Secondly, as shown in table 2, the unmanned aerial vehicle plans an autonomous flight path to extinguish a fire according to the calculated peripheral 3D map and the 360-degree front-back, left-right, up-down, obstacle avoidance sensors on the unmanned aerial vehicle.

Defining: the dimension of the standby point of the ignition point is the geometric center of the ignition area, and the height of the standby point is the highest object (building or tree, etc.) of the point and the safety height H; in this embodiment, there are 2 roads to plan: the first method is that the unmanned aerial vehicle hangar is clicked to a standby point of an ignition point; firstly, completing a basic route, namely a straight line path from a 3-dimensional point of an unmanned aerial vehicle hangar point plus a safety height H to a standby point of a fire point; the second, the standby point of the back-and-forth fire point is connected with the fire extinguishing operation point; firstly, a basic route is completed, namely a straight line route from a standby point of an ignition point to a fire extinguishing operation point is shown in a table 1; on a basic route, fine tuning a path according to obstacles with different sizes to obtain an autonomous flight path, wherein the diameter of the airplane is the maximum diameter value of the airplane in the radial direction, and the value can be set by a client.

TABLE 2 Path planning Table

Then, as shown in table 3, the unmanned aerial vehicle calculates the fire source type in the three-dimensional terrain modeling map, the fire field temperature ladder diagram, and the dense smoke model diagram: whether the fire source is a fire without a shelter facing the sky, a fire on the vertical surface outside the building or a fire inside the building, and whether the fire source is an ignition with the length less than 20 square meters or an area fire with the length more than 20 square meters is calculated.

Table 3 unmanned aerial vehicle carries out different fire extinguishing facilities according to different fire

In line 5 of table 3, the drone first concludes whether to break the window. Whether most of glass in the glass window is not available is firstly detected (if the four sides are drawn by emitting laser to the side of the outermost frame of the glass, which is further reduced by one fifth by using a laser emitter of an unmanned aerial vehicle, if the reflected laser is high-reflectivity, and the four sides of the line reflection of the laser drawing are basically complete, the glass is judged to be available and not damaged, and the window needs to be broken). The unmanned aerial vehicle informs that the window is broken by playing the tweeter, and launches a window breaking bullet to the central point of the window after the voice of the person inside avoids the window.

As an alternative embodiment, the fire-fighting drone is loaded with a camera, lidar, fire-extinguishing bomb, or fire-extinguishing agent; and loading the window breaking bomb in the occasion of need. In specific implementation, as shown in fig. 1, the unmanned aerial vehicle further includes a power supply and distribution module, and a plurality of electronic speed regulators or channels, wherein an output end of the central processing unit is connected to an input end of the communication module and an input end of the plurality of electronic speed regulators or channels, respectively, an input end of each electronic speed regulator or channel is connected to an output end of the central processing unit, an output end of each electronic speed regulator or channel is connected to a power unit of the unmanned aerial vehicle, and the power unit includes a motor, one of a fuel engine or a steering engine, and a propeller. In the present embodiment, the power unit is exemplified by a motor and a propeller. The pole shaft of the motor is provided with a propeller, the power end of the motor is connected with the electronic speed regulator or the channel, the central processing unit sends a flight signal to the electronic speed regulator or the channel, the motor is controlled to rotate, the motor rotates to drive the propeller to rotate, and therefore the unmanned aerial vehicle flies.

As an optional implementation, the fire-fighting drone further comprises: the positioning unit sets up on the unmanned aerial vehicle body to the positioning unit is connected with the central processing unit electricity, and the positioning unit includes big dipper satellite or GPS positioning system, is used for confirming unmanned aerial vehicle's real-time accurate position, takes precautions against to the conflagration in indoor large-scale space, can change the positioning unit into indoor positioning system.

As an optional implementation manner, the unmanned aerial vehicle is further provided with a gyroscope, and as for a control chip of the gyroscope, an AK8963 three-axis electronic compass chip is preferably adopted, and the AK8963 three-axis electronic compass chip is a hall sensor with high sensitivity; optionally, an IST8304 anti-magnetic interference magnetic sensor can be further adopted, the central processing unit judges the attitude of the unmanned aerial vehicle according to the gyroscope and the positioning unit, and the output quantity of the power device is further controlled by combining the position of the unmanned aerial vehicle, so that the attitude and the displacement of the unmanned aerial vehicle are balanced.

As an optional implementation mode, the unmanned aerial vehicle is further provided with a three-axis acceleration sensor MPU6050 chip, the unmanned aerial vehicle has the advantages of being small in size and light in weight, the space acceleration can be measured, and the motion property of an object can be comprehensively and accurately reflected. The three-axis acceleration sensor also works based on the basic principle of acceleration, the acceleration is a space vector, and on one hand, components on three coordinate axes of the three-axis acceleration sensor are required to be measured to accurately know the motion state of an object; on the other hand, in the case where the direction of movement of the object is not known in advance, only the three-axis acceleration sensor is used to detect the acceleration signal.

As an optional implementation manner, a high-definition long-zooming hanging cabin is further arranged on the unmanned aerial vehicle, the fire control center illuminates the environment through a searchlight of the fire control unmanned aerial vehicle at any time, the first field situation is known by the high-definition long-zooming hanging cabin, and the control right of the fire control unmanned aerial vehicle is taken over at any time.

As an optional embodiment, the online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device further comprises: the fire-fighting unmanned aerial vehicle is stored in the unmanned aerial vehicle garage, the unmanned aerial vehicle garage is an intelligent cabinet which provides electric energy, equipment and three-prevention (wind-proof, rain-proof and anti-theft) for the fire-fighting unmanned aerial vehicle, the related technology is a rectangular frame structure, and an unmanned aerial vehicle lifting device and a battery charging and replacing device are arranged in the unmanned aerial vehicle garage; the top surface of the frame is provided with a split type cabin door, a centering device, a lifting platform of a lifting device and the like from top to bottom in sequence. After the unmanned aerial vehicle sends a stop command, the cabin door is opened, the unmanned aerial vehicle stops at the lifting platform, the centering device pushes the unmanned aerial vehicle to be centered, descends, closes the cabin door, charges and exchanges batteries, and stands by in the cabin door; and after receiving the takeoff task, opening the cabin door, ascending the lifting platform and taking off.

As an alternative embodiment, the fire source detection device includes: and the second optical camera, the second infrared camera and the infrared thermometer are all connected with the central computer control system.

As an optional implementation, the fire-fighting drone further comprises: the conversation equipment of propaganda directed to, the conversation equipment of propaganda directed to sets up on the unmanned aerial vehicle body, can utilize the conversation equipment of propaganda directed to on the fire control unmanned aerial vehicle and communicate with each other and command with near personnel.

As an alternative embodiment, the distance measuring device is a laser distance measuring device.

As an optional implementation mode, the camera units (the second optical camera and the second infrared camera), the infrared thermometers and the laser rangers are mechanically and fixedly connected with the cradle head, the central computer control system sends a central computer control system instruction to the cradle head to enable the cradle head to be linked with the camera units, the infrared thermometers and the laser rangers to conduct blind scanning of 360 degrees in the horizontal direction to detect a fire source, the second optical camera is based on the technology of recognizing flame and smoke through AI visual images, the second infrared camera is based on the technology of carrying out special red and ultraviolet ray inspection on ignition source rays, whether the temperature measured by the infrared thermometers is larger than 100 degrees or not, and the linear beam smoke-sensing fire detection technology is obtained after mutual verification of multiple sets of systems to determine fire and greatly reduce false alarms.

As shown in fig. 4, the working process of the online unmanned fully-automatic fire-fighting and rescue unmanned aerial vehicle device provided by the invention is as follows:

setting 1 monitoring point or 2 or more monitoring points, scanning and detecting a fire source in real time by the monitoring points and judging whether the fire source is found (the monitoring points carry out blind scanning under the instruction of a central computer control system to identify a fire, once the characteristics of the fire source are captured and confirmed), verifying that the fire source is an effective fire source needing to be extinguished, starting the device, sending a signal to a fire control center through a communication network, giving an alarm in real time, calibrating angles or measuring distances to calculate fire source coordinates, sending tasks and coordinates to a fire-fighting unmanned aerial vehicle through the communication network, calculating an optimal course route of the fire point in environment 2D data by the unmanned aerial vehicle, taking off, flying into the fire point, measuring the highest temperature of the fire source by using laser and carrying out three-dimensional modeling, calculating a target to be hit by the unmanned aerial vehicle according to the highest temperature, calculating a motion instruction of the unmanned aerial vehicle and taking the position, breaking the window regularly, emitting a fire extinguishing agent and detecting the fire and the highest temperature, and returning to the unmanned aerial vehicle hangar after fire extinguishing.

In practical application, after implementing partial fire extinguishing measures, the unmanned aerial vehicle evaluates the fire extinguishing effect in real time: and scanning and measuring a temperature gradient map and an optical map by using an infrared camera and an optical camera carried by the unmanned aerial vehicle, comparing the temperature gradient map and the optical map before fire extinguishment, if the temperature of a place where a fire extinguishing measure is applied is obviously reduced to be below an open fire, and the open fire part of the optical map is not present, effectively extinguishing the fire, and entering a next scheme and instruction and executing.

The online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device provided by the invention utilizes spectral rays, temperature or dense smoke released by combustible substances during combustion as targets, adopts an infrared thermometer to measure temperature, adopts a special red and ultraviolet detection camera or an image recognition system to monitor and sense the occurrence and existence of fire after mutually verifying a black and dense smoke multiple system. By adopting an advanced AI artificial intelligence detection technology, a central computer control system and a fire-fighting unmanned aerial vehicle, all-weather and all-round automatic monitoring of all fires in a protection area of several square kilometers is realized. In case the conflagration breaks out, the device starts immediately, and the control center that sends a signal is to the fire control carries out the warning, simultaneously through control point calibration angle or range finding, calculates the fire source coordinate promptly, sends the task and gives unmanned aerial vehicle with the coordinate. And calculating the optimal navigation route to the ignition point by the unmanned aerial vehicle. And taking off, after flying to a standby point of a fire point, performing laser, infrared and optical measurement and three-dimensional modeling on the terrain around the fire source. And measuring a fire source temperature ladder diagram by using an infrared thermometer, calculating a motion instruction of the unmanned aerial vehicle and positioning. And launching a window breaking bomb by the unmanned aerial vehicle to break the window. The unmanned aerial vehicle launches fire extinguishing agents or fire extinguishing bombs to the target, the fire behavior and the temperature ladder diagram are detected regularly until the fire is extinguished, and the unmanned aerial vehicle sails back to the unmanned aerial vehicle hangar to charge and replace the power and supplement equipment.

The invention also provides an online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle system, which comprises a monitoring center 10 and a plurality of online unmanned full-automatic fire-fighting rescue unmannedaerial vehicle devices 20 as shown in fig. 5; each central computer control system in the online unmanned full-automatic fire prevention and rescue unmannedaerial vehicle device 20 is connected with the monitoring center 10, the monitoring center 10 is used for controlling a fire-fighting unmanned aerial vehicle in each online unmanned full-automatic fire prevention and rescue unmannedaerial vehicle device 20 to extinguish a fire or complete a rescue task according to the fire source and the position of the fire source of an area to be detected by each online unmanned full-automatic fire prevention and rescue unmannedaerial vehicle device 20, as shown in fig. 5, one online unmanned full-automatic fire prevention and rescue unmannedaerial vehicle device 20 can be regarded as a grid defined as an administrative unit or a fire management unit in communities, industrial areas, villages, outdoor indoor spaces and the like in several square kilometers, and each grid can be provided with a plurality of monitoring points and a plurality of unmanned aerial vehicles and unmanned aerial vehicle hangars (or unmanned aerial vehicle automatic airports). When regional small fire appears, the unmanned aerial vehicle of this net can put out a fire. Each mesh is connected to thenetwork 30 through a communication link and is thus monitored and managed by themonitoring center 40. If big fire appears, an unmanned aerial vehicle can not put out a fire fast, and through the dispatch of monitoring center, the unmanned aerial vehicle of peripheral net makes a concerted effort to a fire source and puts out a fire to the net interconnection, the network deployment linkage.

The utility model provides an online unmanned full-automatic fire prevention fire-fighting rescue unmanned aerial vehicle device has that detection distance is far away, the protection area is big, jet distance is far away, sensitivity is high, response speed is fast, it is intelligent, survey, it reaches the fire, the whole flow of putting out a fire is unmanned and automatic, the time of putting out a fire is short, all-round control and the characteristics of mistake newspaper malfunction rate are minimum, big detection area, closed-loop control, the network deployment linkage, the group is put out a fire, it is big to spray the flow, whole journey is digital, be convenient for follow-up ability such as big data expert system of artificial intelligence of joining, no dead angle, the non-blind area, can greatly eliminate the harm that the conflagration brought for people, the property and the life safety of protection people, and sequelae such as environmental damage etc.. Because the unmanned aerial vehicle is not blocked by the terrain, the unmanned aerial vehicle has special effect on fire extinguishment of the super high-rise building and fire extinguishment of mountain fire. Along with the gradual intellectualization of the system and the formation cluster of a plurality of unmanned aerial vehicles, a large monitoring area is drawn to be managed, each grid is provided with an on-duty system, and various fires of big and small sizes are monitored and eliminated, so that dozens of thousands of firefighters with life risks are replaced.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. The utility model provides an online unmanned full-automatic fire prevention that disappears rescue unmanned aerial vehicle device, its characterized in that includes:

the fire source detection device and the ignition point positioning device are arranged at monitoring points corresponding to a to-be-detected area, the fire source detection device is used for detecting a fire source of the to-be-detected area on line in real time, and the ignition point positioning device is used for determining the position of the fire source; the central computer control system is used for autonomously controlling the fire-fighting unmanned aerial vehicle to fly to a fire source according to the position of the fire source detected by the fire point positioning device and fully autonomously controlling fire-fighting facilities or rescue facilities carried by the fire-fighting unmanned aerial vehicle to extinguish a fire or complete a rescue task.

2. An online unmanned automatic fire prevention and rescue unmanned aerial vehicle device as claimed in claim 1, wherein when the area to be detected corresponds to a monitoring point, the ignition point positioning device comprises: the fire source monitoring system comprises a monitoring point positioning device, a range finder and an azimuth angle measuring device which are all connected with the central computer control system, wherein the monitoring point positioning device is used for measuring the position of the monitoring point, the range finder is used for measuring the distance between the monitoring point and the fire source, the azimuth angle measuring device is used for measuring the azimuth angle between the monitoring point and the fire source, and the central computer control system is used for determining the position of the fire source according to the position of the monitoring point, the distance between the monitoring point and the fire source and the azimuth angle between the monitoring point and the fire source.

3. An online unmanned automatic fire prevention and rescue unmanned aerial vehicle device as claimed in claim 1, wherein when the area to be detected corresponds to a plurality of monitoring points, the ignition point positioning device comprises: a monitoring point positioning device and an azimuth angle measuring device which are both connected with the central computer control system; the monitoring point positioning device is used for measuring the positions of the monitoring points, the azimuth angle measuring device is used for measuring the azimuth angles from the monitoring points to the fire source, and the central computer control system is used for determining the positions of the fire sources according to the positions of the monitoring points and the azimuth angles from the monitoring points to the fire source.

4. The online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device of claim 1, wherein the fire fighting unmanned aerial vehicle comprises: the fire extinguishing system comprises an unmanned aerial vehicle body, and a laser radar, a first optical camera, a first infrared camera and a fire extinguishing device which are arranged on the unmanned aerial vehicle body, wherein the unmanned aerial vehicle body, the laser radar, the first optical camera and the first infrared camera are all connected with the central processing unit; the laser radar is used for scanning the terrain of a fire scene, the first optical camera is used for scanning the dense smoke and the environment of the fire scene, the first infrared camera is used for scanning the temperature of the fire scene, the central computer control system is used for obtaining a fire scene three-dimensional terrain modeling map according to the terrain of the fire scene and correcting the fire scene three-dimensional terrain modeling map according to the environment of the fire scene, the central computer control system is used for obtaining a fire scene temperature gradient map according to the temperature of the fire scene, the central computer control system is used for obtaining a fire scene dense smoke model map according to the dense smoke of the fire scene, and the central computer control system is further used for controlling the fire-fighting unmanned aerial vehicle to extinguish a detected fire source according to the fire scene three-dimensional terrain modeling map, the fire scene temperature gradient map and the fire scene dense smoke model map.

5. The online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device of claim 1, further comprising: the unmanned aerial vehicle hangar, fire control unmanned aerial vehicle leaves the unmanned aerial vehicle hangar.

6. The online unmanned full-automatic fire prevention, fire extinguishment and rescue unmanned aerial vehicle device of claim 1, wherein the fire source detection device comprises: and the second optical camera, the second infrared camera and the infrared thermometer are all connected with the central computer control system.

7. The online unmanned full-automatic fire prevention and rescue unmanned aerial vehicle device of claim 4, further comprising: the conversation equipment of shouting, the conversation equipment of shouting sets up on the unmanned aerial vehicle body.

8. The online type unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device as claimed in claim 2, wherein the distance measuring instrument is a laser distance measuring instrument.

9. The utility model provides an online unmanned full-automatic fire prevention rescue unmanned aerial vehicle system that puts out a fire, its characterized in that includes: a monitoring center and a plurality of online unmanned fully automatic fire-fighting rescue unmanned aerial vehicle devices according to any one of claims 1-8; the central computer control system in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device is connected with the monitoring center, and the monitoring center is used for controlling the fire-fighting unmanned aerial vehicle in each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device to extinguish fire or complete rescue tasks according to the fire source of the area to be detected and the position of the fire source detected by each online unmanned full-automatic fire-fighting rescue unmanned aerial vehicle device.