CN120267991A - Fire-extinguishing processing method and storage medium based on autonomous unmanned aerial vehicle with ignition point - Google Patents
Fire-extinguishing processing method and storage medium based on autonomous unmanned aerial vehicle with ignition point Download PDFInfo
- Publication number
- CN120267991A CN120267991A CN202510365219.XA CN202510365219A CN120267991A CN 120267991 A CN120267991 A CN 120267991A CN 202510365219 A CN202510365219 A CN 202510365219A CN 120267991 A CN120267991 A CN 120267991A
- Authority
- CN
- China
- Prior art keywords
- fire
- fire extinguishing
- unmanned aerial
- aerial vehicle
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
本发明公开了一种基于着火点自主无人机灭火的处理方法及存储介质，其中方法包括：实时采集多个着火点的位置信息及火势参数，所述火势参数包括火焰高度、温度梯度、扩散速度和可燃物密度；根据各着火点的火势参数及环境参数计算综合危险系数；所述环境参数包括邻近建筑物距离、风速及人员密集度；基于综合危险系数对所有着火点进行优先级排序，生成初始灭火顺序；实施更新计算目标灭火顺序；控制灭火无人机从当前位置按照目标灭火顺序设置规划巡检灭火路径。本发明通过智能化的数据处理和调度机制为火灾应急处置领域提供了更稳健的作战平台和更高的安全保障，有力推动了无人机灭火技术的发展和应用。
The present invention discloses a processing method and storage medium for autonomous unmanned aerial vehicle fire extinguishing based on fire points, wherein the method includes: real-time acquisition of location information and fire parameters of multiple fire points, the fire parameters including flame height, temperature gradient, diffusion rate and combustible density; calculation of comprehensive risk coefficient according to fire parameters and environmental parameters of each fire point; the environmental parameters including distance to adjacent buildings, wind speed and population density; priority sorting of all fire points based on comprehensive risk coefficient, generating initial fire extinguishing sequence; implementing update calculation of target fire extinguishing sequence; controlling fire extinguishing unmanned aerial vehicle to set a planned inspection fire extinguishing path from the current position according to the target fire extinguishing sequence. The present invention provides a more robust combat platform and higher safety guarantee for the field of fire emergency disposal through intelligent data processing and scheduling mechanism, and strongly promotes the development and application of unmanned aerial vehicle fire extinguishing technology.
Description
Technical Field
The invention relates to the field of unmanned fire extinguishing control processing, in particular to a processing method and a storage medium for extinguishing fire based on an autonomous unmanned aerial vehicle at a fire point.
Background
The use of unmanned aerial vehicles in fire emergency treatment has become an important development direction in recent years. Traditional fire extinguishing operation relies on manual judgment and a fixed scheduling mode, and when the multi-point fire condition and the field environment change in a complex manner, the fire condition and the potential risk are difficult to evaluate timely and accurately, so that the fire extinguishing resource is unevenly distributed and the operation efficiency is low.
The prior art generally has the defects that fire information acquisition and risk assessment are incomplete, the prior system is often only focused on one or a few fire extinguishing parameters, and the prior system lacks the comprehensive acquisition of fire parameters such as flame height, temperature gradient, diffusion speed, combustible density and the like. Meanwhile, environmental factors such as the distance between neighboring buildings, wind speed, and people's concentration are not sufficiently considered, so that fire risk assessment is not accurate enough, and the optimal fire extinguishing timing may be delayed.
The dynamic response capability is lacking, the situation of the fire scene is changed suddenly, and the single and static fire extinguishing sequence planning is difficult to meet the requirement of continuous change of fire. The existing scheduling method lacks a real-time monitoring mechanism and also fails to dynamically order abnormal changes of fire parameters, so that the fire extinguishing unmanned aerial vehicle has slow response when coping with fire scene emergency, and the overall operation efficiency is reduced.
Disclosure of Invention
The invention aims to provide a fire extinguishing processing method and a storage medium based on an autonomous unmanned aerial vehicle at a fire point, which solve the technical problems pointed out in the prior art.
The invention provides a fire extinguishing processing method based on an autonomous unmanned aerial vehicle at a fire point, which is used for comprehensively collecting fire and environmental data, calculating comprehensive danger coefficients, dynamically generating a fire extinguishing priority queue based on a minimum stack data structure and realizing real-time scheduling and path planning of a fire extinguishing sequence. Furthermore, the weight parameters are dynamically adjusted, equipment resources are monitored in real time, and a cooperative combat and emergency response module is introduced, so that the whole unmanned aerial vehicle fire extinguishing system has higher sensitivity, adaptability and safety guarantee capability.
The invention provides a fire extinguishing treatment method of an autonomous unmanned aerial vehicle based on a fire point, which comprises the following operation steps:
s1, acquiring position information of a plurality of ignition points and fire parameters in real time, wherein the fire parameters comprise flame height, temperature gradient, diffusion speed and combustible density;
S2, calculating a comprehensive danger coefficient according to the fire parameters of each ignition point and the environment parameters, wherein the environment parameters comprise the distance between adjacent buildings, the wind speed and the personnel concentration;
S3, sequencing the priority of all the ignition points based on the comprehensive danger coefficient to generate an initial fire extinguishing sequence;
s4, controlling the fire extinguishing unmanned aerial vehicle to set a planned patrol and examine fire extinguishing path from the current position according to the target fire extinguishing sequence;
the calculation formula of the comprehensive risk coefficient is as follows:
Wherein R i is the ith fire point comprehensive risk coefficient, F i is a flame height standardized value, T i is an abnormal temperature rise rate, D i is the nearest building distance, W i is a real-time wind speed, S i is a diffusion area change rate, and alpha, beta, gamma and delta are dynamic weight parameters.
Preferably, all the ignition points are prioritized based on the comprehensive risk coefficient to generate an initial fire extinguishing sequence, and the update calculation target fire extinguishing sequence is implemented and comprises the following steps:
S31, constructing a minimum pile data structure by taking the comprehensive risk coefficient as a key value, and taking the minimum pile data structure as an initial fire extinguishing sequence;
s32, monitoring the comprehensive risk coefficient change rate of each ignition point in real time, and triggering stack data structure readjustment when the risk coefficient change rate exceeds a preset threshold value and triggers a first condition;
s33, if the newly added ignition point or the mutation of the existing ignition point danger coefficient is detected, reconstructing a pile data structure, and outputting an updated fire extinguishing priority queue;
And taking the updated fire extinguishing priority queue as a target fire extinguishing sequence.
Preferably, in the step S32, the comprehensive risk coefficient change rate of each ignition point is monitored in real time, and when the risk coefficient change rate exceeds a preset threshold and triggers a first condition, the stack data structure readjustment is triggered, which specifically includes the following steps:
s321, periodically calculating the difference value of the comprehensive risk coefficient change of each ignition point in the current period and the previous period, and calculating the risk coefficient change rate;
s322, comparing the change rate of the dangerous coefficient with a preset threshold value, and screening out abnormal change points exceeding the threshold value, wherein the first condition is that the proportion of the number of the abnormal change ignition points to the total ignition points exceeds a proportion threshold value;
S323, when the proportion of the number of abnormally changed ignition points to the total ignition points exceeds a proportion threshold value, updating the latest fire extinguishing priority queue.
Preferably, before the step of calculating the comprehensive risk coefficient according to the ignition parameters and the environmental parameters of each ignition point, the method further comprises the following steps:
And dynamically adjusting the weight parameter alpha at intervals of a preset time period.
Preferably, the step of dynamically adjusting the weight parameter α at intervals for a predetermined period of time specifically includes the steps of:
S21, counting actual extinguishing time consumption data of 3 recent continuous extinguishing cycles every 5 minutes, wherein the actual extinguishing time consumption data comprises actual extinguishing time consumption t eff;
s22, calculating a weight parameter update value based on the actual fire extinguishing time t eff and the preset theoretical maximum time t max by using the following formula:
S23, replacing the original dynamic weight parameter alpha with the updated dynamic weight parameter alpha' for subsequent comprehensive risk coefficient calculation.
Preferably, the unmanned fire extinguishing unmanned aerial vehicle is controlled to set a planned patrol fire extinguishing path from the current position according to the target fire extinguishing sequence, and the method also comprises the following steps:
and executing inspection fire extinguishing treatment according to the target fire extinguishing sequence in real time, monitoring the water resource remaining amount of the fire extinguishing equipment in real time, and executing a path energy-saving planning mode if the water resource remaining amount is lower than a preset threshold value.
Preferably, the execution path energy-saving planning mode specifically includes the following steps:
S91, screening fire points which do not perform fire extinguishing in a target fire extinguishing sequence, and sending numbers of the fire points which do not perform fire extinguishing in the target fire extinguishing sequence and an auxiliary fire extinguishing request to a central controller;
S92, the central controller sends control instructions to other unmanned aerial vehicles, and after the other unmanned aerial vehicles reach the current fire extinguishing point, the current unmanned aerial vehicles fly back to the starting point to supplement water resources;
S93, the central controller generates an assistance report and uploads the assistance report to the cloud server for archiving.
Preferably, the assistance report includes the number of the current unmanned aerial vehicle, the remaining amount of water resources of the current unmanned aerial vehicle, the number of the fire points where fire extinguishing is not performed in the target fire extinguishing sequence, and the number of other unmanned aerial vehicles assisted.
Preferably, the unmanned fire-extinguishing unmanned aerial vehicle is controlled to set a planned patrol fire-extinguishing path according to a target fire-extinguishing sequence from a current position, and then an emergency response mode is executed when dangerous chemicals are detected, and the unmanned fire-extinguishing unmanned aerial vehicle specifically comprises the following steps:
s101, detecting the distance between a current ignition point and peripheral dangerous chemical storage facilities in real time, and if the detected distance is smaller than 10 meters, starting an emergency response mode;
s102, the central controller sends immediately assisted control instructions to other unmanned aerial vehicles to control all unmanned aerial vehicles to fly at the current fire extinguishing points;
and S103, setting the current ignition point as the highest priority in the target fire extinguishing sequence of all unmanned aerial vehicles for performing fire extinguishing tasks.
The invention also provides a storage medium which comprises a stored program, wherein the equipment where the storage medium is located is controlled to execute the fire extinguishing processing method based on the ignition point autonomous unmanned aerial vehicle when the program runs.
Compared with the prior art, the embodiment of the invention has at least the following technical advantages:
The method for processing fire extinguishment based on the autonomous unmanned aerial vehicle with the ignition points and the storage medium are known to analyze when the method is applied specifically, S1, position information and fire parameters of a plurality of ignition points are collected in real time, the fire parameters comprise flame height, temperature gradient, diffusion speed and combustible density, S2, comprehensive danger coefficients are calculated according to the fire parameters and environment parameters of each ignition point, the environment parameters comprise distances between adjacent buildings, wind speed and personnel density, S3, priority ranking is conducted on all the ignition points based on the comprehensive danger coefficients, an initial fire extinguishment sequence is generated, updating calculation of a target fire extinguishment sequence is conducted, and S4, the unmanned aerial vehicle is controlled to set a planned patrol fire extinguishing path from the current position according to the target fire extinguishment sequence.
The invention provides a fire extinguishing processing method based on an autonomous unmanned aerial vehicle at a fire point, which is used for comprehensively collecting fire and environmental data, calculating comprehensive danger coefficients, dynamically generating a fire extinguishing priority queue based on a minimum stack data structure and realizing real-time scheduling and path planning of a fire extinguishing sequence. Furthermore, the weight parameters are dynamically adjusted, equipment resources are monitored in real time, and a cooperative combat and emergency response module is introduced, so that the whole unmanned aerial vehicle fire extinguishing system has higher sensitivity, adaptability and safety guarantee capability. The invention not only makes up the defects of the traditional fire extinguishing method in the aspects of information acquisition, risk assessment, dynamic sequencing, resource coordination and the like, but also provides a brand new technical scheme for efficient fire extinguishment of unmanned aerial vehicle cluster operation in complex and dynamic fire scene environments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of overall operation steps of a fire extinguishing method based on an autonomous unmanned aerial vehicle with a fire point according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a specific operation flow in a fire extinguishing method based on an autonomous unmanned aerial vehicle with a fire point according to an embodiment of the present invention;
fig. 3 is a schematic diagram of another specific operation flow in a fire extinguishing method based on an autonomous unmanned aerial vehicle with a fire point according to an embodiment of the present invention;
fig. 4 is a schematic diagram of another specific operation flow in a fire extinguishing method based on an autonomous unmanned aerial vehicle with a fire point according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another specific operation flow in a fire extinguishing method based on an autonomous unmanned aerial vehicle with a fire point according to an embodiment of the present invention;
Fig. 6 is a schematic diagram of a storage medium corresponding to a fire extinguishing method based on an autonomous unmanned aerial vehicle with a fire point according to an embodiment of the present invention.
Reference numeral 1130, a communication interface 1120, and a processor 1110.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention will now be described in further detail with reference to specific examples thereof in connection with the accompanying drawings.
Example 1
As shown in fig. 1, the invention further provides a fire extinguishing processing method based on the autonomous unmanned aerial vehicle with a fire point, which comprises the following operation steps:
s1, acquiring position information of a plurality of ignition points and fire parameters in real time, wherein the fire parameters comprise flame height, temperature gradient, diffusion speed and combustible density;
S2, calculating a comprehensive danger coefficient according to the fire parameters of each ignition point and the environment parameters, wherein the environment parameters comprise the distance between adjacent buildings, the wind speed and the personnel concentration;
S3, sequencing the priority of all the ignition points based on the comprehensive danger coefficient to generate an initial fire extinguishing sequence;
s4, controlling the fire extinguishing unmanned aerial vehicle to set a planned patrol and examine fire extinguishing path from the current position according to the target fire extinguishing sequence;
the calculation formula of the comprehensive risk coefficient is as follows:
Wherein R i is the ith fire point comprehensive risk coefficient, F i is a flame height standardized value, T i is an abnormal temperature rise rate, D i is the nearest building distance, W i is a real-time wind speed, S i is a diffusion area change rate, and alpha, beta, gamma and delta are dynamic weight parameters.
When the fire extinguishing system is specifically applied, S1, position information of a plurality of ignition points and fire parameters are collected in real time, wherein the fire parameters comprise flame height, temperature gradient, diffusion speed and combustible density, S2, comprehensive danger coefficients are calculated according to the fire parameters and environment parameters of each ignition point, the environment parameters comprise distances between adjacent buildings, wind speeds and personnel concentration, S3, priority ranking is carried out on all the ignition points based on the comprehensive danger coefficients to generate an initial fire extinguishing sequence, updating and calculating of a target fire extinguishing sequence is carried out, and S4, a fire extinguishing unmanned aerial vehicle is controlled to set and plan a patrol and examine fire extinguishing path according to the target fire extinguishing sequence from the current position.
The invention provides a fire extinguishing processing method based on an autonomous unmanned aerial vehicle at a fire point, which is used for comprehensively collecting fire and environmental data, calculating comprehensive danger coefficients, dynamically generating a fire extinguishing priority queue based on a minimum stack data structure and realizing real-time scheduling and path planning of a fire extinguishing sequence.
In the specific implementation process, the system firstly calculates the comprehensive risk coefficient of each fire point by adopting a preset model based on the acquired fire condition and environment data. To apply the calculation results to task scheduling, the system further utilizes a minimum heap data structure to construct a dynamic fire suppression priority queue. The minimum stack is used as a high-efficiency data structure, and can realize rapid sequencing of fire hazard under the condition that fire is continuously changed. When the system detects that the risk coefficient of a fire scene suddenly increases or a new fire point appears, the system triggers the reconstruction of the minimum pile, and the latest safety information is rapidly reflected in the priority queue, so that the unmanned aerial vehicle can always execute the fire extinguishing task according to the latest fire severity.
In order to improve the intelligent level of the system, the invention introduces a mechanism for dynamically adjusting the weight parameters. In a preset time period (for example, every 5 minutes), the system counts the actual fire extinguishing time consumption in nearly three fire extinguishing periods, compares the data with the preset theoretical maximum time consumption, and calculates the updated value of the dynamic weight parameter by using a formula. The updated parameters replace the original settings, so that the dangerous coefficient calculation is closer to the actual situation of the site.
Therefore, through the comprehensive dangerous coefficient which is continuously and adaptively adjusted, not only can the instantaneous change of the fire scene risk be reflected, but also more accurate guidance can be generated for unmanned aerial vehicle mission planning, and the reaction speed and the fire extinguishing efficiency of the system under a complex environment are improved.
In addition, in order to ensure long-term continuous operation, the system also designs a function of monitoring the residual quantity of the fire extinguishing equipment (water resource) in real time. The unmanned aerial vehicle can constantly detect the water resource state that carries by oneself in the execution fire-extinguishing task in-process. When the water resource is lower than a preset threshold, the system automatically switches to a path energy-saving planning mode and timely sends an assistance request to the central controller. After receiving the request, the central controller can cooperatively schedule other unmanned aerial vehicles, and when the continuous performance of fire scene fire extinguishing tasks is ensured, the unmanned aerial vehicle with insufficient current water resources flies back to the starting point or the base for replenishment. In the whole collaborative combat process, the system not only transmits the number, the residual water quantity and the current task state of each unmanned aerial vehicle, but also generates a detailed assistance report to be uploaded to a cloud server, and data support is provided for the improvement of the whole combat efficiency and the follow-up emergency plan.
Under the special condition that dangerous goods are stored near a fire scene, the system is further designed with an emergency response module. The module realizes real-time detection of the distance between the fire point and the dangerous chemical facility. When the distance is lower than a safety threshold (for example, 10 meters), the system immediately triggers an emergency response, sets the current fire point as the highest priority target, and sends a cooperative combat instruction to all unmanned aerial vehicles in the cluster, so that people are required to quickly gather to the fire point for joint fire extinguishment. The fire disaster can be prevented from spreading, secondary accidents caused by dangerous chemicals are avoided, the most effective control of the real-time risk of a fire scene can be ensured, and the on-site safety guarantee capability is fundamentally improved.
In summary, the unmanned aerial vehicle fire extinguishing system disclosed by the invention realizes high sensitivity, self-adaptability and synergy of unmanned aerial vehicles in fire extinguishing tasks by organically integrating fire and environmental data, constructing a real-time updated fire extinguishing priority queue by utilizing a minimum heap data structure, and adding a dynamic weight parameter adjustment and real-time resource monitoring and emergency response module. The system not only can effectively judge the fire scene environment with multiple points, dispersion and dynamic change, but also can flexibly optimize the combat path and the resource scheduling according to the actual conditions of the scene. The scheme effectively makes up the defects of the traditional fire extinguishing method in the aspects of information acquisition, risk assessment, dynamic sequencing and resource coordination, and provides a brand new technical support and solution for implementing accurate and efficient fire extinguishing operation of unmanned aerial vehicle clusters in complex fire scene environments. Through an intelligent data processing and scheduling mechanism, the invention provides a more robust combat platform and a higher safety guarantee for the field of fire emergency treatment, and forcefully promotes the development and application of unmanned aerial vehicle fire extinguishing technology.
As shown in FIG. 2, the method for generating the initial fire extinguishing sequence comprises the following steps of:
S31, constructing a minimum pile data structure by taking the comprehensive risk coefficient as a key value, and taking the minimum pile data structure as an initial fire extinguishing sequence;
s32, monitoring the comprehensive risk coefficient change rate of each ignition point in real time, and triggering stack data structure readjustment when the risk coefficient change rate exceeds a preset threshold value and triggers a first condition;
s33, if the newly added ignition point or the mutation of the existing ignition point danger coefficient is detected, reconstructing a pile data structure, and outputting an updated fire extinguishing priority queue;
And taking the updated fire extinguishing priority queue as a target fire extinguishing sequence.
In the technical scheme, the priority queue of the comprehensive risk coefficient is constructed by adopting the minimum heap data structure, so that the risk degrees of all ignition points can be rapidly ordered. The fire parameter change (such as newly added fire point or existing fire point mutation) is monitored and judged in real time, and reconstruction of the data structure is triggered in time, so that the fire extinguishing sequence is dynamically updated, and the unmanned aerial vehicle fire extinguishing task is ensured to be flexibly adjusted according to the field condition.
As shown in fig. 3, in the step S32, the comprehensive risk coefficient change rate of each ignition point is monitored in real time, and when the risk coefficient change rate exceeds a preset threshold and triggers a first condition, the stack data structure readjustment is triggered, which specifically includes the following steps:
s321, periodically calculating the difference value of the comprehensive risk coefficient change of each ignition point in the current period and the previous period, and calculating the risk coefficient change rate;
s322, comparing the change rate of the dangerous coefficient with a preset threshold value, and screening out abnormal change points exceeding the threshold value, wherein the first condition is that the proportion of the number of the abnormal change ignition points to the total ignition points exceeds a proportion threshold value;
S323, when the proportion of the number of abnormally changed ignition points to the total ignition points exceeds a proportion threshold value, updating the latest fire extinguishing priority queue.
In the technical scheme, the change rate of the comprehensive dangerous coefficient of each ignition point is calculated periodically, a preset threshold value and an abnormal proportion condition are set, and when the abnormal change point reaches a certain proportion, the reordering is triggered. The sensitivity and response speed of the system to fire change are effectively improved, and the real-time performance and accuracy of fire extinguishing priority adjustment are ensured.
Preferably, before the step of calculating the comprehensive risk coefficient according to the ignition parameters and the environmental parameters of each ignition point, the method further comprises the following steps:
And dynamically adjusting the weight parameter alpha at intervals of a preset time period.
Preferably, the interval preset time period, the dynamic adjustment weight parameter α is specifically:
S21, counting actual extinguishing time consumption data of 3 recent continuous extinguishing cycles every 5 minutes, wherein the actual extinguishing time consumption data comprises actual extinguishing time consumption t eff;
s22, calculating a weight parameter update value based on the actual fire extinguishing time t eff and the preset theoretical maximum time t max by using the following formula:
S23, replacing the original dynamic weight parameter alpha with the updated dynamic weight parameter alpha' for subsequent comprehensive risk coefficient calculation.
Before the comprehensive risk coefficient is calculated, the dynamic weight parameters are adjusted according to a preset time period, so that the weight of each parameter can be self-adapted to the actual conditions of the scene fire and the environment. The actual extinguishing time consumption data of the latest 3 continuous extinguishing periods are counted and compared with the preset theoretical maximum time consumption, and an updated value of the weight parameter is obtained by applying a formula, so that dynamic replacement is realized. The calculation of the comprehensive dangerous coefficient can be continuously adapted to the time fluctuation in the actual fire extinguishing operation, and the sequencing decision and the field operation performance are ensured to be more matched.
Preferably, the unmanned fire extinguishing unmanned aerial vehicle is controlled to set a planned patrol fire extinguishing path from the current position according to the target fire extinguishing sequence, and the method also comprises the following steps:
and executing inspection fire extinguishing treatment according to the target fire extinguishing sequence in real time, monitoring the water resource remaining amount of the fire extinguishing equipment in real time, and executing a path energy-saving planning mode if the water resource remaining amount is lower than a preset threshold value.
It should be noted that, when executing the above steps, the embodiment monitors the remaining amount of the unmanned aerial vehicle fire extinguishing device (water resource) in real time in addition to path planning according to the target fire extinguishing sequence, and automatically switches to the path energy-saving planning mode when the water resource is lower than the preset threshold. Therefore, the task interruption caused by insufficient water resources is effectively avoided, the continuous operation time of the unmanned aerial vehicle is prolonged, and the priority of the key fire is ensured to be treated.
As shown in fig. 4, the execution path energy-saving planning mode specifically includes the following steps:
S91, screening fire points which do not perform fire extinguishing in a target fire extinguishing sequence, and sending numbers of the fire points which do not perform fire extinguishing in the target fire extinguishing sequence and an auxiliary fire extinguishing request to a central controller;
S92, the central controller sends control instructions to other unmanned aerial vehicles, and after the other unmanned aerial vehicles reach the current fire extinguishing point, the current unmanned aerial vehicles fly back to the starting point to supplement water resources;
S93, the central controller generates an assistance report and uploads the assistance report to the cloud server for archiving.
Preferably, the assistance report includes the number of the current unmanned aerial vehicle, the remaining amount of water resources of the current unmanned aerial vehicle, the number of the fire points where fire extinguishing is not performed in the target fire extinguishing sequence, and the number of other unmanned aerial vehicles assisted.
When the water resource is low, the central controller is used for coordinating other unmanned aerial vehicles to reach the fire extinguishing site by sending an assistance request and information of a target fire extinguishing ignition point to the central controller, so that the cooperative combat among the unmanned aerial vehicles is realized.
The task cooperation mechanism can ensure the continuity of the fire extinguishing task, and simultaneously enables the current unmanned aerial vehicle to timely return the supplementing water resource, thereby globally optimizing the fire extinguishing strength. The number of the current unmanned aerial vehicle, the residual quantity of water resources, the number of the ignition point when fire extinguishing is not performed and the numbers of other unmanned aerial vehicles which assist are recorded in detail in the assistance report.
As shown in fig. 5, after the fire extinguishing unmanned aerial vehicle is controlled to set a planned inspection fire extinguishing path according to a target fire extinguishing sequence from a current position, an emergency response mode is executed when dangerous chemicals are detected, and the method specifically comprises the following steps:
s101, detecting the distance between a current ignition point and peripheral dangerous chemical storage facilities in real time, and if the detected distance is smaller than 10 meters, starting an emergency response mode;
s102, the central controller sends immediately assisted control instructions to other unmanned aerial vehicles to control all unmanned aerial vehicles to fly at the current fire extinguishing points;
and S103, setting the current ignition point as the highest priority in the target fire extinguishing sequence of all unmanned aerial vehicles for performing fire extinguishing tasks.
According to the fire extinguishing processing method based on the autonomous unmanned aerial vehicle with the ignition point, provided by the embodiment of the invention, the distance between the ignition point and the peripheral dangerous chemical storage facilities is detected in real time, and the emergency response mode is automatically triggered when the distance is lower than 10 meters. The central controller rapidly gives a cooperative instruction to other unmanned aerial vehicles and promotes the fire point to be the highest priority target, so that risk control and safety precaution are realized in the fire handling process with risk of dangerous chemicals.
Example two
The second embodiment of the present invention further provides a storage medium (or called a computer storage medium), where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute a fire extinguishing processing method based on the autonomous unmanned aerial vehicle of the first embodiment.
As shown in fig. 6, a schematic diagram of a computer storage medium structure according to a second embodiment of the present invention includes:
A memory 1130 for storing a computer program;
A communication interface 1120 for enabling connection of the memory 1130 with the processor 1110;
a processor 1110 for executing a computer program to implement a fire extinguishing processing method based on an autonomous unmanned aerial vehicle according to an embodiment disclosed in combination of any of the above-described embodiments.
In summary, the processing method for fire extinguishment based on the autonomous unmanned aerial vehicle provided by the embodiment of the invention is essentially an unmanned aerial vehicle fire extinguishing system based on comprehensive acquisition of fire and environmental data, dynamic calculation of risk coefficient and generation of fire extinguishing priority queues.
The system acquires fire parameters such as flame height, temperature gradient, fire diffusion speed, combustible density and the like in real time through various sensors, and acquires environmental factors such as distance between adjacent buildings, real-time wind speed, personnel density and the like. And (3) inputting each item of data into a background processing platform after standardization and pretreatment, and calculating the comprehensive risk coefficient of each ignition point through a certain mathematical formula so as to provide scientific basis for subsequent fire extinguishing scheduling. The whole system fully utilizes the technology combining real-time data monitoring and dynamic calculation, overcomes the limitation that the traditional fire extinguishing method only depends on single parameter or static judgment, and realizes the omnibearing and multidimensional risk assessment of scene fire.
In the specific implementation process, the system firstly calculates the comprehensive risk coefficient of each fire point by adopting a preset model based on the acquired fire condition and environment data. To apply the calculation results to task scheduling, the system further utilizes a minimum heap data structure to construct a dynamic fire suppression priority queue. The minimum stack is used as a high-efficiency data structure, and can realize rapid sequencing of fire hazard under the condition that fire is continuously changed. When the system detects that the risk coefficient of a fire scene suddenly increases or a new fire point appears, the system triggers the reconstruction of the minimum pile, and the latest safety information is rapidly reflected in the priority queue, so that the unmanned aerial vehicle can always execute the fire extinguishing task according to the latest fire severity.
In order to improve the intelligent level of the system, the invention introduces a mechanism for dynamically adjusting the weight parameters. In a preset time period (for example, every 5 minutes), the system counts the actual fire extinguishing time consumption in nearly three fire extinguishing periods, compares the data with the preset theoretical maximum time consumption, and calculates the updated value of the dynamic weight parameter by using a formula. The updated parameters replace the original settings, so that the dangerous coefficient calculation is closer to the actual situation of the site.
Therefore, through the comprehensive dangerous coefficient which is continuously and adaptively adjusted, not only can the instantaneous change of the fire scene risk be reflected, but also more accurate guidance can be generated for unmanned aerial vehicle mission planning, and the reaction speed and the fire extinguishing efficiency of the system under a complex environment are improved.
In addition, in order to ensure long-term continuous operation, the system also designs a function of monitoring the residual quantity of the fire extinguishing equipment (water resource) in real time. The unmanned aerial vehicle can constantly detect the water resource state that carries by oneself in the execution fire-extinguishing task in-process. When the water resource is lower than a preset threshold, the system automatically switches to a path energy-saving planning mode and timely sends an assistance request to the central controller. After receiving the request, the central controller can cooperatively schedule other unmanned aerial vehicles, and when the continuous performance of fire scene fire extinguishing tasks is ensured, the unmanned aerial vehicle with insufficient current water resources flies back to the starting point or the base for replenishment. In the whole collaborative combat process, the system not only transmits the number, the residual water quantity and the current task state of each unmanned aerial vehicle, but also generates a detailed assistance report to be uploaded to a cloud server, and data support is provided for the improvement of the whole combat efficiency and the follow-up emergency plan.
Under the special condition that dangerous goods are stored near a fire scene, the system is further designed with an emergency response module. The module realizes real-time detection of the distance between the fire point and the dangerous chemical facility. When the distance is lower than a safety threshold (for example, 10 meters), the system immediately triggers an emergency response, sets the current fire point as the highest priority target, and sends a cooperative combat instruction to all unmanned aerial vehicles in the cluster, so that people are required to quickly gather to the fire point for joint fire extinguishment. The fire disaster can be prevented from spreading, secondary accidents caused by dangerous chemicals are avoided, the most effective control of the real-time risk of a fire scene can be ensured, and the on-site safety guarantee capability is fundamentally improved.
In summary, the unmanned aerial vehicle fire extinguishing system disclosed by the invention realizes high sensitivity, self-adaptability and synergy of unmanned aerial vehicles in fire extinguishing tasks by organically integrating fire and environmental data, constructing a real-time updated fire extinguishing priority queue by utilizing a minimum heap data structure, and adding a dynamic weight parameter adjustment and real-time resource monitoring and emergency response module. The system not only can effectively judge the fire scene environment with multiple points, dispersion and dynamic change, but also can flexibly optimize the combat path and the resource scheduling according to the actual conditions of the scene. The scheme effectively makes up the defects of the traditional fire extinguishing method in the aspects of information acquisition, risk assessment, dynamic sequencing and resource coordination, and provides a brand new technical support and solution for implementing accurate and efficient fire extinguishing operation of unmanned aerial vehicle clusters in complex fire scene environments. Through an intelligent data processing and scheduling mechanism, the invention provides a more robust combat platform and a higher safety guarantee for the field of fire emergency treatment, and forcefully promotes the development and application of unmanned aerial vehicle fire extinguishing technology.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solutions of the present invention, and not for limiting the same, and that one skilled in the art may modify the technical solutions described in the above-mentioned embodiments or make equivalent substitutions for some or all of the technical features thereof, and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The fire extinguishing treatment method based on the autonomous unmanned aerial vehicle with the ignition point is characterized by comprising the following steps of:
Collecting position information of a plurality of ignition points and fire parameters in real time, wherein the fire parameters comprise flame height, temperature gradient, diffusion speed and combustible density;
calculating a comprehensive dangerous coefficient according to the fire parameters of each ignition point and the environmental parameters, wherein the environmental parameters comprise the distance between adjacent buildings, the wind speed and the personnel concentration;
Based on the comprehensive dangerous coefficient, sequencing priority of all the ignition points to generate an initial fire extinguishing sequence;
Controlling the fire extinguishing unmanned aerial vehicle to set a planned inspection fire extinguishing path from the current position according to the target fire extinguishing sequence;
the calculation formula of the comprehensive risk coefficient is as follows:
Wherein R i is the ith fire point comprehensive risk coefficient, F i is a flame height standardized value, T i is an abnormal temperature rise rate, D i is the nearest building distance, W i is a real-time wind speed, S i is a diffusion area change rate, and alpha, beta, gamma and delta are dynamic weight parameters.
2. The method for processing fire extinguishment based on the autonomous unmanned aerial vehicle with fire points according to claim 1, wherein the method is characterized in that all the fire points are prioritized based on the comprehensive risk coefficient to generate an initial fire extinguishment sequence, and the method comprises the following steps of:
Constructing a minimum pile data structure by taking the comprehensive risk coefficient as a key value;
Monitoring the comprehensive risk coefficient change rate of each ignition point in real time, and triggering the readjustment of the stack data structure when the risk coefficient change rate exceeds a preset threshold value and triggers a first condition;
If the newly added ignition point or the abrupt change of the existing ignition point danger coefficient is detected, reconstructing a pile data structure and outputting an updated fire extinguishing priority queue;
And taking the updated fire extinguishing priority queue as a target fire extinguishing sequence.
3. The fire extinguishing processing method based on the autonomous unmanned aerial vehicle with fire points according to claim 2, wherein in the step S32, the change rate of the comprehensive risk coefficient of each fire point is monitored in real time, and when the change rate of the risk coefficient exceeds a preset threshold and triggers a first condition, the stack data structure readjustment is triggered, and specifically comprising the following steps:
Periodically calculating the difference value of the comprehensive risk coefficient change of each ignition point in the current period and the previous period, and calculating the risk coefficient change rate;
Comparing the change rate of the dangerous coefficient with a preset threshold value, and screening out abnormal change points exceeding the threshold value, wherein the first condition is that the proportion of the number of the abnormal change ignition points to the total ignition points exceeds a proportion threshold value;
And when the proportion of the number of abnormally changed ignition points to the number of total ignition points exceeds a proportion threshold value, updating the latest fire extinguishing priority queue.
4. The fire extinguishing processing method based on the autonomous unmanned aerial vehicle of claim 3, wherein before the step of calculating the comprehensive risk coefficient according to the fire parameters and the environmental parameters of each ignition point, further comprising the steps of:
And dynamically adjusting the weight parameter alpha at intervals of a preset time period.
5. The fire-point-based self-unmanned aerial vehicle fire extinguishing processing method according to claim 4, wherein the interval preset time period, the dynamic adjustment of the weight parameter α, specifically comprises the following steps:
counting actual extinguishing time consumption data of 3 recent continuous extinguishing cycles every 5 minutes, wherein the actual extinguishing time consumption data comprises actual extinguishing time consumption t eff;
Based on the actual fire extinguishing time t eff and the preset theoretical maximum time t max, calculating a weight parameter update value by using the following formula:
And replacing the original dynamic weight parameter alpha with the updated dynamic weight parameter alpha' for subsequent comprehensive risk coefficient calculation.
6. The fire-point-based fire extinguishing processing method of the autonomous unmanned aerial vehicle according to claim 1, wherein the fire extinguishing unmanned aerial vehicle is controlled to set a planned patrol fire extinguishing path according to a target fire extinguishing sequence from a current position, and the method further comprises the following steps:
and executing inspection fire extinguishing treatment according to the target fire extinguishing sequence in real time, monitoring the water resource remaining amount of the fire extinguishing equipment in real time, and executing a path energy-saving planning mode if the water resource remaining amount is lower than a preset threshold value.
7. The fire-point-based autonomous unmanned aerial vehicle fire extinguishing processing method according to claim 6, wherein the execution path energy-saving planning mode specifically comprises the following steps:
Screening fire points which do not perform fire extinguishing in the target fire extinguishing sequence, and sending numbers of the fire points which do not perform fire extinguishing in the target fire extinguishing sequence and an auxiliary fire extinguishing request to a central controller;
the central controller sends control instructions to other unmanned aerial vehicles, and after the other unmanned aerial vehicles reach the current fire extinguishing point, the current unmanned aerial vehicle flies back to the starting point to supplement water resources;
the central controller generates an assistance report and uploads the assistance report to the cloud server for archiving.
8. The fire-based handling method of autonomous unmanned aerial vehicle fire extinguishing according to claim 7, wherein the assistance report includes the number of the current unmanned aerial vehicle, the remaining amount of water resources of the current unmanned aerial vehicle, and the number of the fire points in the target fire extinguishing sequence where fire extinguishing is not performed, and the numbers of other unmanned aerial vehicles that are assisted.
9. The fire-point-based autonomous unmanned aerial vehicle fire extinguishing processing method according to claim 1, wherein the control of the fire extinguishing unmanned aerial vehicle from the current position to set the planned patrol fire extinguishing path according to the target fire extinguishing sequence further comprises executing an emergency response mode when the dangerous chemical is detected, and specifically comprises the following steps:
Detecting the distance between the current ignition point and the peripheral dangerous chemical storage facilities in real time, and if the detected distance is smaller than 10 meters, starting an emergency response mode;
The central controller sends immediately assisted control instructions to other unmanned aerial vehicles to control all unmanned aerial vehicles to fly at the current fire extinguishing points;
and the current firing point is set as the highest priority in the target fire extinguishing sequence of all unmanned aerial vehicles for performing fire extinguishing tasks.
10. A storage medium, characterized in that the storage medium comprises a stored program, wherein the device in which the storage medium is controlled to perform a fire extinguishing treatment of an autonomous unmanned aerial vehicle based on a fire point according to any of the preceding claims 1-9 when the program is run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510365219.XA CN120267991A (en) | 2025-03-26 | 2025-03-26 | Fire-extinguishing processing method and storage medium based on autonomous unmanned aerial vehicle with ignition point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510365219.XA CN120267991A (en) | 2025-03-26 | 2025-03-26 | Fire-extinguishing processing method and storage medium based on autonomous unmanned aerial vehicle with ignition point |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN120267991A true CN120267991A (en) | 2025-07-08 |
Family
ID=96239650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202510365219.XA Pending CN120267991A (en) | 2025-03-26 | 2025-03-26 | Fire-extinguishing processing method and storage medium based on autonomous unmanned aerial vehicle with ignition point |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN120267991A (en) |
-
2025
- 2025-03-26 CN CN202510365219.XA patent/CN120267991A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN119025283A (en) | A computing power data management system and method based on distributed computing | |
| CN111754715B (en) | Fire-fighting emergency response method, device and system | |
| CN118466371B (en) | Port machinery crowd remote monitering system based on virtual reality | |
| CN119250429B (en) | Intelligent fire emergency management method and system | |
| CN113708493A (en) | Cloud edge cooperation-based power distribution terminal operation and maintenance method and device and computer equipment | |
| CN117634884A (en) | A data-driven risk assessment and early warning method for major hazard sources in storage tank areas | |
| CN120063396A (en) | Electrical cabinet state monitoring and intelligent inspection system based on multi-source data fusion | |
| CN117592768B (en) | Fire management methods and systems within enterprises based on big data processing | |
| CN119045427B (en) | Natatorium intelligent water control system integrated with artificial intelligence technology | |
| CN117149522A (en) | A bridge data intelligent disaster recovery backup system and method | |
| CN119268114B (en) | Fire-fighting ventilation control method, device, system and storage medium | |
| CN118297282A (en) | Wind power generation informatization integrated management system | |
| CN116570863A (en) | A fire protection system for energy storage power station | |
| CN117526562A (en) | Auxiliary equipment monitoring system of electric power internet of things substation | |
| CN120071585A (en) | Intelligent fire control monitoring method and system for high-rise building | |
| Abedi et al. | A hybrid particle swarm optimisation approach for energy-efficient single machine scheduling with cumulative deterioration and multiple maintenances | |
| CN119992733A (en) | A forest fire monitoring method based on edge intelligence | |
| CN119207051A (en) | Fire monitoring and identification system based on multi-sensor fusion | |
| KR102507147B1 (en) | Building Automation System using artificial intelligence-based building facility operation assistance system, and operating method of the system | |
| CN120267991A (en) | Fire-extinguishing processing method and storage medium based on autonomous unmanned aerial vehicle with ignition point | |
| Baron et al. | Engineering-based approaches to human performance modeling | |
| CN109978299B (en) | Data analysis method and device for offshore wind power business and storage medium | |
| CN116308897A (en) | Property management safety prediction system based on artificial intelligence | |
| CN119909344B (en) | A smart fire equipment detection and maintenance system and method | |
| CN114756026B (en) | A patrol control system for safety inspection of experimental environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |