象确定所述目标环境的火灾风险级别，具体执行以下步骤：确定所述火源特征图像对象的影响等级，所述火源特征图像对象的影响等级是根据所述火源特征图像对象的数量和/或根据红外传感器采集到的红外图像确定的区域范围尺寸确定的；若所述火源特征图像对象的影响等级满足第一条件，则确定所述目标环境的火灾风险级别为第一级别；若所述火源特征图像对象的影响等级满足第二条件，则确定所述目标环境的火灾风险级别为第二级别；所述第一级别和所述第二级别对应有不同的火情上报对象集合。
一个实施例中，处理单元1001还可以执行以下步骤：接收来自第一终端设备的位置信息，所述第一终端设备为所述目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，所述响应信息为对所述火情指示消息做出响应的信息；获取作业信息，所述作业信息包括根据所述第一终端设备的位置信息分配的火源位置；将所述作业信息发送至所述第一终端设备。
本发明实施例提及的各个单元的具体实现可参考前述实施例中相关内容的描述，在此不赘述。
参见图11，图11是本发明实施例提供的另一种火源位置指示装置的结构示意图，所述火源位置指示装置用于终端设备中，所述火源位置指示装置110可以包括：
接收单元1101，用于接收携带有火源位置信息的火情指示消息；
处理单元1102，用于根据所述火源位置信息在显示界面上显示所述火源特征图像；根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
一个实施例中，所述火源特征图像对象的数量为M个，在所述显示界面上显示了N个火源特征图像，M、N为正整数，N小于等于M；所述处理单元1102在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息，具体执行以下步骤：响应于在所述显示界面上接收到的触控指令，确定该触控指令选中的目标火源特征图像对象；在电子地图上显示所述目标火源特征图像对象所对应的火源对象的导航信息。
一个实施例中，所述处理单元1102还可以执行以下步骤：获取所述终端设备在目标环境 中的位置信息；将所述终端设备在所述目标环境中的位置信息发送至管理端设备；接收来自所述管理端设备的作业信息，所述作业信息包括根据所述终端设备的位置信息分配的火源位置；在所述电子地图上显示所述根据所述终端设备的位置信息分配的火源位置。
一个实施例中，所述处理单元1102还用于在所述显示界面上显示所述红外传感器获取的红外图像。
本发明实施例提及的各个单元的具体实现可参考前述实施例中相关内容的描述，在此不赘述。
本申请实施例还提供一种计算机可读存储介质，所述可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，可以用于实现本申请实施例图3a、图4和图6所对应实施例中描述的火源位置指示方法，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的终端设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述终端设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述终端设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于可读取存储介质中，所述程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (41)

  1. 一种火源位置指示方法，其特征在于，所述方法应用于管理端设备，所述方法包括：
    获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；
    获取所述火源特征图像对象在所述环境图像中的图像位置；
    根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；
    从已登记的终端设备标识集合中获取目标终端设备标识；
    将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
  2. 如权利要求1所述的方法，其特征在于，所述飞行器上设置有红外传感器和用于采集环境图像的图像传感器，所述从所述环境图像中识别火源特征图像对象，包括：
    若基于所述红外传感器采集的红外图像确定所述目标环境中存在火源对象，则识别在所述目标环境中的火源对象的相对方位信息；
    根据所述火源对象的相对方位信息，在所述图像传感器采集到的环境图像中确定图像区域；
    在所述图像区域中识别火源特征图像对象。
  3. 如权利要求1所述的方法，其特征在于，所述飞行器上设置有距离传感器，所述根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息，包括：
    确定所述飞行器的位置集合，所述位置集合中包括所述飞行器在至少两个不同位置处的位置信息；
    利用所述距离传感器获取在所述至少两个不同位置时所述飞行器到所述火源特征图像对象所对应的火源对象的至少两个距离；
    根据所述位置集合和所述至少两个距离，确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息。
  4. 如权利要求1至3项任一项所述的方法，其特征在于，所述从已登记的终端设备标识集合中获取目标终端设备标识，包括：
    根据所述火源位置信息选择目标终端设备标识，其中，选择的所述目标终端设备标识是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。
  5. 如权利要求4所述的方法，其特征在于，所述管理端设备还包括移动通信模块，所述方法还包括：
    若没有选择到所述目标终端设备标识，则调用所述移动通信模块向预设终端设备标识对应的终端设备发送通知消息。
  6. 如权利要求1所述的方法，其特征在于，所述获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象之后，还包括：
    根据所述火源特征图像对象确定所述目标环境的火灾风险级别；
    根据所述目标环境的火灾风险级别确定所述目标环境对应的火情上报对象集合。
  7. 如权利要求6所述的方法，其特征在于，所述根据所述火源特征图像对象确定所述目标环境的火灾风险级别，包括：
    确定所述火源特征图像对象的影响等级，所述火源特征图像对象的影响等级是根据所述火源特征图像对象的数量和/或根据红外传感器采集到的红外图像确定的区域范围尺寸确定的；
    若所述火源特征图像对象的影响等级满足第一条件，则确定所述目标环境的火灾风险级别为第一级别；
    若所述火源特征图像对象的影响等级满足第二条件，则确定所述目标环境的火灾风险级别为第二级别；
    所述第一级别和所述第二级别对应有不同的火情上报对象集合。
  8. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    接收来自第一终端设备的位置信息，所述第一终端设备为所述目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，所述响应信息为对所述火情指示消息做出响应的信息；
    获取作业信息，所述作业信息包括根据所述第一终端设备的位置信息分配的火源位置；
    将所述作业信息发送至所述第一终端设备。
  9. 如权利要求1至8项任一项所述的方法，其特征在于，所述火情指示消息中还携带有转发终端标识，所述携带有转发终端标识和火源位置信息的火情指示消息用于指示目标终端设备标识所对应的终端设备向转发终端标识所指示的终端设备转发火源位置信息。
  10. 一种火源位置指示方法，其特征在于，所述方法应用于终端设备，所述方法包括：
    接收携带有火源位置信息的火情指示消息；
    根据所述火源位置信息在显示界面上显示所述火源特征图像；
    根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；
    在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
  11. 如权利要求10所述的方法，其特征在于，所述火源特征图像对象的数量为M个，在所述显示界面上显示了N个火源特征图像，M、N为正整数，N小于等于M；
    所述在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息，包括：
    响应于在所述显示界面上接收到的触控指令，确定所述触控指令选中的目标火源特征图像对象；
    在电子地图上显示所述目标火源特征图像对象所对应的火源对象的导航信息。
  12. 如权利要求10或11项所述的方法，其特征在于，所述方法还包括：
    获取所述终端设备在目标环境中的位置信息；
    将所述终端设备在所述目标环境中的位置信息发送至管理端设备；
    接收来自所述管理端设备的作业信息，所述作业信息包括根据所述终端设备的位置信息分配的火源位置；
    在所述电子地图上显示所述根据所述终端设备的位置信息分配的火源位置。
  13. 如权利要求10至12项任一项所述的方法，其特征在于，若所述火情指示消息中还携带有转发终端标识，则所述方法还包括：
    向转发终端标识所指示的终端设备转发火源位置信息。
  14. 如权利要求10所述的方法，其特征在于，所述终端设备上配置有红外传感器；所述方法还包括：
    在所述显示界面上显示所述红外传感器获取的红外图像。
  15. 一种管理端设备，其特征在于，所述管理端设备包括：存储器和处理器，其中：
    所述存储器，用于存储计算机程序；
    所述处理器，运行所述计算机程序，用于执行如下步骤：
    获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；
    获取所述火源特征图像对象在所述环境图像中的图像位置；
    根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；
    从已登记的终端设备标识集合中获取目标终端设备标识；
    将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
  16. 如权利要求15所述的管理端设备，其特征在于，所述飞行器上设置有红外传感器和用于采集环境图像的图像传感器，所述处理器，用于执行以下步骤：
    若基于所述红外传感器采集的红外图像确定所述目标环境中存在火源对象，则识别在所述目标环境中的火源对象的相对方位信息；
    根据所述火源对象的相对方位信息，在所述图像传感器采集到的环境图像中确定图像区域；
    在所述图像区域中识别火源特征图像对象。
  17. 如权利要求15所述的管理端设备，其特征在于，所述飞行器上设置有距离传感器，所述处理器，用于执行以下步骤：
    确定所述飞行器的位置集合，所述位置集合中包括所述飞行器在至少两个不同位置处的 位置信息；
    利用所述距离传感器获取在所述至少两个不同位置时所述飞行器到所述火源特征图像对象所对应的火源对象的至少两个距离；
    根据所述位置集合和所述至少两个距离，确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息。
  18. 如权利要求15至17项任一项所述的管理端设备，其特征在于，所述处理器，用于执行以下步骤：
    根据所述火源位置信息选择目标终端设备标识，其中，选择的所述目标终端设备标识是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。
  19. 如权利要求15所述的管理端设备，其特征在于，所述管理端设备还包括移动通信模块，所述处理器还用于执行以下步骤：
    若没有选择到所述目标终端设备标识，则调用所述移动通信模块向预设终端设备标识对应的终端设备发送通知消息。
  20. 如权利要求15所述的管理端设备，其特征在于，所述处理器还用于执行以下步骤：
    根据所述火源特征图像对象确定所述目标环境的火灾风险级别；
    根据所述目标环境的火灾风险级别确定所述目标环境对应的火情上报对象集合。
  21. 如权利要求20所述的管理端设备，其特征在于，所述处理器，用于执行以下步骤：
    确定所述火源特征图像对象的影响等级，所述火源特征图像对象的影响等级是根据所述火源特征图像对象的数量和/或根据红外传感器采集到的红外图像确定的区域范围尺寸确定的；
    若所述火源特征图像对象的影响等级满足第一条件，则确定所述目标环境的火灾风险级别为第一级别；
    若所述火源特征图像对象的影响等级满足第二条件，则确定所述目标环境的火灾风险级别为第二级别；
    所述第一级别和所述第二级别对应有不同的火情上报对象集合。
  22. 如权利要求15所述的管理端设备，其特征在于，所述处理器还用于执行以下步骤：
    接收来自第一终端设备的位置信息，所述第一终端设备为所述目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，所述响应信息为对所述火情指示消息做出响应的信息；
    获取作业信息，所述作业信息包括根据所述第一终端设备的位置信息分配的火源位置；
    将所述作业信息发送至所述第一终端设备。
  23. 如权利要求15至22项任一项所述的管理端设备，其特征在于，所述火情指示消息中还携带有转发终端标识，所述携带有转发终端标识和火源位置信息的火情指示消息用于指示目标终端设备标识所对应的终端设备向转发终端标识所指示的终端设备转发火源位置信 息。
  24. 一种飞行器，其特征在于，包括：
    动力组件，用于带动飞行器移动；
    存储器，用于存储计算机程序；
    控制器，运行所述计算机程序，用于执行如下步骤：
    获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；
    获取所述火源特征图像对象在所述环境图像中的图像位置；
    根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；
    从已登记的终端设备标识集合中获取目标终端设备标识；
    将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
  25. 如权利要求24所述的飞行器，其特征在于，所述飞行器上设置有红外传感器和用于采集环境图像的图像传感器，所述处理器，用于执行以下步骤：
    若基于所述红外传感器采集的红外图像确定所述目标环境中存在火源对象，则识别在所述目标环境中的火源对象的相对方位信息；
    根据所述火源对象的相对方位信息，在所述图像传感器采集到的环境图像中确定图像区域；
    在所述图像区域中识别火源特征图像对象。
  26. 如权利要求24所述的飞行器，其特征在于，所述飞行器上设置有距离传感器，所述处理器，用于执行以下步骤：
    确定所述飞行器的位置集合，所述位置集合中包括所述飞行器在至少两个不同位置处的位置信息；
    利用所述距离传感器获取在所述至少两个不同位置时所述飞行器到所述火源特征图像对象所对应的火源对象的至少两个距离；
    根据所述位置集合和所述至少两个距离，确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息。
  27. 如权利要求24至26项任一项所述的飞行器，其特征在于，所述处理器，用于执行以下步骤：
    根据所述火源位置信息选择目标终端设备标识，其中，选择的所述目标终端设备标识是已登记的终端设备标识集合中按照顺序排列的终端设备标识中排名前N的终端设备标识。
  28. 如权利要求27所述的飞行器，其特征在于，所述管理端设备移动还包括移动通信模块，所述处理器还用于执行以下步骤：
    若没有选择到所述目标终端设备标识，则调用所述移动通信模块向预设终端设备标识对 应的终端设备发送通知消息。
  29. 如权利要求24所述的飞行器，其特征在于，所述处理器还用于执行以下步骤：
    根据所述火源特征图像对象确定所述目标环境的火灾风险级别；
    根据所述目标环境的火灾风险级别确定所述目标环境对应的火情上报对象集合。
  30. 如权利要求29所述的飞行器，其特征在于，所述处理器，用于执行以下步骤：
    确定所述火源特征图像对象的影响等级，所述火源特征图像对象的影响等级是根据所述火源特征图像对象的数量和/或根据红外传感器采集到的红外图像确定的区域范围尺寸确定的；
    若所述火源特征图像对象的影响等级满足第一条件，则确定所述目标环境的火灾风险级别为第一级别；
    若所述火源特征图像对象的影响等级满足第二条件，则确定所述目标环境的火灾风险级别为第二级别；
    所述第一级别和所述第二级别对应有不同的火情上报对象集合。
  31. 如权利要求24所述的飞行器，其特征在于，所述处理器还用于执行以下步骤：
    接收来自第一终端设备的位置信息，所述第一终端设备为所述目标终端设备标识对应的目标终端设备中反馈了响应信息的终端设备，所述响应信息为对所述火情指示消息做出响应的信息；
    获取作业信息，所述作业信息包括根据所述第一终端设备的位置信息分配的火源位置；
    将所述作业信息发送至所述第一终端设备。
  32. 如权利要求24至31项任一项所述的飞行器，其特征在于，所述火情指示消息中还携带有转发终端标识，所述携带有转发终端标识和火源位置信息的火情指示消息用于指示目标终端设备标识所对应的终端设备向转发终端标识所指示的终端设备转发火源位置信息。
  33. 一种终端设备，其特征在于，所述终端设备包括：存储器和处理器，其中：
    所述存储器，用于存储计算机程序；
    所述处理器，运行所述计算机程序，用于执行如下步骤：
    接收携带有火源位置信息的火情指示消息；
    根据所述火源位置信息在显示界面上显示所述火源特征图像；
    根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；
    在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
  34. 如权利要求33所述的终端设备，其特征在于，所述火源特征图像对象的数量为M个，在所述显示界面上显示了N个火源特征图像，M、N为正整数，N小于等于M；所述处理器，用于执行以下步骤：
    响应于在所述显示界面上接收到的触控指令，确定所述触控指令选中的目标火源特征图 像对象；
    在电子地图上显示所述目标火源特征图像对象所对应的火源对象的导航信息。
  35. 如权利要求33或34所述的终端设备，其特征在于，所述处理器还用于执行以下步骤：
    获取所述终端设备在目标环境中的位置信息；
    将所述终端设备在所述目标环境中的位置信息发送至管理端设备；
    接收来自所述管理端设备的作业信息，所述作业信息包括根据所述终端设备的位置信息分配的火源位置；
    在所述电子地图上显示所述根据所述终端设备的位置信息分配的火源位置。
  36. 如权利要求33至35项任一项所述的终端设备，其特征在于，若所述火情指示消息中还携带有转发终端标识，则所述处理器还用于执行以下步骤：
    向转发终端标识所指示的终端设备转发火源位置信息。
  37. 如权利要求33所述的终端设备，其特征在于，所述终端设备上配置有红外传感器；所述处理器还用于执行以下步骤：
    在所述显示界面上显示所述红外传感器获取的红外图像。
  38. 一种火源位置指示装置，其特征在于，包括：
    处理单元，用于获取飞行器在飞行过程中采集到的关于目标环境的环境图像，并从所述环境图像中识别火源特征图像对象；获取所述火源特征图像对象在所述环境图像中的图像位置；根据所述图像位置确定所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息；从已登记的终端设备标识集合中获取目标终端设备标识；
    发送单元，用于将携带有所述火源位置信息的火情指示消息发送给各个所述目标终端设备标识所对应的终端设备。
  39. 一种火源位置指示装置，其特征在于，所述火源位置指示装置包括：
    接收单元，用于接收携带有火源位置信息的火情指示消息；
    处理单元，用于根据所述火源位置信息在显示界面上显示所述火源特征图像；根据所述火源特征图像对象所对应的火源对象在所述目标环境中的火源位置信息和所述终端设备的位置，确定所述终端设备到所述火源特征图像对象对应的火源对象的导航信息；在电子地图上显示所述终端设备到所述火源特征图像对象对应的火源对象的导航信息。
  40. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如权利要求1至9项任一项所述的方法。
  41. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如权利要求10至14项任一项所述的方法。
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