CN-121971827-A - District fire-fighting unmanned aerial vehicle linkage control system and method

CN121971827ACN 121971827 ACN121971827 ACN 121971827ACN-121971827-A

Abstract

The invention discloses a district fire-fighting unmanned aerial vehicle linkage control system and method, and relates to the technical field of fire emergency and unmanned aerial vehicle cooperative control. The system comprises a distributed deployment module, an unmanned aerial vehicle unit module, a linkage control module, a communication module and an energy source guarantee module. The unmanned aerial vehicle units are distributed and deployed on preset points of a residential building roof, each building is provided with one or more points, a plurality of machine position shutdown bins can be arranged in the same point side by side, and an identity recognition and lifting calibration device is configured. The patrol unmanned aerial vehicle collects fire data, returns to the edge computing node to generate a fire extinguishing strategy, and the collaborative scheduling unit schedules the fire unmanned aerial vehicle to perform throwing or spraying fire extinguishing in the target and adjacent linkage operation units according to the strategy and the unmanned aerial vehicle state, and updates dynamic instructions along with the fire. The communication module provides an ad hoc network and a cellular redundant link, the cloud backup computing node generates a backup strategy and supports log storage and model updating when the edge node is abnormal, and the energy guarantee module is used for recovering energy.

Inventors

Tan Xuntian
HUANG JING
SUN ZHIJIE
WANG FU

Assignees

深圳翼星消防科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260205

Claims (10)

1. District fire control unmanned aerial vehicle linkage control system, characterized by, include: The system comprises a distributed deployment module, a lifting calibration device, a control module and a control module, wherein the distributed deployment module is used for distributing and deploying unmanned aerial vehicle units at preset points of a building roof in a community, and each preset point is provided with an apron, an identity recognition unit and the lifting calibration device; The unmanned aerial vehicle comprises at least one inspection unmanned aerial vehicle and at least two fire-fighting unmanned aerial vehicles, wherein the inspection unmanned aerial vehicles are provided with fire sensing units for collecting fire related data, and the fire-fighting unmanned aerial vehicles are provided with fire extinguishing execution units for carrying fire extinguishing media and executing fire extinguishing operation; The coordinated control module comprises a local edge computing node and a coordinated scheduling unit, wherein the local edge computing node is used for receiving the fire related data and generating a fire extinguishing strategy, and the coordinated scheduling unit is used for selecting at least one fire-fighting unmanned aerial vehicle from a target coordinated operation unit and an adjacent coordinated operation unit based on the fire extinguishing strategy and unmanned aerial vehicle state information and sending down an operation command to enable the at least one fire-fighting unmanned aerial vehicle to execute fire extinguishing operation; The communication module is used for realizing data interaction between the unmanned aerial vehicle unit module and the linkage control module and comprises an ad hoc network communication link and a cellular communication link to form redundant transmission; the energy source guarantee module is used for supplementing energy to the unmanned aerial vehicle and comprises an apron charging unit and/or an unmanned aerial vehicle standby energy source unit.
2. The system of claim 1, wherein each building roof is provided with at least one preset point, at least part of the building roofs are provided with two or more preset points, one preset point is provided with one or more single-station shutdown bins side by side, and each single-station shutdown bin corresponds to one unmanned aerial vehicle.
3. The system of claim 1, wherein the fire sensing unit comprises at least one of a visible light imaging assembly, an infrared thermal imaging assembly, and at least one or more of a ranging sensor, a modeling sensor, and the local edge computing node is configured to fuse the multi-source data to output a fire source location and a fire parameter.
4. The system of claim 1, wherein the fire suppression strategy comprises at least two or more of a target job location, a number of unmanned fire-fighting vehicles to be scheduled, a fire-extinguishing medium type, a job mode (launch or jet), and a cooperative mode.
5. The system of claim 1, wherein the collaborative scheduling unit is configured to generate a multi-machine collaborative work scheme based on preset collaborative rules, the collaborative rules including at least one of a location interval constraint, an obstacle avoidance constraint, and a safe distance constraint.
6. The system of claim 1, wherein the collaborative scheduling unit includes priority scheduling logic for determining a treatment priority based on fire intensity, trapped person risk, and/or building type when there are multiple fire events, and performing resource allocation and scheduling across linked work units accordingly.
7. The system of claim 1, wherein the communication module has a link switching mechanism to switch to a cellular communication link for data transmission when the link quality of the ad hoc communication link is below a predetermined condition or to switch to the ad hoc communication link when the cellular communication link is not available.
8. The system of claim 1, wherein the coordinated control module further comprises a cloud backup computing node for logging and storing fire related data and treatment process data, generating a backup fire extinguishing policy when detecting that a local edge computing node is not available or has insufficient computing resources, and supporting multiple disk analysis and model updating.
9. A method for controlling a fire-fighting unmanned aerial vehicle in a community, which is applied to the system of any one of claims 1 to 8, and is characterized by comprising: the patrol unmanned aerial vehicle collects fire related data and sends the data to a local edge computing node; The local edge computing node generates a fire extinguishing strategy based on the fire related data; The collaborative scheduling unit selects at least one fire-fighting unmanned aerial vehicle and issues an industry command based on the fire-extinguishing strategy and unmanned aerial vehicle state information; the unmanned fire-fighting plane reaches a target operation position and performs the fire-extinguishing operation of putting-in fire-extinguishing, spraying fire-extinguishing or the combination of the two; Updating a fire extinguishing strategy and correspondingly adjusting an operation instruction when the patrol unmanned aerial vehicle continuously returns updated fire related data; after the fire extinguishment is completed, the unmanned aerial vehicle returns to the parking apron and energy is supplemented; When the fact that the local edge computing node is unavailable or the computing resources are insufficient is detected, the fire related data are sent to a cloud backup computing node to generate a backup fire extinguishing strategy, and the fire extinguishing strategy is used for generating a business attack instruction according to the backup fire extinguishing strategy.
10. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of claim 9.

Description

District fire-fighting unmanned aerial vehicle linkage control system and method Technical Field The invention relates to the technical field of fire emergency and unmanned aerial vehicle cooperative control, in particular to a fire unmanned aerial vehicle coordinated control system and a coordinated control method thereof for a residential area scene, and particularly relates to a coordinated control technology based on multi-unmanned aerial vehicle fire sensing, strategy generation and cooperative scheduling. Background Along with the acceleration of the urban process, the building density of residential areas is continuously improved, and the forms of high-rise residences, connected buildings and closed cells are commonly existed. The district fire generally has the characteristics of hidden fire, fast spreading, strong smoke and heat shielding, dense personnel, complex evacuation organization and the like, is influenced by objective conditions such as road traffic capacity, vehicle parking occupation, fire fighting ascending, window operation angle limitation and the like, and the traditional mode of approaching and disposing by means of fire vehicles and personnel can not timely and comprehensively acquire the position and the situation of the fire source at the early stage of the fire, so that timeliness and pertinence of disposal decisions are influenced. Therefore, the introduction of unmanned aerial vehicle development fire detection, situation assessment and auxiliary treatment gradually become important technical directions. In the prior art, various solutions have been developed around the use of fire-fighting unmanned aerial vehicles. For example, a "unmanned aerial vehicle real-time fire-fighting inspection system (CN 213008793U)" realizes fire-fighting inspection and image return through the cooperation of the inspection unmanned aerial vehicle and the ground inspection control center, so as to improve the abnormal condition discovery and information acquisition efficiency. In the aspect of a linkage control link of 'alarm triggering-take-off-route planning-field inspection-data returning-background disposal', a 'fire linkage control method and a related device (CN 119763262A) of an unmanned aerial vehicle' propose that take-off operation is executed when fire alarm data are received and a flight route is matched based on alarm position information, fire inspection is executed under a preset safety distance after the fire position is reached to obtain fire condition data, and then the fire condition data are sent to a background server, so that the background server obtains fire level based on fire condition data analysis and sends the fire condition data after the fire level is matched with disposal data, and a linkage disposal flow is realized. In the aspects of networked dispatching and edge side computing, a 5G unmanned aerial vehicle intelligent fire control method (CN 116785611A) based on edge computing provides that an edge computing terminal controls and manages a detection unmanned aerial vehicle and a fire extinguishing unmanned aerial vehicle through a communication link, and combines fire information to realize the flows of region division, fixed point treatment and the like. In the aspect of multi-machine cooperative control, an intelligent cooperative control method and system (CN 119916827A) of the fire-fighting unmanned aerial vehicle is provided around the mechanisms of fire point coordinate data generation, operation formation calibration, formation adjustment based on an operation environment model and an effective working radius, searching for the cooperative unmanned aerial vehicle and replacing operation point coordinates when needed, and the like, and a corresponding control method and system framework are provided. In terms of fire extinguishing execution mechanisms and loads, the unmanned aerial vehicle fire extinguishing bomb throwing device (CN 212679893U) is focused on improvement of a throwing structure and throwing process control so as to improve controllability and stability of a throwing process. In terms of endurance and energy supplement, an unmanned aerial vehicle wireless charging system (CN 205407428U) is provided for realizing automatic charging and endurance through the cooperation of a ground station transmitting end and an unmanned aerial vehicle receiving end, and meanwhile, schemes such as a wireless charging device and an unmanned aerial vehicle wireless charging system (CN 108649642A) are also focused on the engineering realization of unmanned aerial vehicle wireless charging structures and docking charging. In addition, in the aspect of multi-unmanned aerial vehicle collaborative path planning and decision-making, the method and the system (CN 118500402A) for multi-unmanned aerial vehicle collaborative motion decision-making in a high-rise indoor fire control based on sampling provide ideas for sampling planning space and establishing topological