CN117602120A - Unmanned aerial vehicle-based industrial factory fire-fighting system and method - Google Patents

Abstract

The invention relates to an unmanned aerial vehicle-based fire-fighting system and method for an industrial factory, wherein the fire-fighting system comprises at least one unmanned aerial vehicle base station and a processing unit, and a plurality of unmanned aerial vehicles stay in the unmanned aerial vehicle base station; the unmanned aerial vehicle establishes communication connection with the processing unit; the processing unit is configured to: counting core data of each building between the unmanned aerial vehicle base station and the ignition point based on the three-dimensional scene; calculating and selecting a safe route of the unmanned aerial vehicle comprising a sailing route and a sailing route based on the core data and the performance parameters of the unmanned aerial vehicle; when a fire occurs, a safe route corresponding to the fire-fighting task of the unmanned aerial vehicle is sent to the unmanned aerial vehicle based on the position information of the unmanned aerial vehicle base station and the fire point. Aiming at the defect that the unmanned aerial vehicle cannot acquire the safety route rapidly in the prior art, the invention pre-stores the unmanned aerial vehicle fire control scheme by utilizing the advantages of the digital twin factory, so that the unmanned aerial vehicle can automatically adjust the safety route, and the data processing amount of the processing unit in emergency is reduced.

Description

Unmanned aerial vehicle-based industrial factory fire-fighting system and method

Technical Field

The invention relates to the technical field of fire control management, in particular to an industrial factory fire control system and method based on an unmanned aerial vehicle.

Background

Unmanned aerial vehicles have been widely used in various technical fields as new industrial fire-fighting equipment. Currently, unmanned aerial vehicles are used for fire detection monitoring, throwing materials, and the like. A plurality of successful cases exist in the high-altitude investigation of the industrial explosion site by adopting the unmanned aerial vehicle, and a reference basis is provided for rescue decisions. The unmanned aerial vehicle is used as fire-fighting equipment, and has the advantages that accurate, visual and comprehensive fire scene data can be obtained and used for background analysis, so that the latest field information can be timely obtained by field rescue. Moreover, unmanned aerial vehicles are more suitable for replacing part of human actions in near-fire sites.

The factory area is ubiquitous with a vast number of pipes, equipment, structural supports, etc., and with a vast number of overhead equipment, etc. If the fire accident happens, the fire point cannot be eliminated as soon as possible, or the fire range is isolated, the nearby facilities are easily affected, and the fire range is not well controlled. In addition, although the different facility areas have the isolation belt, the overhead pipelines and the overhead equipment exist, and the overhead pipelines can drop down when fire occurs, so that the isolation belt or the road is blocked. Current unmanned aerial vehicle guidance systems are generally focused on extinguishing fires, and neglect fire protection requirements of factory areas due to overhead pipelines and overhead equipment, so that partial fires in the factory areas are difficult to control and eliminate in time. Therefore, most unmanned aerial vehicle fire protection systems currently have difficulty in taking corresponding fire extinguishing measures for the unique features of the piping arrangement of the factory area.

For example, patent application publication number CN112774073a discloses an unmanned aerial vehicle-guided multi-machine collaborative fire extinguishing method, which includes: starting a ground control terminal, enabling the unmanned aerial vehicle to perform flight search along a searching navigation point, establishing ground two-dimensional map information, searching for a fire point, accurately positioning the fire point, calculating and marking spatial position information of the fire point, the unmanned aerial vehicle and all fire-fighting unmanned aerial vehicles, enabling all the fire-fighting unmanned aerial vehicles to go forward to the fire point in a formation mode after path planning, automatically avoiding obstacles, establishing a three-dimensional sparse point cloud picture, judging whether to go forward or not through a temperature sensor, starting a fire extinguishing task near the fire point, and returning the unmanned aerial vehicle and all the fire-fighting unmanned aerial vehicles along an original path after the fire extinguishing task is completed. Although the unmanned aerial vehicle and the fire-fighting unmanned aerial vehicle in this patent can perform fire-extinguishing tasks in a formation, the unmanned aerial vehicle and the fire-fighting unmanned aerial vehicle in this patent can only perform fire-extinguishing tasks, and if the existing road is damaged by landing of the high-altitude pipeline, the unmanned aerial vehicle and the fire-fighting unmanned aerial vehicle cannot isolate the firing range from the prevention angle in an organized and orderly manner.

Obviously, unmanned aerial vehicles in the prior art can only play a role in investigation and guiding, and cannot be in butt joint with the existing original fire protection system and conduct overall command and allocation on the fire protection facilities. Moreover, when a fire occurs in a factory area and a part of a safety passage is blocked, the unmanned aerial vehicle in the prior art cannot provide safety guide information for safety escape for personnel in combination with the current fire protection system. In the event of a fire, different fire-fighting materials are required for different factory areas. Unmanned aerial vehicle among the prior art can't combine the demand of fire control goods and materials to cooperate and carry out the delivery of goods and materials for the firefighter in advance.

Therefore, in addition to the coordination of executing fire extinguishing tasks, how to coordinate unmanned aerial vehicles to take measures to provide effective high-altitude guidance for evacuees, distribute needed fire-fighting materials for firefighters based on fire information and assist in isolating the firing range is a problem that is ignored in the current firefighting process by unmanned aerial vehicles.

The invention aims to provide a brand-new unmanned aerial vehicle fire-fighting system and method, so that unmanned aerial vehicle groups can cooperatively execute fire-extinguishing tasks, guide escape from high altitude, distribute different fire-fighting materials and provide personnel conditions in a fire area. The invention combines the unmanned aerial vehicle with the original fire-fighting system to realize a novel fire-fighting system and method with unmanned aerial vehicle cooperation.

Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, since the applicant has studied a lot of documents and patents while making the present invention, the text is not limited to details and contents of all but it is by no means the present invention does not have these prior art features, but the present invention has all the prior art features, and the applicant remains in the background art to which the right of the related prior art is added.

Disclosure of Invention

Unlike ordinary residential areas, there are a large number of pipes, equipment, support structures, etc. in industrial plants, and also a large number of overhead equipment. Inflammable and explosive industrial raw materials can exist in the pipeline and the equipment. Upon combustion and explosion, toxic and harmful substances may be released, which may include toxic and harmful gases, and which may include toxic and harmful liquids. Therefore, in case of accidents such as fire, industrial raw materials related to inflammability and explosiveness belong to important protection objects. In emergency situations, if the ignition point cannot be eliminated as soon as possible, measures should be taken to isolate the ignition range, protect pipes, equipment, supporting structures, etc.

In the unmanned aerial vehicle fire extinguishing control system in the prior art, corresponding flight control is mainly executed aiming at the route planning of the unmanned aerial vehicle, and specific execution tasks of the unmanned aerial vehicle are not taken into consideration in the specific route planning of the unmanned aerial vehicle. For example, patent document with publication number CN112774073a discloses a multi-machine collaborative fire extinguishing method guided by an unmanned plane, the unmanned plane performs flight search along a search navigation point and establishes ground two-dimensional map information, searches for a fire point and accurately locates the fire point, calculates and marks spatial position information of the fire point, the unmanned plane and all fire-fighting unmanned vehicles, and after path planning, all fire-fighting unmanned vehicles form a team to move forward to the fire point, autonomously avoid barriers, establish a three-dimensional sparse point cloud picture, judge whether to advance or not through a temperature sensor, start to perform fire extinguishing tasks near the fire point, and after completing the fire extinguishing tasks, the unmanned plane and all fire-fighting unmanned vehicles return along the original path. According to the technical scheme, the unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles can realize the multi-machine cooperation fire extinguishing process in a unified flight control mode, and specific fire extinguishing tasks of different unmanned aerial vehicles do not need to be distinguished. However, the unmanned aerial vehicle defaults to have infinitely long operating time, and specific electric quantity consumption of the unmanned aerial vehicle in the actual working process is ignored, so that the unmanned aerial vehicle cannot conduct proper fire extinguishing path planning according to specific electric quantity information, and the fire extinguishing task of the unmanned aerial vehicle is temporarily interrupted. Further, even if the unmanned aerial vehicle has corresponding electric quantity, the energy consumption rate of the unmanned aerial vehicle for bearing different work tasks in the task execution process is obviously different, and the overall fire control task cannot be realized through a unified path planning mode. Therefore, how to make unmanned aerial vehicle access original fire extinguishing systems and provide personnel's condition in the industrial factory, guide the escape, provide appropriate material delivery for firefighters is the problem that prior art has not yet solved.

In order to overcome the defects of the prior art, the invention provides an industrial factory fire-fighting system based on an unmanned aerial vehicle, which comprises at least one unmanned aerial vehicle base station and a processing unit, wherein a plurality of unmanned aerial vehicles stay in the unmanned aerial vehicle base station; the unmanned aerial vehicle establishes communication connection with the processing unit; the processing unit is configured to: and counting core data of each building between the unmanned aerial vehicle base station and the ignition point based on the three-dimensional scene. A safe route of the unmanned aerial vehicle including a outbound route and a inbound route is calculated and selected based on the core data and performance parameters of the unmanned aerial vehicle.

In the prior art, the influence of the building on the flight safety of the unmanned aerial vehicle under the condition of fire is ignored, so that the core data information of the building is ignored when a safety route is planned. Technical solutions have emerged in the prior art for updating building information during the flight of unmanned aerial vehicles. For example, patent document with publication number CN113274663a discloses a method, a device and a computing device for controlling a fire-fighting unmanned aerial vehicle, which realize accurate control of the fire-fighting unmanned aerial vehicle in a fire extinguishing process, wherein a movement instruction of the fire-fighting unmanned aerial vehicle is generated according to a fire extinguishing target point, profile data, the direction of the fire-fighting unmanned aerial vehicle and the field angle of the fire-fighting unmanned aerial vehicle, and the fire-fighting unmanned aerial vehicle is controlled to fly to a fire extinguishing operation point, so that the position and angle of the fire-fighting unmanned aerial vehicle are automatically adjusted for the fire extinguishing target point. According to the technical scheme, the regeneration of the contour data of the building is performed after the current fire extinguishing target is completed, the unmanned aerial vehicle is still in a flight state at the moment, the current electric quantity information of the unmanned aerial vehicle is obviously changed after consumption, if the next fire extinguishing route planning is still performed according to the initial energy data, the subsequent fire extinguishing task is paused halfway and cannot be completed according to the plan, and the fire extinguishing efficiency of the whole unmanned aerial vehicle group is reduced. Compared with the prior art, the processing unit can plan the safety route of the unmanned aerial vehicle according to the core data of each building in advance. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to reduce the data calculation amount of the unmanned plane in the flight process. Further, when the unmanned aerial vehicle finds that the building forms a hindrance to the flight in the flight process, the temporary rescheduling of the safety route based on the core data of the building not only needs to consume the intense computing power of the processing unit, but also enables the unmanned aerial vehicle to hover in the air or rotate in the air in the time of waiting for a new safety route. For unmanned aerial vehicles, due to the existence of flight inertia, the energy consumption in the flight process is less, and the energy consumption in hovering, ascending or descending is more. Furthermore, in the case of an emergency where a fire exists in a factory, a fire may be spread and exploded by delaying the fire extinguishing for several seconds. The safety route planning mode in the prior art is obviously unfavorable for energy conservation and safe flight of the unmanned aerial vehicle, and particularly under the conditions of executing fire extinguishing tasks and loading, the safety route planning mode in the prior art occupies emergency time of the unmanned aerial vehicle and increases energy consumption, so that the fire extinguishing efficiency of the unmanned aerial vehicle or unmanned aerial vehicle group is obviously reduced, and the explosion risk of a chemical plant is also increased.

Compared with the prior art, the processing unit can count the core data of each building between the unmanned aerial vehicle base station and the ignition point based on the three-dimensional scene, and calculate and select the safe route of the unmanned aerial vehicle comprising the sailing route and the sailing route based on the core data and the performance parameters of the unmanned aerial vehicle. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to adjust the route planning of the unmanned aerial vehicle group according to different dangerous degrees of the building under the condition of fire disaster so as to ensure the safety of the unmanned aerial vehicle in the process of reaching the target area. The invention can scientifically and reasonably determine the position of the unmanned aerial vehicle needing obstacle avoidance through the core data of the building, and provides support for planning the safety route of the unmanned aerial vehicle. The degree of risk in the case of fire is different due to the different functions of the various buildings within the chemical plant. According to the invention, the safety route is planned for the unmanned aerial vehicle based on the core data of the building in advance, so that the situation that the flight safety of the unmanned aerial vehicle is threatened when the building is influenced by fire is avoided. Even if a part of buildings expand the coverage area on the basis of the initial influence range due to fire spread, for example, overhead equipment collapses due to the long-time action of fire, and the like, the unmanned aerial vehicle can also completely avoid the condition that the unmanned aerial vehicle is influenced by the buildings in the flight process by calculating the navigation route and the return route in advance, and ensure that the fire extinguishing process of the unmanned aerial vehicle for extinguishing the fire is not disturbed.

When a fire occurs, a safe route channel corresponding to the fire-fighting task of the unmanned aerial vehicle is sent to the unmanned aerial vehicle based on the position information of the unmanned aerial vehicle base station and the fire point. The advantage of the arrangement is that the safety route is selected in consideration of the differences among the task category, the flight start point and the flight end point, so that the calculation power of the processing unit in the emergency situation can be reduced, the accuracy of the calculation of the processing unit is improved, and the unmanned aerial vehicle can rapidly execute the corresponding fire-fighting task.

According to a preferred embodiment, the processing unit is further configured to: and calculating a navigation route and a return route by adopting an optimal path finding algorithm based on the core data and the performance parameters of the unmanned aerial vehicle. Compared with the prior art, the processing unit can calculate the optimal route according to the building change information of the way and the unmanned aerial vehicle information for executing different work task types. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to provide a differentiated route calculation mode to adapt to different work task requirements of different unmanned aerial vehicles. In particular, in fire protection systems, it is not possible for the unmanned aerial vehicle to prepare only one class. Unmanned aerial vehicles with various different functions are required to cooperatively work based on different fire-fighting tasks. For example, unmanned aerial vehicles include a monitoring unmanned aerial vehicle to the condition of a fire for transport fire control supplies and the better year thing unmanned aerial vehicle of carrying capacity, be used for transmitting signal's communication unmanned aerial vehicle etc.. The cruising ability of various unmanned aerial vehicles is also different. According to the method, the safety route is calculated based on the performance parameters of the unmanned aerial vehicle, the situation that the unmanned aerial vehicle cannot return due to insufficient energy in the middle of flight is avoided, and the completion rate of the unmanned aerial vehicle to execute tasks is improved.

According to a preferred embodiment, the processing unit is further configured to: when a fire occurs, sending a fire condition monitoring task to at least one unmanned aerial vehicle, constructing the fire condition in a three-dimensional scene in response to receipt of the fire condition information, and adjusting a safety route based on a change in the fire condition; and/or in response to receipt of the fire condition information, transmitting fire data related to its safe route to the drone and instructing it to automatically avoid the obstacle.

In order to realize real-time monitoring of the development situation of a fire scene, the prior art has appeared a technical scheme for acquiring the actual fire condition of a fire place by arranging additional reconnaissance unmanned aerial vehicles and a plurality of firefighting unmanned aerial vehicles. For example, patent document with publication number CN107029374a discloses a method and device for controlling fire in a cluster, wherein the unmanned aerial vehicle includes at least one reconnaissance unmanned aerial vehicle and a plurality of fire control unmanned aerial vehicles, the reconnaissance unmanned aerial vehicle receives a fire detection instruction issued by a dispatching control center, flies to a target firing area to perform fire reconnaissance, the reconnaissance unmanned aerial vehicle sends a fire condition reconnaissance to the target firing area to the dispatching control center, and the plurality of fire control unmanned aerial vehicles receive the fire control dispatching instruction issued by the dispatching control center based on the fire condition and fly to a target firing point to perform fire extinguishment. According to the technical scheme, the actual fire condition of the fire place can be timely and accurately acquired through the reconnaissance unmanned aerial vehicle, so that when a fire disaster occurs, the fire fighting unmanned aerial vehicle can extinguish the fire according to the actual fire condition of the fire place provided by the reconnaissance unmanned aerial vehicle. However, the reconnaissance unmanned aerial vehicle in the technical scheme can only detect and update specific information of a fire scene through the carried monitoring equipment, and cannot adjust the route of the unmanned aerial vehicle according to the change information of surrounding buildings. Further, the technical scheme only carries out corresponding image information processing aiming at the current ignition point, and the specific processing data volume is obviously lower than the data processing volume of the unmanned aerial vehicle for the buildings along the travelling route. Therefore, the technical scheme cannot realize the timely calculation of the safety route. Compared with the prior art, the invention can adjust the safety route in real time through the fire condition information provided by the unmanned aerial vehicle for performing the monitoring task. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to adjust the flight path of the unmanned aerial vehicle according to the change of the fire so as to avoid the influence on the flight safety of the unmanned aerial vehicle caused by the abrupt change of the building information due to the fire. In the event of a fire, the change in fire can affect the degree of risk of the building. The degree of danger of the building can affect the flight safety of the unmanned aerial vehicle. Therefore, in the case of the current building safety, planning a safe route for the unmanned aerial vehicle that is particularly safe and has the longest range delays the fire extinguishing timing, which is also impractical. The best option is to adjust the flight path of the drone based on changes in the core data of the building. It is therefore necessary to communicate the fire situation back to the processing unit in real time to enable a safe route replacement. However, if each unmanned aerial vehicle requires a processing unit to change the safety route, the processing unit is computationally intensive and may affect the calculation of data in case of emergency. Therefore, the invention sends the fire data of the building passing through in the middle of the flight to the unmanned aerial vehicle, and instructs the unmanned aerial vehicle to automatically calculate the obstacle avoidance route based on the preset algorithm, so that the safety of the unmanned aerial vehicle is ensured, the calculation amount and the data transmission amount of the processing unit are reduced, the data processing requirement in the emergency situation can be met, and the situation that the unmanned aerial vehicle waits for data return in a hovering mode is avoided.

According to a preferred embodiment, the processing unit is further configured to: determining the position and/or the form of the isolation belt based on the position information of the ignition point and the dangerous source type and/or the dangerous grade of the building; and calculating the sailing route and the sailing route between the positions of the constituent forms of the unmanned aerial vehicle and the isolation belt in real time based on the positions and/or the forms of the unmanned aerial vehicle base station and the isolation belt, so that a plurality of unmanned aerial vehicles can cooperatively complete the task of arranging the isolation belt.

In the fire treatment mode, if the fire at the ignition point is not controlled, an isolation belt is required to isolate the spread of the fire. Through arranging unmanned aerial vehicle that duration is appropriate based on the supplementary median that sets up of different safety route, can avoid unmanned aerial vehicle's risk of collision each other, improve unmanned aerial vehicle's collaborative efficiency.

According to a preferred embodiment, the processing unit is further configured to: and sending control instructions to the plurality of unmanned aerial vehicles so that at least two unmanned aerial vehicles monitor the ignition condition and/or personnel distribution condition of the ignition point from different visual angles. Compared with the prior art, the processing unit can adjust the monitoring position of the unmanned aerial vehicle according to the ignition condition of the ignition point. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to improve the accuracy of monitoring the fire condition and/or the personnel distribution condition of the fire point. In particular, in the case of a fire, part of the sensors fail, which makes the data of the fire conditions simulated by the processing unit in a three-dimensional scene incomplete, and therefore the control decisions made deviate. If the unmanned aerial vehicle collects the image of the fire situation from a single angle, even if the image of the fire situation is collected through the spiral flight behavior, the obtained image is one-sided, and the processing unit needs to take more time to fit and form a three-dimensional image. In such emergency situations as fires, the processing unit needs to quickly determine the fire reality and trigger the appropriate control scheme. The fire situation is also peculiar in that even if the fire situation is different by a few seconds, the fire situation is obviously changed, so that the single unmanned aerial vehicle is difficult to acquire comprehensive fire situation data at the same time. According to the invention, the fire conditions are collected simultaneously from different visual angles through the unmanned aerial vehicles, and the processing unit generates a real fire scene in the three-dimensional scene to cooperate with fire-fighting equipment in a factory and a plurality of unmanned aerial vehicles to realize collaborative fire extinguishing, so that the efficiency is higher, and the fire can be rapidly controlled and rapidly suppressed before an effective decision is made by a manager.

Fire extinguishing direction and/or operation parameters of fire-fighting equipment in an industrial plant are adapted based on the fire condition and/or personnel distribution condition, so that the fire-fighting equipment and the unmanned aerial vehicle performing the fire-extinguishing task are extinguished in a manner of cooperating with each other.

The unmanned aerial vehicle can assist in extinguishing a fire. However, in the prior art, unmanned aerial vehicles generally implement fire extinguishing behaviors that are repeated with fire fighting equipment, or unmanned aerial vehicles are manually controlled to supplement the fire extinguishing behaviors. Neither of these approaches can significantly improve fire suppression efficiency. The fire extinguishing effect of the fire-fighting equipment is good, but the fire extinguishing angle can not be flexibly adjusted, the fire extinguishing angle of the unmanned aerial vehicle is flexibly adjusted, but single fire extinguishing consumables are less. Therefore, the unmanned aerial vehicle and the fire-fighting equipment are controlled to cooperatively extinguish the fire in a complementary mode through unified allocation of the processing units, and the fire-extinguishing efficiency is higher.

According to a preferred embodiment, the processing unit is further configured to: in response to the fire condition and/or personnel distribution condition of the fire points sent by the unmanned aerial vehicle, the type and/or quantity of the fire control materials needing to be supplemented are determined, the type and/or quantity of the fire control materials loaded by the unmanned aerial vehicle are distributed based on the performance parameters of the unmanned aerial vehicle, and an optimal path is calculated for the unmanned aerial vehicle based on the performance parameters, the fire condition and/or personnel distribution condition and the type and/or quantity of the fire control materials, so that the unmanned aerial vehicle can complete the task of supplementing the fire control materials.

Under the condition that a fire fighter is in a fire scene to extinguish the fire, the fire fighter needs to supplement various fire-fighting materials at any time, so that the unmanned aerial vehicle is controlled on the path and load, and the problems that the unmanned aerial vehicle fails in conveying the materials or delays in conveying due to insufficient cruising ability are solved. Under emergency, partial unmanned aerial vehicle is in the condition of insufficient power, the invention scientifically and reasonably plans or adjusts the safety route for unmanned aerial vehicle based on the current electric energy and load capacity, so that various materials can be distributed to the side of firefighters in extremely short time, and the distribution efficiency of the materials is improved.

According to a preferred embodiment, the processing unit is further configured to: in response to the fire condition and/or personnel distribution condition of the fire point sent by the unmanned aerial vehicle, calculating an escape route between personnel positions and escape exits in the industrial plant area, and sending escape route and display instructions to at least one unmanned aerial vehicle so that the unmanned aerial vehicle can guide the escape route for personnel in a visual manner at high altitude. In the event of a fire, the existing indicator tab is difficult to function. According to the unmanned aerial vehicle, the unmanned aerial vehicle is used for guiding people to escape, so that the escape success rate of the people is improved.

The invention provides an industrial factory area fire-fighting method based on an unmanned aerial vehicle from a second aspect, which comprises the following steps: counting core data of each building between the unmanned aerial vehicle base station and the ignition point based on the three-dimensional scene; calculating and selecting a safe route channel of the unmanned aerial vehicle comprising a sailing route and a sailing route based on the core data and the performance parameters of the unmanned aerial vehicle; when a fire occurs, a safe route channel corresponding to the fire-fighting task of the unmanned aerial vehicle is sent to the unmanned aerial vehicle based on the position information of the unmanned aerial vehicle base station and the fire point.

The invention can scientifically and reasonably determine the position of the unmanned aerial vehicle needing obstacle avoidance through the core data of the building, and provides support for planning the safety route of the unmanned aerial vehicle. The degree of risk in the case of fire is different due to the different functions of the various buildings within the chemical plant. According to the invention, the safety route is planned for the unmanned aerial vehicle based on the core data of the building in advance, so that the situation that the flight safety of the unmanned aerial vehicle is threatened when the building is influenced by fire is avoided. According to the invention, the navigation route and the return route are calculated in advance, so that the condition that the unmanned aerial vehicle is influenced by a building in the flight process is completely avoided, and the fire extinguishing process of the unmanned aerial vehicle for extinguishing fire is ensured not to be interfered.

According to a preferred embodiment, the method further comprises: and calculating a navigation route and a return route by adopting an optimal path finding algorithm based on the core data and the performance parameters of the unmanned aerial vehicle. According to the method, the safety route is calculated based on the performance parameters of the unmanned aerial vehicle, the situation that the unmanned aerial vehicle cannot return due to insufficient energy in the middle of flight is avoided, and the completion rate of the unmanned aerial vehicle to execute tasks is improved.

According to a preferred embodiment, the method further comprises: when a fire occurs, sending a fire condition monitoring task to at least one unmanned aerial vehicle, constructing the fire condition in a three-dimensional scene in response to receipt of the fire condition information, and adjusting a safety route based on a change in the fire condition; and/or in response to receipt of the fire condition information, transmitting fire data related to its safe route to the drone and instructing it to automatically avoid the obstacle. According to the invention, the fire data of the building passing through in the middle of the flight are sent to the unmanned aerial vehicle, and the unmanned aerial vehicle is instructed to automatically calculate the obstacle avoidance route based on the preset algorithm, so that the safety of the unmanned aerial vehicle is ensured, the calculated amount and the data transmission amount of the processing unit are reduced, the data processing requirement in an emergency situation can be met, and the situation that the unmanned aerial vehicle waits for data transmission in a hovering mode is avoided.

Drawings

FIG. 1 is a simplified schematic diagram of a secure route path for a drone provided by the present invention;

fig. 2 is a simplified module connection relationship diagram of the unmanned aerial vehicle-based industrial factory fire protection system provided by the invention.

List of reference numerals

10: an unmanned aerial vehicle base station; 20: a processing unit; 30: a fire point; 40: a voyage route; 50: a return route; 60: a first building; 70: a second building.

Detailed Description

The following detailed description refers to the accompanying drawings.

Unlike ordinary residential areas, there are a large number of pipes, equipment, support structures, etc. in industrial plants, and also a large number of overhead equipment. Inflammable and explosive industrial raw materials can exist in the pipeline and the equipment. Upon combustion and explosion, toxic and harmful substances may be released, which may include toxic and harmful gases, and which may include toxic and harmful liquids. Therefore, in case of accidents such as fire, industrial raw materials related to inflammability and explosiveness belong to important protection objects. In emergency situations, if fire cannot be extinguished as soon as possible, measures should be taken to isolate the fire area, protect pipes, equipment, supporting structures, etc.

Therefore, how to make unmanned aerial vehicle access original fire extinguishing systems and provide personnel's condition in the industrial factory, guide the escape, provide appropriate material delivery for firefighters is the problem that prior art has not yet solved.

The invention provides an industrial factory fire-fighting system and method based on an unmanned aerial vehicle. The invention also provides a system and a method for planning the safe route of the unmanned aerial vehicle for fire control. The invention also discloses an unmanned aerial vehicle control system and method in an emergency accident scene. The invention also provides a system and a method for safely guiding the unmanned aerial vehicle.

The invention is described in terms of partial terminology.

Core data of the building: including altitude information, hazard source type, hazard level information, spatial location information, etc. of the building or equipment through which the outgoing route, the return route passes through each area.

Route of going out: refers to a flight path of the unmanned aerial vehicle from a base station and to a destination.

And (3) a return route: refers to a flight path of the drone from the destination back to the base station.

Unmanned aerial vehicle basic station: may also be referred to as an unmanned ground station, typically a ground building. The base station is mainly used for controlling unmanned aerial vehicle's flight for unmanned aerial vehicle duration, real-time supervision, communication and commander. The base station typically consists of one or more computers, communication devices, monitoring displays, and operation consoles. The base station transmits commands and receives various telemetry data, including information on flight status, sensor data, images and video, via a communication link with the drone. Under the condition of manual control, a controller can utilize software and hardware tools on the base station to realize functions of remote control, task planning, flight path setting, map display, data recording and the like of the unmanned aerial vehicle.

The processing unit 20 in the present invention may be an application specific integrated chip, a server group, a combination thereof, or the like. The processing unit 20 is configured to run a three-dimensional scene, control an entity factory according to a preset control scheme, and send a control instruction according to a preset emergency scheme in an emergency situation. In the invention, the processing unit 20 is mainly used for generating a control scheme of the fire behavior of the unmanned aerial vehicle according to the fire condition, so that the unmanned aerial vehicle can orderly monitor the fire condition under the fire condition, transport materials with higher efficiency and cooperate with fire-fighting equipment in a factory to extinguish fire. Compared with the prior art scheme that fire protection measures are taken after fire fighters, the fire protection system can timely respond to the fire information after the fire conditions are found, and the unmanned aerial vehicle is automatically controlled to be matched with a fire protection system to quickly extinguish fire so as to strive for extinguishing or suppressing the development of fire in a golden time period and reduce the fire loss in an industrial factory.

Three-dimensional scene: the three-dimensional scene in the invention refers to a digitized three-dimensional scene of a twin digital factory. The three-dimensional scene is consistent with physical devices within the industrial park. In case of fire, the fire data cannot be directly acquired and thus cannot be directly simulated in a three-dimensional scene, which may cause the processing unit 20 to deviate from the fire control scheme of the unmanned aerial vehicle. According to the invention, the unmanned aerial vehicle is used for collecting the ignition data and transmitting the ignition data to the processing unit 20, so that the processing unit 20 can update the ignition condition in the three-dimensional scene in real time, and an accurate fire control scheme of the unmanned aerial vehicle is generated. Moreover, for the monitoring personnel in the control room, the change and the spreading trend of the fire can be clearly checked through the three-dimensional scene in the display, and the manual intervention is performed in a proper period.

The ignition condition of the invention comprises data information such as ignition position, ignition area range, wind direction, flame height, combustion substance type, equipment type and the like. In the event of a fire, part of the sensors are damaged, so more detailed data is transmitted by the monitoring drone to the processing unit 20.

Example 1

In the prior art, the influence of the building on the flight safety of the unmanned aerial vehicle under the condition of fire is ignored, so that the core data information of the building is ignored when a safety route is planned. When the unmanned aerial vehicle finds that the building forms a hindrance to the flight in the flight process, the temporary rescheduling of the safety route based on the core data of the building not only requires the consumption of the originally intense computing power of the processing unit 20, but also causes the unmanned aerial vehicle to hover in the air or orbit in the air in the time of waiting for a new safety route. For unmanned aerial vehicles, due to the existence of flight inertia, the energy consumption in the flight process is less, and the energy consumption in hovering, ascending or descending is more. Furthermore, in the case of an emergency in which a fire 30 exists in a factory, a fire may spread and cause an explosion by extinguishing the fire for a few seconds. The safety route planning mode in the prior art is obviously unfavorable for energy conservation and safe flight of the unmanned aerial vehicle, and particularly under the conditions of executing fire extinguishing tasks and loading, the safety route planning mode in the prior art occupies emergency time of the unmanned aerial vehicle and increases energy consumption, so that the fire extinguishing efficiency of the unmanned aerial vehicle or unmanned aerial vehicle group is obviously reduced, and the explosion risk of a chemical plant is also increased.

As shown in fig. 2, the unmanned aerial vehicle-based industrial factory floor fire protection system of the present invention comprises at least one unmanned aerial vehicle base station 10 and a processing unit 20. In the present invention, the unmanned aerial vehicle base station 10 and the processing unit 20 are connected in a wired or wireless manner to transmit information.

A plurality of unmanned aerial vehicles stay in the unmanned aerial vehicle base station 10. The drone is also able to establish a communication connection with the processing unit 20.

The working principle of the processing unit 20 of the present invention is:

as shown in fig. 1, core data of each building between the base station 10 and the ignition point 30 is counted based on the three-dimensional scene. A safe route for the drone including the outbound route 40 and the inbound route 50 is calculated and selected based on the core data and performance parameters of the drone. The outbound route 40 passes through the second building 70. The return route 50 passes through the first building 60. And calculating a navigation route 40 and a return route 50 by adopting an optimal path finding algorithm to calculate based on the core data and the performance parameters of the unmanned aerial vehicle. The processing unit 20 performs a running simulation of the safety route in a three-dimensional scene. After running the simulation without problems, the processing unit 20 sends several safe routes of the drone to the drone base station 10. The unmanned aerial vehicle base station 10 controls the unmanned aerial vehicle to perform simulation exercise of the real production environment in the industrial factory. During the simulation exercise, the safe route of the unmanned aerial vehicle including the outbound route 40 and the inbound route 50 is adjusted based on the real production environment. The processing unit 20 stores data of the adjusted safe route of the unmanned aerial vehicle in a database. The database may be a database that establishes a data connection with the processing unit 20, or may be a storage component within the processing unit 20. After the fire has occurred, the processing unit 20 obtains the safety route associated with the fire point 30 directly from the database and transmits it to the drone base station 10. The processing unit 20 may also calculate and generate a safe route of the unmanned aerial vehicle in real time according to the firing data of the three-dimensional scene. The drone base station 10 controls the drone to perform actions according to the received safe route and/or fire mission. Alternatively, in case of emergency, the unmanned aerial vehicle directly receives the safety route and/or fire task sent by the processing unit 20 to act.

In the case of simulating the ignition point 30, the processing unit 20 calculates the route 40 and the return route 50 using an optimal routing algorithm based on the core data and the performance parameters of the drone.

For example, the processing unit 20 determines a hazard level of the building according to the location of the ignition point 30, the distance of the ignition point 30 from the building, and the hazard source type. The processing unit 20 determines the extent of the hazard zone based on the hazard class of the building. The processing unit 20 calculates a safe route through an optimal routing algorithm according to the location of the unmanned aerial vehicle base station 10, the ignition point 30, the dangerous area range, the current endurance time and the load weight. The optimal routing algorithm that can be selected by the processing unit 20 is mature, such as triangle routing algorithm, variable frequency bat algorithm, CW saving search algorithm, etc. The present invention is not illustrated in detail herein for the path algorithm.

In terms of collecting fire conditions, the processing unit 20 is configured to: control instructions are sent to the plurality of drones to cause at least two drones to monitor the fire and/or personnel distribution of the fire point 30 from different perspectives.

In the case of a fire, part of the sensors fail, which renders the data of the simulated fire situation of the processing unit 20 in a three-dimensional scene incomplete, and thus the control decisions made deviate. If the unmanned aerial vehicle collects an image of a fire situation from a single angle, the resulting image is one-sided even if the image of the fire situation is collected by a hover flight action, requiring the processing unit 20 to take a significant amount of time to fit to form a three-dimensional image. In the event of an emergency such as a fire, the processing unit 20 needs to quickly determine the actual condition of the fire and trigger an appropriate control scheme. The fire situation is also peculiar in that even if the acquisition times differ by a few seconds, the fire will vary significantly, so that acquiring a two-dimensional fire image with a single drone cannot enable the processing unit 20 to quickly generate a real situation of fire in a three-dimensional scene. In order to reduce the data processing amount of the processing unit 20, at least two unmanned aerial vehicles are controlled to collect the combustion data and the personnel distribution data of the ignition point 30 at different viewing angles to monitor the ignition condition and/or the personnel distribution condition of the ignition point 30. In this way, the ignition data acquired from different angles can enable the processing unit 20 to quickly generate or adjust the ignition image in the three-dimensional scene, reduce the data processing amount of processing the two-dimensional image into the three-dimensional image, and avoid the defect of incomplete image data caused by acquiring the image from a single angle.

Preferably, the processing unit 20 is also capable of sending control instructions such that at least two unmanned aerial vehicles acquire data of the fire condition, environmental parameters and/or personnel distribution of the fire point 30 at complementary viewing angles. More preferably, the processing unit 20 is also capable of sending control instructions such that at least two groups of unmanned aerial vehicles alternately collect data of the fire condition, environmental parameters and/or personnel distribution of the fire point 30 at complementary viewing angles.

Due to the high temperature destructive nature of fire and the limitations of unmanned aerial vehicle endurance, unmanned aerial vehicle acquisition time for the condition of catching fire is limited, so the condition of the ignition point 30 needs to be monitored alternately by multiple groups of unmanned aerial vehicles. The alternating monitoring has the advantages of reducing the operation influence of high temperature on the unmanned aerial vehicle and avoiding the problem that the unmanned aerial vehicle cannot return to the voyage due to too much electric energy consumption. The alternating monitoring is also advantageous in that the processing unit 20 is able to adjust the monitoring period of each group of drones based on the rate of change of the fire situation. The monitoring period is for example the acquisition time. In case of a large fire and a gradual rise in flame height, the processing unit 20 may set the monitoring period of each group of unmanned aerial vehicles to 0.5-1 hour. In the case where the fire gradually approaches to become smaller and the flame height has a tendency to become lower, the processing unit 20 may set the monitoring period of each group of unmanned aerial vehicles to 1 to 2 hours. The processing unit 20 adjusts the monitoring period of each group of unmanned aerial vehicles based on the fire change, and can ensure the flight safety and the data transmission stability of the unmanned aerial vehicles.

Preferably, the processing unit 20 transmits a temperature-dependent altitude calculation method to the unmanned aerial vehicle so that the unmanned aerial vehicle automatically adjusts the acquisition altitude based on the temperature at the fire scene to maintain the normal flight and normal acquisition state.

According to the invention, the fire conditions are collected simultaneously from different visual angles through the unmanned aerial vehicles, and the processing unit 20 rapidly opens the three-dimensional scene to generate the real fire scene so as to cooperate with fire-fighting equipment in a factory and a plurality of unmanned aerial vehicles to realize collaborative fire extinguishing, so that the efficiency is higher, and the fire can be rapidly controlled and rapidly suppressed before the manager makes an effective decision.

Fire extinguishing direction and/or operation parameters of fire-fighting equipment in an industrial plant are adapted based on the fire condition and/or personnel distribution condition, so that the fire-fighting equipment and the unmanned aerial vehicle performing the fire-extinguishing task are extinguished in a manner of cooperating with each other.

Aiming at the defect that the coordination degree of the unmanned aerial vehicle and the fire-fighting equipment is poor due to the fact that the unmanned aerial vehicle and the fire-fighting equipment cannot be uniformly managed in the prior art, the processing unit 20 generates a collaborative fire-fighting strategy based on the type of the unmanned aerial vehicle capable of extinguishing fire and the types of fire-fighting equipment and fire-fighting materials around the fire point 30.

For example, fire extinguishing materials that an unmanned aerial vehicle can load include sand, crushed stone, earth, and the like. The fire-fighting equipment is capable of spraying water at a certain angle. Fire extinguishing materials are packaged and stored in advance in an automatic loading manner of the unmanned aerial vehicle. When the fire point 30 fires, the unmanned aerial vehicle delivers fire extinguishing materials to the fire point 30 in a manner that the delivery angle is complementary to the water spray angle of the fire-fighting equipment. In this way, the ignition point 30 can be quickly and omnidirectionally extinguished, and the extinguishing speed of the fire is increased.

Preferably, a lot of energy is consumed due to the lowering and raising of the drone. If unmanned aerial vehicle repeatedly turns back and loads the material of putting out a fire, the safety route is long and the empty window time interval of putting out a fire is also long. Even grouping the drones to load the supplies makes it difficult for the fire suppressing supplies to be densely delivered to the ignition point 30 in a short time. The processing unit 20 may be configured as follows when generating a collaborative fire suppression control scheme for a drone and a fire apparatus.

After the processing unit 20 judges the type of the ignition material based on the ignition condition, the control scheme transmitted to the unmanned aerial vehicle base station 10 is: the first group and the second group of unmanned aerial vehicles start from the unmanned aerial vehicle base station 10, reach the fire extinguishing material storage position according to a safe route and convey the loaded appointed material to the appointed position near the ignition point 30; the third group of unmanned aerial vehicles fly directly to the fire point 30 based on the safe route. The third group of unmanned aerial vehicles fly to the ignition point 30 in a safety route having a difference, and collect images in the industrial factory during the flight and transmit to the processing unit 20, or transmit to the processing unit 20 through the unmanned aerial vehicle base station 10. The processing unit 20 checks with the factory scenario in the current three-dimensional scenario based on the images acquired by the third group of unmanned aerial vehicles during the flight, so as to monitor the conditions outside the factory area due to the sudden fire. The safe routes of the respective unmanned aerial vehicles in the third group are set at the processing unit 20 in such a way that the time difference of arrival of the first, second and third groups of unmanned aerial vehicles at the ignition point 30 is less than ten minutes.

When the first, second and third groups of unmanned aerial vehicles reach the fire point 30, the first and second groups of unmanned aerial vehicles deliver the fire extinguishing materials to the designated position and then return to the material storage point for cyclic delivery. The third group of unmanned aerial vehicles perform fire-fighting tasks of throwing fire-extinguishing materials in response to the receipt of the images of the fire-extinguishing materials.

Preferably, the above control scheme is pre-stored by the processing unit 20 and triggered based on the ignition point 30 and the kind of material on fire and controlled by the drone base station 10 to be performed by the drone.

In the event of a fire, the change in fire can affect the degree of risk of the building. The degree of danger of the building can affect the flight safety of the unmanned aerial vehicle. Therefore, in the case of the current building safety, planning a safe route for the unmanned aerial vehicle that is particularly safe and has the longest range delays the fire extinguishing timing, which is also impractical. The best option is to adjust the flight path of the drone based on changes in the core data of the building. Thus, it is necessary to communicate the fire condition back to the processing unit 20 in real time to effect a safe route change. However, if each unmanned aerial vehicle requires the processing unit 20 to change the safety route, the processing unit 20 is computationally intensive and may affect the calculation of data in case of emergency.

The processing unit 20 is configured to: when a fire occurs, a fire condition monitoring task is sent to at least one unmanned aerial vehicle, and in response to receipt of the fire condition information, the fire condition is constructed in a three-dimensional scene and a safety route is adjusted based on the change in the fire condition. Preferably, in response to receipt of the fire condition information, fire data relating to its safe route is transmitted to the drone and is directed to automatically evade the barrier.

Preferably, in the event of an emergency in which a fire occurs, the processing unit 20 should preferentially process more urgent fire data to cope with a rapidly changing fire situation. After acquiring the location information of the fire point 30, the processing unit 20 transmits the predicted ignition point 30 and its safe route, which may be spread with the fire point 30, to the unmanned aerial vehicle base station 10. When the processing unit 20 determines that the fire condition is changed based on the fire condition, the processing unit 20 transmits a preferable safety route to the unmanned aerial vehicle base station 10, and at this time, the processing unit 20 does not directly control the unmanned aerial vehicle and transmits safety route information to the unmanned aerial vehicle to reduce the data processing amount. The specific drone number associated with the fire situation is acknowledged by the drone base station 10 and information is sent to it instructing the drone to execute the preferred safe route.

Preferably, after acquiring the location information of the ignition point 30, the processing unit 20 transmits the predicted ignition point 30 and its safe route, which may be spread with the ignition point 30, to the unmanned aerial vehicle performing the task. When the fire condition changes, the unmanned aerial vehicle changes the safety route, and the processing unit 20 does not directly control the unmanned aerial vehicle and sends the safety route information to the unmanned aerial vehicle so as to reduce the data processing amount.

Therefore, the invention sends the fire data of the building passing through in the middle of the flight to the unmanned aerial vehicle, and instructs the unmanned aerial vehicle to automatically calculate the obstacle avoidance route based on the preset algorithm, so that the safety of the unmanned aerial vehicle is ensured, the calculation amount and the data transmission amount of the processing unit 20 are reduced, the data processing requirement in the emergency situation can be met, and the situation that the unmanned aerial vehicle waits for data return in a hovering mode is avoided.

According to a preferred embodiment, the processing unit 20 is further configured to: determining the position and/or shape of the isolation belt based on the position information of the ignition point 30 and the hazard source type and/or hazard class of the building; the outgoing route 40 and the return route 50 between the positions of the constituent forms of the unmanned aerial vehicle and the isolation belt are calculated in real time based on the positions and/or the forms of the unmanned aerial vehicle base station 10 and the isolation belt, so that the plurality of unmanned aerial vehicles cooperatively complete the task of arranging the isolation belt.

In the fire treatment system, if the fire at the ignition point 30 is not controlled, it is necessary to provide an isolation belt to isolate the spread of the fire. Through arranging unmanned aerial vehicle that duration is appropriate based on the supplementary median that sets up of different safety route, can avoid unmanned aerial vehicle's risk of collision each other, improve unmanned aerial vehicle's collaborative efficiency.

According to a preferred embodiment, the processing unit 20 is further configured to: in response to the fire condition and/or personnel distribution of the fire points 30 sent by the unmanned aerial vehicle, the type and/or number of fire-fighting materials to be supplemented are determined, the type and/or number of fire-fighting materials loaded by the unmanned aerial vehicle are distributed based on the performance parameters of the unmanned aerial vehicle, and an optimal path is calculated for the unmanned aerial vehicle based on the performance parameters, the fire condition and/or personnel distribution conditions, the type and/or number of fire-fighting materials of the unmanned aerial vehicle, so that the unmanned aerial vehicle can complete the task of supplementing the fire-fighting materials.

Under the condition that a fire fighter is in a fire scene to extinguish the fire, the fire fighter needs to supplement various fire-fighting materials at any time, so that the unmanned aerial vehicle is controlled on the path and load, and the problems that the unmanned aerial vehicle fails in conveying the materials or delays in conveying due to insufficient cruising ability are solved. Under emergency, partial unmanned aerial vehicle is in the condition of insufficient power, the invention scientifically and reasonably plans or adjusts the safety route for unmanned aerial vehicle based on the current electric energy and load capacity, so that various materials can be distributed to the side of firefighters in extremely short time, and the distribution efficiency of the materials is improved.

According to a preferred embodiment, the processing unit 20 is further configured to: in response to the fire and/or personnel distribution of the fire points 30 sent by the drone, an escape route between personnel locations and escape exits within the industrial plant is calculated. The processing unit 20 sends escape routes and display instructions to at least one unmanned aerial vehicle to cause the unmanned aerial vehicle to visually guide the escape routes for personnel at high altitudes. In the event of a fire, the existing indicator tab is difficult to function. According to the unmanned aerial vehicle, the unmanned aerial vehicle is used for guiding people to escape, so that the escape success rate of the people is improved.

Preferably, several escape routes based on the ignition point 30 are preset and stored by the processing unit 20. In the event that an escape needs to be guided, the unmanned aerial vehicle selects an escape route whose gas concentration is within a safety threshold from the received plurality of escape routes based on the distribution of the ignition points 30 and the ambient gas concentration parameter. Although the processing unit 20 is able to modify the environmental parameters of flame height, ambient temperature, smoke concentration, etc. in a three-dimensional scene based on the fire situation acquired in situ by the drone. However, the change based on the field environment is rapid, while the unmanned aerial vehicle's flight speed is fast. If the processing unit 20 controls the unmanned aerial vehicle in real time to change the escape route based on the change of the field environment, the processing unit not only processes a large amount of data, but also easily generates data delay so that the unmanned aerial vehicle flies redundant routes. Accordingly, upon receiving information of the escape route guidance task, the processing unit 20 synchronously transmits a plurality of escape routes related to the ignition point 30 and threshold parameters such as a gas concentration threshold, a temperature threshold, etc. related to a dangerous level to the unmanned aerial vehicle, so that the unmanned aerial vehicle can automatically change the escape route according to an environmental change. In this way, the amount of data temporarily processed and transmitted by the processing unit 20 is reduced, and erroneous flights of the drone during data transmission delays are avoided.

It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents. The description of the invention includes a plurality of inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally" each meaning that the corresponding paragraph discloses a separate concept, the applicant reserves the right to filed a divisional application according to each inventive concept.

Claims (10)

1. An unmanned aerial vehicle-based industrial factory fire protection system comprises at least one unmanned aerial vehicle base station (10) and a processing unit (20), wherein a plurality of unmanned aerial vehicles stay in the unmanned aerial vehicle base station (10); the unmanned aerial vehicle establishes a communication connection with the processing unit (20); it is characterized in that the method comprises the steps of,

the processing unit (20) is configured to:

counting core data of each building between the unmanned aerial vehicle base station (10) and the ignition point (30) based on a three-dimensional scene;

Calculating and selecting a safe route of the unmanned aerial vehicle comprising a sailing route (40) and a sailing route (50) based on the core data and performance parameters of the unmanned aerial vehicle;

when a fire occurs, the safe route corresponding to the fire-fighting task of the unmanned aerial vehicle is sent to the unmanned aerial vehicle based on the position information of the unmanned aerial vehicle base station (10) and the fire point (30).

2. The unmanned aerial vehicle-based industrial factory floor fire protection system according to claim 1, wherein the processing unit (20) is further configured to:

-calculating the outbound route (40) and the inbound route (50) using an optimal routing algorithm based on the core data and performance parameters of the drone.

3. The unmanned aerial vehicle based industrial factory floor fire protection system according to claim 1 or 2, wherein the processing unit (20) is further configured to:

when a fire occurs, sending a fire condition monitoring task to at least one unmanned aerial vehicle,

constructing the fire condition in the three-dimensional scene and adjusting the safety route based on a change in the fire condition in response to receipt of the fire condition information; and/or

And in response to the receiving of the fire condition information, sending fire data related to the safety route of the unmanned aerial vehicle to the unmanned aerial vehicle and indicating the unmanned aerial vehicle to automatically avoid the obstacle.

4. A fire protection system for an unmanned aerial vehicle based industrial plant according to any of claims 1 to 3, wherein the processing unit (20) is further configured to:

determining the position and/or form of an isolation belt based on the position information of the ignition point (30) and the dangerous source type and/or dangerous grade of the building;

the navigation route (40) and the return route (50) between the unmanned aerial vehicle and each position of the isolation belt are calculated in real time based on the positions and/or the forms of the unmanned aerial vehicle base station (10) and the isolation belt, so that a plurality of unmanned aerial vehicles can cooperatively complete the task of arranging the isolation belt.

5. The unmanned aerial vehicle based industrial factory floor fire protection system according to any one of claims 1 to 4, wherein the processing unit (20) is further configured to:

transmitting control instructions to a plurality of unmanned aerial vehicles so that at least two unmanned aerial vehicles monitor the firing condition and/or personnel distribution condition of the firing point (30) from different viewing angles;

and allocating the fire extinguishing direction and/or operation parameters of the fire-fighting equipment in the industrial plant based on the fire condition and/or personnel distribution condition so that the fire-fighting equipment and the unmanned aerial vehicle for performing fire extinguishing tasks can extinguish fire in a mode of cooperative work with each other.

6. The unmanned aerial vehicle-based industrial factory floor fire protection system according to claim 5, wherein the processing unit (20) is further configured to:

determining the type and/or amount of fire control materials to be replenished in response to the fire condition and/or personnel distribution of the fire points (30) sent by the unmanned aerial vehicle,

the type and/or the number of the fire-fighting materials loaded by the unmanned aerial vehicle are distributed based on the performance parameters of the unmanned aerial vehicle,

and calculating an optimal path for the unmanned aerial vehicle based on the performance parameters of the unmanned aerial vehicle, the fire condition and/or personnel distribution condition and the type and/or quantity of fire-fighting materials, so that the unmanned aerial vehicle can complete the supplementary task of the fire-fighting materials.

7. The unmanned aerial vehicle based industrial factory floor fire protection system according to any one of claims 1 to 6, wherein the processing unit (20) is further configured to:

in response to the firing situation and/or personnel distribution situation of the firing point (30) sent by the unmanned aerial vehicle, calculating an escape route between personnel locations and escape exits in the industrial plant,

and sending the escape route and a display instruction to at least one unmanned aerial vehicle so that the unmanned aerial vehicle can guide the escape route for a person in a visual manner at high altitude.

8. An unmanned aerial vehicle-based fire-fighting method for an industrial factory, which is characterized by comprising the following steps:

counting core data of each building between the unmanned aerial vehicle base station (10) and the ignition point (30) based on the three-dimensional scene;

calculating and selecting a safe route for the drone comprising a outbound route (40) and a inbound route (50) based on the core data and performance parameters of the drone;

when a fire occurs, the safe route corresponding to the fire-fighting task of the unmanned aerial vehicle is sent to the unmanned aerial vehicle based on the position information of the unmanned aerial vehicle base station (10) and the fire point (30).

9. The unmanned aerial vehicle-based industrial factory floor fire protection method of claim 8, further comprising:

-calculating the outbound route (40) and the inbound route (50) using an optimal routing algorithm based on the core data and performance parameters of the drone.

10. The unmanned aerial vehicle-based industrial factory floor fire protection method of claim 8 or 9, wherein the method further comprises:

when a fire occurs, sending a fire condition monitoring task to at least one unmanned aerial vehicle,

constructing the fire condition in the three-dimensional scene and adjusting the safety route based on a change in the fire condition in response to receipt of the fire condition information; and/or

And in response to the receiving of the fire condition information, sending fire data related to the safety route of the unmanned aerial vehicle to the unmanned aerial vehicle and indicating the unmanned aerial vehicle to automatically avoid the obstacle.