Abstract In order to overcome the defects of low efficiency and low flexibility of multi-UAVs path planning when performing indoors high-rise fire rescuing tasks, an indoor cooperative path planning method and a system for high-rise fire fighting multi-UAVs indoor cooperative path planning is provided in the invention. The following steps are included: 3D spatial data of accident buildings and data from smoke and temperature sensors is obtained by fire-fighting UAVs, and the 3D spatial model is constructed and initial evacuation path is planned; detecting path is planned based on the aforementioned model; determining the location of fire points, screening fire points on initial evacuation path, planning fire extinguishing path; when the trapped person is found by reconnaissance UAV, the UAV's location is reflected to the system, the rendezvous path between the reconnaissance UAV and the nearest fire extinguishing UAV is planned, and the reconnaissance UAV is converged by the nearest fire extinguishing UAV; final evacuation routes is planned and trapped people is evacuated with the guidance of UAVs. Drawing of Abstract 3D spatial data of accident buildings and data from smoke and temperature sensors are obtained by fire-fighting UAVs, and the 3D spatial model is constructed and initial evacuation path is planned. Detecting path is planned based on the 3D spatial mode and is performed by reconnaissance UAV Base on the initial evacuation path and the 3D spatial model of the accident building, data from smoke and temperature sensor, spots of fire are determined and screening on the above aforementioned model. Fire-extinguish UAV' s path is planned according to the updated model above and performed by fire-extinguishing UAVs. When the trapped person is found by reconnaissance UAV, the UAV' s location is reflected to the system, the rendezvous path between the reconnaissance UAV and the nearest fire-extinguishing UAV is planned, and the reconnaissance UAV is converged by the nearest fire-extinguishing UAV. Base on the 3D spatial model above, location data, and the spot of safety which was preset manually, final evacuation path is planned. Trapped people is evacuated with the guidance of UAVs.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Indoor Collaborative Path Planning Method and System for Multi-UAVs in High-rise Fire-fighting Tasks


    Beteiligte:
    LI HONGYI (Autor:in) / CHEN JINTAO (Autor:in) / REN HONGRU (Autor:in) / LU RENQUAN (Autor:in) / CAO LIANG (Autor:in)

    Erscheinungsdatum :

    2021-03-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A62C FIRE-FIGHTING , Feuerbekämpfung / B64C AEROPLANES , Flugzeuge



    Path planning for indoor contact inspection tasks with UAVS

    González De Santos, Luis Miguel / Martínez Sánchez, Joaquín / González Jorge, Higinio et al. | BASE | 2020

    Freier Zugriff

    PATH PLANNING FOR INDOOR CONTACT INSPECTION TASKS WITH UAVS

    L. M. González-deSantos / J. Martínez-Sánchez / H. González-Jorge et al. | DOAJ | 2020

    Freier Zugriff

    Path planning for indoor contact inspection tasks with UAVS

    González De Santos, Luis Miguel / Martínez Sánchez, Joaquín / González Jorge, Higinio et al. | BASE | 2020

    Freier Zugriff