CN111932812A - Intelligent forest fire prevention system based on unmanned aerial vehicle - Google Patents

Abstract

Translated fromChinese

一种基于无人机的智能森林防火系统，包括无人机和后台监控子系统；无人机包括无人机控制子系统，无人机控制子系统与后台监控子系统无线连接，消防中心管理子系统和护林员管理子系统分别与后台监控子系统通讯连接；无人机控制子系统包括微处理器、火情探测模块、定位模块、环境监测模块、驱动模块、转向模块和无线通讯模块；后台监控子系统包括中央处理器、无线收发模块、数据处理模块、区域划分模块、警报模块、图形处理模块、林火识别模块、火情分析模块和显示模块。本发明智能化程度高，功能多样，不仅方便对无人机进行操控，还能够对森林区域进行有效监控，有助于及时发现火情并作出应对，防火效果好，使用效果极佳，适合推广使用。

An intelligent forest fire prevention system based on UAV, including UAV and background monitoring subsystem; UAV includes UAV control subsystem, UAV control subsystem and background monitoring subsystem are wirelessly connected, and fire center management The subsystem and the ranger management subsystem are respectively connected to the background monitoring subsystem; the UAV control subsystem includes a microprocessor, a fire detection module, a positioning module, an environment monitoring module, a drive module, a steering module and a wireless communication module; The background monitoring subsystem includes a central processing unit, a wireless transceiver module, a data processing module, an area division module, an alarm module, a graphics processing module, a forest fire identification module, a fire analysis module and a display module. The invention has a high degree of intelligence and various functions, which not only facilitates the operation of the drone, but also can effectively monitor the forest area, which is helpful for timely detection of fire conditions and responses, good fire prevention effect and excellent use effect, and is suitable for popularization. use.

Description

Translated fromChinese

一种基于无人机的智能森林防火系统An intelligent forest fire protection system based on UAV

技术领域technical field

本发明涉及森林防火技术领域，尤其涉及一种基于无人机的智能森林防火系统。The invention relates to the technical field of forest fire prevention, in particular to an intelligent forest fire prevention system based on unmanned aerial vehicles.

背景技术Background technique

森林是以木本植物为主体的生物群落，是集中的乔木与其它植物、动物、微生物和土壤之间相互依存相互制约，并与环境相互影响，从而形成的一个生态系统的总体，它具有丰富的物种、复杂的结构和多种多样的功能，被誉为地球之肺，森林按其在陆地上的分布，可分为针叶林、针叶落叶阔叶混交林、落叶阔叶林、常绿阔叶林、热带雨林、热带季雨林、红树林、珊瑚岛常绿林、稀树草原和灌木林；Forest is a biological community with woody plants as the main body. It is a whole ecosystem formed by concentrated trees and other plants, animals, microorganisms and soil, which are interdependent and restrictive, and interact with the environment. According to their distribution on land, forests can be divided into coniferous forests, mixed coniferous and deciduous broad-leaved forests, deciduous broad-leaved forests, and often Green broad-leaved forest, tropical rain forest, tropical monsoon forest, mangrove, coral island evergreen forest, savanna and shrub forest;

森林防火是指森林、林木和林地火灾的预防和扑救，森林燃烧的三个必备条件是可燃物、氧气和温度，因此一般将森林容易发生火灾的季节定为森林防火期，需要进行严格的防火措施，以及做好火灾应急，然而近年来由于全球气候异常，森林火灾呈高发状态，由于气候的变化，根据气候特点和森林火灾的发生规律，推断不同区域的森林防火期准确度远不如以前，且对于火灾的应急处理往往由于人为发现时间迟、位置发现不准确、火场情况和周边环境情况的分析不到位而引起申报救火流程的延误，从而导致整个后续救火不及时，甚至造成重大森林火灾事故；Forest fire prevention refers to the prevention and fighting of fires in forests, trees and woodlands. The three necessary conditions for forest burning are combustibles, oxygen and temperature. Therefore, the season when forests are prone to fires is generally designated as the forest fire prevention period, and strict measures are required. Fire prevention measures, and fire emergency response. However, in recent years, due to global climate anomalies, forest fires have been in a state of high incidence. Due to climate changes, according to climate characteristics and forest fire occurrence patterns, the accuracy of inferring forest fire prevention periods in different regions is far less than before. , and the emergency response to fires is often delayed due to the delay of human discovery, inaccurate location discovery, and inadequate analysis of the fire scene and surrounding environment, which leads to delays in the reporting process of firefighting, resulting in untimely subsequent firefighting and even major forest fires. ACCIDENT;

在森林防火监控方面，目前大多以人工巡视的方式为主，由于森林范围较大，需要较多的人员进行巡视，且人工巡视费时费力，效率低下，难以快速发现火情，有待进行改进。In terms of forest fire prevention monitoring, most of the current methods are based on manual inspections. Due to the large forest area, more personnel are required to conduct inspections, and manual inspections are time-consuming and labor-intensive, inefficient, and difficult to quickly detect fires. Improvements are needed.

发明内容SUMMARY OF THE INVENTION

(一)发明目的(1) Purpose of the invention

为解决背景技术中存在的技术问题，本发明提出一种基于无人机的智能森林防火系统，智能化程度高，功能多样，不仅方便对无人机进行操控，还能够对森林区域进行有效监控，有助于及时发现火情并作出应对，防火效果好，使用效果极佳，适合推广使用。In order to solve the technical problems existing in the background technology, the present invention proposes an intelligent forest fire prevention system based on unmanned aerial vehicles, which has a high degree of intelligence and various functions, which is not only convenient to control the unmanned aerial vehicle, but also can effectively monitor the forest area. , which is helpful to detect fire in time and respond to it. It has good fire prevention effect and excellent use effect, and is suitable for promotion and use.

(二)技术方案(2) Technical solutions

本发明提出了一种基于无人机的智能森林防火系统，包括无人机、后台监控子系统、消防中心管理子系统和护林员管理子系统；The invention proposes an intelligent forest fire prevention system based on unmanned aerial vehicle, including unmanned aerial vehicle, background monitoring subsystem, fire center management subsystem and forest ranger management subsystem;

其中，无人机包括无人机控制子系统，无人机控制子系统与后台监控子系统无线连接，消防中心管理子系统和护林员管理子系统分别与后台监控子系统通讯连接；Among them, the drone includes a drone control subsystem, the drone control subsystem is wirelessly connected to the background monitoring subsystem, and the fire center management subsystem and the ranger management subsystem are respectively connected to the background monitoring subsystem for communication;

无人机控制子系统包括微处理器、火情探测模块、定位模块、环境监测模块、驱动模块、转向模块、速度检测模块和无线通讯模块；微处理器通讯连接火情探测模块、定位模块、环境监测模块和速度检测模块，控制连接驱动模块和转向模块；火情探测模块用于对森林中发生的火情进行探测并将探测数据发送至微处理器，定位模块用于对无人机所处位置进行定位并将定位信息发送至微处理器，环境监测模块用于监测无人机所处环境中的环境数据，驱动模块用于使无人机进行运转，转向模块用于实现无人机的转向，速度检测模块用于对无人机的速度进行检测并将数据发送至微处理器，无线通讯模块用于实现无人机控制子系统与后台监控子系统之间的双向信息传输；The UAV control subsystem includes a microprocessor, a fire detection module, a positioning module, an environment monitoring module, a drive module, a steering module, a speed detection module and a wireless communication module; the microprocessor communicates with the fire detection module, positioning module, The environmental monitoring module and the speed detection module are used to control the connection drive module and the steering module; the fire detection module is used to detect the fire in the forest and send the detection data to the microprocessor, and the positioning module is used to detect the unmanned aerial vehicle. Positioning at the location and sending the positioning information to the microprocessor, the environment monitoring module is used to monitor the environmental data in the environment where the drone is located, the drive module is used to make the drone run, and the steering module is used to realize the drone. The speed detection module is used to detect the speed of the UAV and send the data to the microprocessor, and the wireless communication module is used to realize the two-way information transmission between the UAV control subsystem and the background monitoring subsystem;

后台监控子系统包括中央处理器、无线收发模块、数据处理模块、区域划分模块、警报模块、图形处理模块、林火识别模块、火情分析模块和显示模块；中央处理器通讯连接数据处理模块、无线收发模块、区域划分模块、火情分析模块、林火识别模块、图像处理模块和显示模块，控制连接警报模块；无线收发用于实现信息的接收和发送以实现信息的双向传输，数据处理模块用于对接收的监测数据进行处理并将处理结果发送至中央处理器，区域划分模块用于划分森林监控区域以实现分区管理，警报模块用于发出警报以提醒后台人员，图形处理模块用于对接收的图像进行处理，林火识别模块用于根据处理后的图像和相关监测数据来判断是否出现林火，火情分析模块用于对火情进行分析并判断火情的等级，显示模块用于显示各项数据信息和监控图像。The background monitoring subsystem includes a central processing unit, a wireless transceiver module, a data processing module, an area division module, an alarm module, a graphics processing module, a forest fire identification module, a fire analysis module and a display module; the central processing unit communicates with the data processing module, Wireless transceiver module, area division module, fire analysis module, forest fire identification module, image processing module and display module, control and connection alarm module; wireless transceiver is used to receive and send information to achieve two-way transmission of information, data processing module It is used to process the received monitoring data and send the processing results to the central processing unit. The area division module is used to divide the forest monitoring area to achieve partition management. The alarm module is used to issue an alarm to remind the background personnel. The graphics processing module is used to The received images are processed. The forest fire identification module is used to judge whether there is a forest fire according to the processed images and related monitoring data. The fire analysis module is used to analyze the fire and judge the fire level. The display module is used to Display various data information and monitoring images.

优选的，无人机上设有灭火装置，灭火装置上设有灭火剂储存罐和灭火剂喷口，且灭火装置位于无人机的底部。Preferably, a fire extinguishing device is provided on the drone, a fire extinguishing agent storage tank and a fire extinguishing agent nozzle are provided on the fire extinguishing device, and the fire extinguishing device is located at the bottom of the drone.

优选的，无人机上还设有警报器和扬声器，微处理器控制连接警报器和扬声器，且警报器为声光警报器；Preferably, the drone is also provided with a siren and a speaker, the microprocessor controls the connection of the siren and the speaker, and the siren is an audible and visual siren;

其中，扬声器用于发出语音以起到引导方向的作用，声光警报器发出刺耳警示音和刺眼光线以起到警示的作用，有助于消防人员和护林人员及时锁定火情方位和提醒附近人员散开。Among them, the loudspeaker is used to emit voice to guide the direction, and the sound and light alarm emits harsh warning sound and dazzling light to play a warning role, which helps firefighters and forest rangers to lock the fire position in time and remind nearby people. spread.

优选的，无人机控制子系统还包括供电模块、电量监测模块和电量分析模块；供电模块电性连接无人机用电部件以对各用电部件进行供电，电量监测模块通讯连接电量分析模块，电量分析模块通讯连接微处理器；Preferably, the UAV control subsystem further includes a power supply module, a power monitoring module and a power analysis module; the power supply module is electrically connected to the power-consuming components of the drone to supply power to the power-consuming components, and the power monitoring module is communicatively connected to the power analysis module , the power analysis module communicates with the microprocessor;

电量监测模块用于监测供电模块的待电量并将数据发送至电量分析模块，电量分析模块根据待电量数据分析无人机所能维持的运行时长并将分析信息实时发送至微处理器，无人机控制子系统将信息发送回后台监控子系统；当供电模块的待电量低于一定值时，后台人员控制无人机返回以防电量耗尽而掉落损坏。The power monitoring module is used to monitor the standby power of the power supply module and send the data to the power analysis module. The power analysis module analyzes the running time that the drone can maintain according to the standby power data and sends the analysis information to the microprocessor in real time. The drone control subsystem sends the information back to the background monitoring subsystem; when the standby power of the power supply module is lower than a certain value, the background personnel control the drone to return to prevent the drone from being damaged by falling out of power.

优选的，无人机为六旋翼无人机，定位模块为北斗定位仪或GPS定位仪；无人机的顶部设有太阳能发电板，太阳能发电板电性连接供电模块；Preferably, the drone is a six-rotor drone, and the positioning module is a Beidou locator or a GPS locator; the top of the drone is provided with a solar power panel, which is electrically connected to the power supply module;

供电模块包括可充电锂电池和稳压电路，锂电池用于提供电源，稳压电路用于稳定电压以保证供电电压的稳定。The power supply module includes a rechargeable lithium battery and a voltage regulator circuit, the lithium battery is used to provide power, and the voltage regulator circuit is used to stabilize the voltage to ensure the stability of the power supply voltage.

优选的，区域划分模块包括GIS信息获取子模块，森林面积计算子模块和监控区域划分子模块；Preferably, the area division module includes a GIS information acquisition sub-module, a forest area calculation sub-module and a monitoring area division sub-module;

GIS信息获取子模块用于获取GIS地图信息并将其发送至森林面积计算子模块，森林面积计算单元用于根据GIS地图信息计算森林面积并将计算信息发送至监控区域划分子模块，监控区域划分子模块用于根据森林面积将森林区域划分为多个监控区域，并在每个监控区域布置无人机监控巡查。The GIS information acquisition sub-module is used to acquire GIS map information and send it to the forest area calculation sub-module, and the forest area calculation unit is used to calculate the forest area according to the GIS map information and send the calculation information to the monitoring area division sub-module, and the monitoring area is divided The sub-module is used to divide the forest area into multiple monitoring areas according to the forest area, and arrange drone monitoring and inspection in each monitoring area.

优选的，环境监测模块包括温度传感器、湿度传感器、风速传感器、风向传感器、气压传感器、氧气浓度传感器和二氧化碳浓度传感器；Preferably, the environment monitoring module includes a temperature sensor, a humidity sensor, a wind speed sensor, a wind direction sensor, an air pressure sensor, an oxygen concentration sensor and a carbon dioxide concentration sensor;

温度传感器用于检测无人机所处环境的温度，湿度传感器用于检测无人机所处环境的湿度，风速传感器用于检测无人机所处环境的风速，风向传感器用于检测无人机所处环境的风向，氧气浓度传感器用于检测无人机所处环境的氧气浓度，二氧化碳浓度传感器用于检测无人机所处环境的二氧化碳浓度。The temperature sensor is used to detect the temperature of the environment where the drone is located, the humidity sensor is used to detect the humidity of the environment where the drone is located, the wind speed sensor is used to detect the wind speed of the environment where the drone is located, and the wind direction sensor is used to detect the drone. The wind direction of the environment, the oxygen concentration sensor is used to detect the oxygen concentration of the environment where the drone is located, and the carbon dioxide concentration sensor is used to detect the carbon dioxide concentration of the environment where the drone is located.

优选的，火情探测模块包括烟雾探测器和高清摄像头；烟雾探测器对森林监控区域内的烟雾状况进行探测，高清摄像头用于对森林监控区域进行摄像。Preferably, the fire detection module includes a smoke detector and a high-definition camera; the smoke detector detects the smoke condition in the forest monitoring area, and the high-definition camera is used for photographing the forest monitoring area.

优选的，还包括云端服务器和云端存储器；后台监控子系统无线连接云端服务器，云端服务器通讯连接云端存储器；后台监控子系统将火情数据实时上传至云端服务器，云端存储器对相关数据信息进行存储备份。Preferably, it also includes a cloud server and a cloud storage; the background monitoring subsystem is wirelessly connected to the cloud server, and the cloud server communicates with the cloud storage; the background monitoring subsystem uploads the fire data to the cloud server in real time, and the cloud storage stores and backs up the relevant data information .

优选的，后台监控子系统还包括路径规划模块；路径规划模块通讯连接中央处理器，路径规划模块用于对无人机的行进路径进行规划并生成路线图。Preferably, the background monitoring subsystem further includes a path planning module; the path planning module is communicatively connected to the central processor, and the path planning module is used to plan the travel path of the UAV and generate a route map.

本发明的上述技术方案具有如下有益的技术效果：The above-mentioned technical scheme of the present invention has the following beneficial technical effects:

驱动模块使无人机进行飞行，转向模块用于实现无人机的转向，最终使无人机按照所规划的路径在所负责的森林监控区域内行进；火情探测模块对森林监控区域发生的火情进行探测，定位模块对无人机所处位置进行定位以使后台人员了解无人机位置和火情地点，环境监测模块用于监测无人机所处环境中的环境数据，有助于后台人员了解森林内的各项环境数据，速度检测模块对无人机的速度进行检测，有助于控制无人机的速度；The driving module makes the drone fly, and the steering module is used to realize the steering of the drone, and finally make the drone travel in the forest monitoring area in charge according to the planned path; The fire is detected, and the positioning module locates the location of the drone so that the background personnel can understand the location of the drone and the location of the fire. The environment monitoring module is used to monitor the environmental data in the environment where the drone is located, which is helpful for The background personnel understand various environmental data in the forest, and the speed detection module detects the speed of the UAV, which helps to control the speed of the UAV;

区域划分模块用于划分森林监控区域以实现分区管理，数据处理模块对接收的监测数据进行处理并将处理结果发送至中央处理器，图形处理模块用于对接收的图像进行处理，林火识别模块用于根据处理后的图像和相关监测数据来判断是否出现林火，警报模块发出警报以提醒后台人员迅速做出反应，火情分析模块对火情进行分析并判断火情的等级，显示模块用于显示各项数据信息和监控图像，有助于后台人员直观了解各项数据信息；后台监控子系统发送信息至消防中心管理子系统和护林员管理子系统，消防人员、护林员和后台人员相互配合，有助于提高灭火效率；The area division module is used to divide the forest monitoring area to realize partition management. The data processing module processes the received monitoring data and sends the processing results to the central processing unit. The graphics processing module is used to process the received images. The forest fire identification module It is used to judge whether there is a forest fire according to the processed images and related monitoring data. The alarm module issues an alarm to remind the background personnel to respond quickly. The fire analysis module analyzes the fire situation and judges the fire level. The display module uses To display various data information and monitoring images, it is helpful for the background personnel to intuitively understand various data information; the background monitoring subsystem sends information to the fire center management subsystem and the ranger management subsystem, and the firefighters, the rangers and the background personnel interact with each other. Cooperate to help improve fire extinguishing efficiency;

本发明智能化程度高，功能多样，不仅方便对无人机进行操控，还能够对森林区域进行有效监控，有助于及时发现火情并作出应对，防火效果好，使用效果极佳，适合推广使用。The invention has a high degree of intelligence and various functions, which not only facilitates the control of the drone, but also can effectively monitor the forest area, which is helpful for timely detection of fire conditions and responses, good fire prevention effect and excellent use effect, and is suitable for popularization. use.

附图说明Description of drawings

图1为本发明提出的一种基于无人机的智能森林防火系统的系统框图。FIG. 1 is a system block diagram of a UAV-based intelligent forest fire prevention system proposed by the present invention.

图2为本发明提出的一种基于无人机的智能森林防火系统中无人机控制子系统的系统框图。FIG. 2 is a system block diagram of a UAV control subsystem in a UAV-based intelligent forest fire prevention system proposed by the present invention.

图3为本发明提出的一种基于无人机的智能森林防火系统中后台监控子系统的系统框图。FIG. 3 is a system block diagram of a background monitoring subsystem in a UAV-based intelligent forest fire prevention system proposed by the present invention.

图4为本发明提出的一种基于无人机的智能森林防火系统中环境监测模块的系统框图。FIG. 4 is a system block diagram of an environment monitoring module in a UAV-based intelligent forest fire prevention system proposed by the present invention.

图5为本发明提出的一种基于无人机的智能森林防火系统中供电系统的系统框图。FIG. 5 is a system block diagram of a power supply system in a UAV-based intelligent forest fire prevention system proposed by the present invention.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚明了，下面结合具体实施方式并参照附图，对本发明进一步详细说明。应该理解，这些描述只是示例性的，而并非要限制本发明的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the specific embodiments and the accompanying drawings. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

如图1-5所示，本发明提出的一种基于无人机的智能森林防火系统，包括无人机、后台监控子系统、消防中心管理子系统和护林员管理子系统；As shown in Figures 1-5, a UAV-based intelligent forest fire prevention system proposed by the present invention includes an UAV, a background monitoring subsystem, a fire center management subsystem and a forest ranger management subsystem;

其中，无人机包括无人机控制子系统，无人机控制子系统与后台监控子系统无线连接，消防中心管理子系统和护林员管理子系统分别与后台监控子系统通讯连接；Among them, the drone includes a drone control subsystem, the drone control subsystem is wirelessly connected to the background monitoring subsystem, and the fire center management subsystem and the ranger management subsystem are respectively connected to the background monitoring subsystem for communication;

无人机控制子系统包括微处理器、火情探测模块、定位模块、环境监测模块、驱动模块、转向模块、速度检测模块和无线通讯模块；微处理器通讯连接火情探测模块、定位模块、环境监测模块和速度检测模块，控制连接驱动模块和转向模块；火情探测模块用于对森林中发生的火情进行探测并将探测数据发送至微处理器，定位模块用于对无人机所处位置进行定位并将定位信息发送至微处理器，环境监测模块用于监测无人机所处环境中的环境数据，驱动模块用于使无人机进行运转，转向模块用于实现无人机的转向，速度检测模块用于对无人机的速度进行检测并将数据发送至微处理器，无线通讯模块用于实现无人机控制子系统与后台监控子系统之间的双向信息传输；The UAV control subsystem includes a microprocessor, a fire detection module, a positioning module, an environment monitoring module, a drive module, a steering module, a speed detection module and a wireless communication module; the microprocessor communicates with the fire detection module, positioning module, The environmental monitoring module and the speed detection module are used to control the connection drive module and the steering module; the fire detection module is used to detect the fire in the forest and send the detection data to the microprocessor, and the positioning module is used to detect the unmanned aerial vehicle. Positioning at the location and sending the positioning information to the microprocessor, the environment monitoring module is used to monitor the environmental data in the environment where the drone is located, the drive module is used to make the drone run, and the steering module is used to realize the drone. The speed detection module is used to detect the speed of the UAV and send the data to the microprocessor, and the wireless communication module is used to realize the two-way information transmission between the UAV control subsystem and the background monitoring subsystem;

后台监控子系统包括中央处理器、无线收发模块、数据处理模块、区域划分模块、警报模块、图形处理模块、林火识别模块、火情分析模块和显示模块；中央处理器通讯连接数据处理模块、无线收发模块、区域划分模块、火情分析模块、林火识别模块、图像处理模块和显示模块，控制连接警报模块；无线收发用于实现信息的接收和发送以实现信息的双向传输，数据处理模块用于对接收的监测数据进行处理并将处理结果发送至中央处理器，区域划分模块用于划分森林监控区域以实现分区管理，警报模块用于发出警报以提醒后台人员，图形处理模块用于对接收的图像进行处理，林火识别模块用于根据处理后的图像和相关监测数据来判断是否出现林火，火情分析模块用于对火情进行分析并判断火情的等级，显示模块用于显示各项数据信息和监控图像。The background monitoring subsystem includes a central processing unit, a wireless transceiver module, a data processing module, an area division module, an alarm module, a graphics processing module, a forest fire identification module, a fire analysis module and a display module; the central processing unit communicates with the data processing module, Wireless transceiver module, area division module, fire analysis module, forest fire identification module, image processing module and display module, control and connection alarm module; wireless transceiver is used to receive and send information to achieve two-way transmission of information, data processing module It is used to process the received monitoring data and send the processing results to the central processing unit. The area division module is used to divide the forest monitoring area to achieve partition management. The alarm module is used to issue an alarm to remind the background personnel. The graphics processing module is used to The received images are processed. The forest fire identification module is used to judge whether there is a forest fire according to the processed images and related monitoring data. The fire analysis module is used to analyze the fire and judge the fire level. The display module is used to Display various data information and monitoring images.

在一个可选的实施例中，无人机上设有灭火装置，灭火装置上设有灭火剂储存罐和灭火剂喷口，且灭火装置位于无人机的底部，可在发生小火灾时及时灭火以及在发生大火灾时及时控制火情；无人机上还设有警报器和扬声器，微处理器控制连接警报器和扬声器，且警报器为声光警报器；其中，扬声器用于发出语音以起到引导方向的作用，声光警报器发出刺耳警示音和刺眼光线以起到警示的作用，有助于消防人员和护林人员及时锁定火情方位和提醒附近人员散开。In an optional embodiment, the drone is provided with a fire extinguishing device, the fire extinguishing device is provided with a fire extinguishing agent storage tank and a fire extinguishing agent nozzle, and the fire extinguishing device is located at the bottom of the drone, which can extinguish the fire in time when a small fire occurs and Control the fire in time in the event of a big fire; the drone is also equipped with a siren and a speaker, the microprocessor controls the connection of the siren and the speaker, and the siren is an audible and visual siren; the speaker is used to emit voice to play The function of guiding the direction, the sound and light alarm emits harsh warning sound and dazzling light to play a warning role, which helps firefighters and forest rangers to lock the fire position in time and remind nearby people to disperse.

在一个可选的实施例中，无人机控制子系统还包括供电模块、电量监测模块和电量分析模块；供电模块电性连接无人机用电部件以对各用电部件进行供电，电量监测模块通讯连接电量分析模块，电量分析模块通讯连接微处理器；电量监测模块用于监测供电模块的待电量并将数据发送至电量分析模块，电量分析模块根据待电量数据分析无人机所能维持的运行时长并将分析信息实时发送至微处理器，无人机控制子系统将信息发送回后台监控子系统；当供电模块的待电量低于一定值时，后台人员控制无人机返回以防电量耗尽而掉落损坏。In an optional embodiment, the drone control subsystem further includes a power supply module, a power monitoring module, and a power analysis module; the power supply module is electrically connected to the power-consuming components of the drone to supply power to the power-consuming components, and the power monitoring module The module communicates with the power analysis module, and the power analysis module communicates with the microprocessor; the power monitoring module is used to monitor the standby power of the power supply module and send the data to the power analysis module. The running time of the power supply module and the analysis information are sent to the microprocessor in real time, and the UAV control subsystem sends the information back to the background monitoring subsystem; when the standby power of the power supply module is lower than a certain value, the background personnel control the UAV to return to prevent Falling damage due to depleted battery.

在一个可选的实施例中，无人机为六旋翼无人机，定位模块为北斗定位仪或GPS定位仪；无人机的顶部设有太阳能发电板，太阳能发电板电性连接供电模块，太阳能发电板将太阳能转化为电能，供电模块对电能进行储存并供应给无人机用电部件，有助于提高无人机的使用时长，也较为节能；供电模块包括可充电锂电池和稳压电路，锂电池用于提供电源，稳压电路用于稳定电压以保证供电电压的稳定。In an optional embodiment, the drone is a six-rotor drone, and the positioning module is a Beidou locator or a GPS locator; a solar power panel is provided on the top of the drone, and the solar power panel is electrically connected to the power supply module. The solar power panel converts solar energy into electrical energy, and the power supply module stores the electrical energy and supplies it to the power components of the drone, which helps to improve the use time of the drone and saves energy; the power supply module includes a rechargeable lithium battery and a voltage regulator. Circuit, lithium battery is used to provide power supply, and voltage regulator circuit is used to stabilize voltage to ensure the stability of power supply voltage.

在一个可选的实施例中，区域划分模块包括GIS信息获取子模块，森林面积计算子模块和监控区域划分子模块；GIS信息获取子模块用于获取GIS地图信息并将其发送至森林面积计算子模块，森林面积计算单元用于根据GIS地图信息计算森林面积并将计算信息发送至监控区域划分子模块，监控区域划分子模块用于根据森林面积将森林区域划分为多个监控区域，并在每个监控区域布置无人机监控巡查，实现对森林的分区监控，有助于第一时间发现火情，有效防止火势蔓延。In an optional embodiment, the area division module includes a GIS information acquisition sub-module, a forest area calculation sub-module and a monitoring area division sub-module; the GIS information acquisition sub-module is used to acquire GIS map information and send it to the forest area calculation sub-module Sub-module, the forest area calculation unit is used to calculate the forest area according to the GIS map information and send the calculation information to the monitoring area division sub-module, and the monitoring area division sub-module is used to divide the forest area into multiple monitoring areas according to the forest area, and UAV monitoring and inspection are arranged in each monitoring area to realize the partition monitoring of the forest, which helps to detect the fire at the first time and effectively prevent the fire from spreading.

在一个可选的实施例中，环境监测模块包括温度传感器、湿度传感器、风速传感器、风向传感器、气压传感器、氧气浓度传感器和二氧化碳浓度传感器；温度传感器用于检测无人机所处环境的温度，湿度传感器用于检测无人机所处环境的湿度，风速传感器用于检测无人机所处环境的风速，风向传感器用于检测无人机所处环境的风向，氧气浓度传感器用于检测无人机所处环境的氧气浓度，二氧化碳浓度传感器用于检测无人机所处环境的二氧化碳浓度，能够对森林内的各项环境数据进行检测，方便后台人员了解森林内的环境信息，使用效果极佳。In an optional embodiment, the environment monitoring module includes a temperature sensor, a humidity sensor, a wind speed sensor, a wind direction sensor, an air pressure sensor, an oxygen concentration sensor and a carbon dioxide concentration sensor; the temperature sensor is used to detect the temperature of the environment where the drone is located, The humidity sensor is used to detect the humidity of the environment where the drone is located, the wind speed sensor is used to detect the wind speed of the environment where the drone is located, the wind direction sensor is used to detect the wind direction of the environment where the drone is located, and the oxygen concentration sensor is used to detect unmanned The oxygen concentration in the environment where the drone is located, and the carbon dioxide concentration sensor is used to detect the carbon dioxide concentration in the environment where the drone is located. It can detect various environmental data in the forest, which is convenient for the background personnel to understand the environmental information in the forest, and the use effect is excellent. .

在一个可选的实施例中，火情探测模块包括烟雾探测器和高清摄像头；烟雾探测器对森林监控区域内的烟雾状况进行探测，高清摄像头用于对森林监控区域进行摄像，有助于及时发现火情。In an optional embodiment, the fire detection module includes a smoke detector and a high-definition camera; the smoke detector detects the smoke condition in the forest monitoring area, and the high-definition camera is used to record the forest monitoring area, which is helpful for timely Find fire.

在一个可选的实施例中，还包括云端服务器和云端存储器；后台监控子系统无线连接云端服务器，云端服务器通讯连接云端存储器；后台监控子系统将火情数据实时上传至云端服务器，云端存储器对相关数据信息进行存储备份。In an optional embodiment, it also includes a cloud server and a cloud storage; the background monitoring subsystem is wirelessly connected to the cloud server, and the cloud server communicates with the cloud storage; the background monitoring subsystem uploads the fire data to the cloud server in real time, and the cloud storage pair Relevant data information is stored and backed up.

在一个可选的实施例中，后台监控子系统还包括路径规划模块；路径规划模块通讯连接中央处理器，路径规划模块用于对无人机的行进路径进行规划并生成路线图。In an optional embodiment, the background monitoring subsystem further includes a path planning module; the path planning module is communicatively connected to the central processor, and the path planning module is used to plan the travel path of the UAV and generate a route map.

本发明中，驱动模块使无人机进行飞行，转向模块用于实现无人机的转向，最终使无人机按照所规划的路径在所负责的森林监控区域内行进，无线通讯模块用于实现无人机控制子系统与后台监控子系统之间的双向信息传输；火情探测模块对森林监控区域发生的火情进行探测并将探测数据发送至微处理器，定位模块对无人机所处位置进行定位并将定位信息发送至微处理器以使后台人员了解无人机位置和火情地点，环境监测模块用于监测无人机所处环境中的环境数据，有助于后台人员了解森林内的各项环境数据，速度检测模块对无人机的速度进行检测并将数据发送至微处理器，有助于控制无人机的速度；In the present invention, the driving module makes the UAV fly, the steering module is used to realize the steering of the UAV, and finally make the UAV travel in the responsible forest monitoring area according to the planned path, and the wireless communication module is used to realize Two-way information transmission between the UAV control subsystem and the background monitoring subsystem; the fire detection module detects the fire in the forest monitoring area and sends the detection data to the microprocessor, and the positioning module detects the location of the UAV. The location is located and the positioning information is sent to the microprocessor to enable the background personnel to understand the location of the drone and the location of the fire. The environmental monitoring module is used to monitor the environmental data in the environment where the drone is located, which helps the background personnel to understand the forest. The speed detection module detects the speed of the drone and sends the data to the microprocessor, which helps to control the speed of the drone;

无线收发用于实现信息的接收和发送以实现信息的双向传输，最终实现对无人机的操控和对监测信息的接收；区域划分模块用于划分森林监控区域以实现分区管理，数据处理模块对接收的监测数据进行处理并将处理结果发送至中央处理器，图形处理模块用于对接收的图像进行处理，林火识别模块用于根据处理后的图像和相关监测数据来判断是否出现林火，警报模块发出警报以提醒后台人员迅速做出反应，火情分析模块对火情进行分析并判断火情的等级，显示模块用于显示各项数据信息和监控图像，有助于后台人员直观了解各项数据信息；当发生火情后，后台监控子系统发送信息至消防中心管理子系统和护林员管理子系统，发送的信息包括火情位置、火势等级和森林内的各项环境数据，消防人员、护林员和后台人员相互配合，有助于提高灭火效率；The wireless transceiver is used to receive and send information to realize bidirectional transmission of information, and finally realize the control of the UAV and the reception of monitoring information; the area division module is used to divide the forest monitoring area to realize partition management, and the data processing module The received monitoring data is processed and the processing results are sent to the central processing unit. The graphics processing module is used to process the received images. The forest fire identification module is used to judge whether there is a forest fire according to the processed images and related monitoring data. The alarm module sends out an alarm to remind the background personnel to respond quickly. The fire analysis module analyzes the fire situation and judges the fire level. The display module is used to display various data information and monitoring images, which helps the background personnel to intuitively understand the fire situation. When a fire occurs, the background monitoring subsystem sends information to the fire center management subsystem and the forest ranger management subsystem. The information sent includes the fire location, fire level and various environmental data in the forest. , forest rangers and backstage personnel cooperate with each other to help improve fire fighting efficiency;

本发明智能化程度高，功能多样，不仅方便对无人机进行操控，还能够对森林区域进行有效监控，有助于及时发现火情并作出应对，防火效果好，使用效果极佳，适合推广使用。The invention has a high degree of intelligence and various functions, which not only facilitates the control of the drone, but also can effectively monitor the forest area, which is helpful for timely detection of fire conditions and responses, good fire prevention effect and excellent use effect, and is suitable for popularization. use.

应当理解的是，本发明的上述具体实施方式仅仅用于示例性说明或解释本发明的原理，而不构成对本发明的限制。因此，在不偏离本发明的精神和范围的情况下所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。此外，本发明所附权利要求旨在涵盖落入所附权利要求范围和边界、或者这种范围和边界的等同形式内的全部变化和修改例。It should be understood that the above-mentioned specific embodiments of the present invention are only used to illustrate or explain the principle of the present invention, but not to limit the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the protection scope of the present invention. Furthermore, the appended claims of this invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalents of such scope and boundaries.

Claims (10)

1. An intelligent forest fire prevention system based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, a background monitoring subsystem, a fire center management subsystem and a forest guard management subsystem;

the unmanned aerial vehicle comprises an unmanned aerial vehicle control subsystem, the unmanned aerial vehicle control subsystem is in wireless connection with the background monitoring subsystem, and the fire center management subsystem and the forest guard management subsystem are in communication connection with the background monitoring subsystem respectively;

the unmanned aerial vehicle control subsystem comprises a microprocessor, a fire detection module, a positioning module, an environment monitoring module, a driving module, a steering module, a speed detection module and a wireless communication module; the microprocessor is in communication connection with the fire detection module, the positioning module, the environment monitoring module and the speed detection module, and is in control connection with the driving module and the steering module; the system comprises a fire detection module, a positioning module, an environment monitoring module, a driving module, a steering module, a speed detection module and a wireless communication module, wherein the fire detection module is used for detecting fire occurring in a forest and sending detection data to a microprocessor, the positioning module is used for positioning the position of an unmanned aerial vehicle and sending positioning information to the microprocessor, the environment monitoring module is used for monitoring environment data in the environment of the unmanned aerial vehicle, the driving module is used for enabling the unmanned aerial vehicle to run, the steering module is used for achieving steering of the unmanned aerial vehicle, the speed detection module is used for detecting the speed of the unmanned aerial vehicle and sending the data to the microprocessor, and the wireless communication;

the background monitoring subsystem comprises a central processing unit, a wireless transceiver module, a data processing module, an area dividing module, an alarm module, a graphic processing module, a forest fire recognition module, a fire analysis module and a display module; the central processing unit is in communication connection with the data processing module, the wireless transceiver module, the area dividing module, the fire analysis module, the forest fire recognition module, the image processing module and the display module and is in control connection with the alarm module; the wireless transceiving is used for realizing the receiving and sending of information so as to realize the two-way transmission of the information, the data processing module is used for processing the received monitoring data and sending the processing result to the central processing unit, the area division module is used for dividing forest monitoring areas so as to realize the partition management, the alarm module is used for giving an alarm to remind background personnel, the graphic processing module is used for processing the received image, the forest fire recognition module is used for judging whether forest fire occurs according to the processed image and the related monitoring data, the fire analysis module is used for analyzing the fire and judging the level of the fire, and the display module is used for displaying various data information and monitoring images.

2. An intelligent forest fire prevention system based on unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is provided with a fire extinguishing device, the fire extinguishing device is provided with a fire extinguishing agent storage tank and a fire extinguishing agent nozzle, and the fire extinguishing device is located at the bottom of the unmanned aerial vehicle.

3. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is further provided with an alarm and a speaker, the microprocessor controls and connects the alarm and the speaker, and the alarm is an acousto-optic alarm;

wherein, the speaker is used for sending pronunciation in order to play the effect of direction of guide, and audible-visual alarm sends ear-piercing warning sound and the effect of dazzling light in order to play the warning, helps fire fighter and forest protection personnel in time to lock the condition of a fire position and remind near personnel to scatter.

4. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle control subsystem further comprises a power supply module, an electric quantity monitoring module and an electric quantity analysis module; the power supply module is electrically connected with the electric parts for the unmanned aerial vehicle to supply power to the electric parts, the electric quantity monitoring module is in communication connection with the electric quantity analysis module, and the electric quantity analysis module is in communication connection with the microprocessor;

the electric quantity monitoring module is used for monitoring the electric quantity to be measured of the power supply module and sending data to the electric quantity analysis module, the electric quantity analysis module analyzes the operation duration which can be maintained by the unmanned aerial vehicle according to the electric quantity to be measured data and sends analysis information to the microprocessor in real time, and the unmanned aerial vehicle control subsystem sends the information back to the background monitoring subsystem; when the power supply module waits for the electric quantity to be less than a certain value, the backstage personnel control the unmanned aerial vehicle to return to prevent the electric quantity from exhausting and falling to damage.

5. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is a hexarotor unmanned aerial vehicle, and the positioning module is a Beidou positioning instrument or a GPS positioning instrument; the top of the unmanned aerial vehicle is provided with a solar power generation panel which is electrically connected with the power supply module;

the power supply module comprises a rechargeable lithium battery and a voltage stabilizing circuit, wherein the lithium battery is used for providing a power supply, and the voltage stabilizing circuit is used for stabilizing the voltage so as to ensure the stability of the power supply voltage.

6. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the area division module comprises a GIS information acquisition sub-module, a forest area calculation sub-module and a monitoring area division sub-module;

the system comprises a GIS information acquisition submodule, a forest area calculation submodule, a monitoring area division submodule and a monitoring area division submodule, wherein the GIS information acquisition submodule is used for acquiring GIS map information and sending the GIS map information to the forest area calculation submodule, the forest area calculation unit is used for calculating the forest area according to the GIS map information and sending the calculation information to the monitoring area division submodule, and the monitoring area division submodule is used for dividing the forest area into a plurality of monitoring areas according to the forest area and arranging unmanned aerial vehicle monitoring patrol in each monitoring area.

7. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the environment monitoring module comprises a temperature sensor, a humidity sensor, a wind speed sensor, a wind direction sensor, a barometric pressure sensor, an oxygen concentration sensor and a carbon dioxide concentration sensor;

temperature sensor is used for detecting the temperature of unmanned aerial vehicle place environment, and humidity transducer is used for detecting the humidity of unmanned aerial vehicle place environment, and air velocity transducer is used for detecting the wind speed of unmanned aerial vehicle place environment, and wind direction sensor is used for detecting the wind direction of unmanned aerial vehicle place environment, and oxygen concentration sensor is used for detecting the oxygen concentration of unmanned aerial vehicle place environment, and carbon dioxide concentration sensor is used for detecting the carbon dioxide concentration of unmanned aerial vehicle place environment.

8. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the fire detection module comprises a smoke detector and a high-definition camera; the smoke detector detects smoke conditions in the forest monitoring area, and the high-definition camera is used for shooting the forest monitoring area.

9. The unmanned aerial vehicle-based intelligent forest fire prevention system of claim 1, further comprising a cloud server and a cloud storage; the background monitoring subsystem is in wireless connection with the cloud server, and the cloud server is in communication connection with the cloud storage; the background monitoring subsystem uploads the fire data to the cloud server in real time, and the cloud storage stores and backups related data information.

10. The intelligent forest fire prevention system based on the unmanned aerial vehicle as claimed in claim 1, wherein the background monitoring subsystem further comprises a path planning module; the route planning module is in communication connection with the central processing unit and is used for planning the traveling route of the unmanned aerial vehicle and generating a route map.

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