CN106910309A - Forest fire detecting system based on unmanned plane during flying platform - Google Patents
Forest fire detecting system based on unmanned plane during flying platform Download PDFInfo
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- CN106910309A CN106910309A CN201710254667.8A CN201710254667A CN106910309A CN 106910309 A CN106910309 A CN 106910309A CN 201710254667 A CN201710254667 A CN 201710254667A CN 106910309 A CN106910309 A CN 106910309A
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- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 38
- 238000012544 monitoring process Methods 0.000 claims description 22
- 238000005516 engineering process Methods 0.000 claims description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000000862 absorption spectrum Methods 0.000 claims description 3
- 239000003500 flue dust Substances 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000000985 reflectance spectrum Methods 0.000 claims description 2
- 230000001427 coherent effect Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000003595 spectral effect Effects 0.000 claims 1
- 239000000126 substance Substances 0.000 claims 1
- 238000002485 combustion reaction Methods 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 239000002028 Biomass Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003517 fume Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/005—Fire alarms; Alarms responsive to explosion for forest fires, e.g. detecting fires spread over a large or outdoors area
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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- Business, Economics & Management (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
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- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of forest fire laser radar detecting system based on unmanned plane, the system includes UAS and forest fire detecting system two systems.It is mainly characterized by that forest can be maked an inspection tour, and the scope of forest fire burning point and burning is found in time, the laser radar launches laser and forest is detected by laser transmitter, laser behind combustion zone by being absorbed, being reflected, optical receiver receives reflected light, signal converter converts optical signals to electric signal, and microprocessor is processed electric signal.It is an advantage of the invention that device is convenient for carrying, energy is remote, detect forest fire on a large scale, accurate measurement fire place and scope.Forest fire laser radar detecting system based on unmanned plane can detect the change of forest temperature simultaneously, reach the purpose for making an inspection tour forest fire.
Description
Technical field
The present invention relates to a kind of detecting system, specific technology is related to a kind of forest fire laser radar based on unmanned plane
Detecting system.
Background technology
Forest, is a high density number purpose region, and forest organically combines with the abiotic environment in the space at place
Together, intact ecocystem is constituted, is resource and environment that the mankind depend on for existence and development.Flora is covered with forest
Fall, the decline to carbon dioxide, animal community, regulation water conservancy and soil strengthening play an important role, and are most heavy global biospheres
One of ecological environment wanted.But there is forest, forest fire will be along with generation, and forest fire is not only burnt to death, forest of burning,
Area of woods, and heavy damage forest structure and forest environment are directly reduced, causes forest ecosystem disequilibrium, forest
Biomass declines, and productivity weakens, and beneficial beast beneficial bird is reduced, or even people and animals' injures and deaths.
In unmanned aerial vehicle remote sensing technical field, the most frequently used is exactly unmanned aerial vehicle remote sensing technology.The technology is to design and plan
Tracing of the course, by Aerial photography, real-time reception remote sensing image.The wherein crucially process part of image, this is related to shadow
The precision of picture and the accuracy of analysis.This is also the place of its deficiency, it is necessary to high-precision sensor ensures aerial images
Quality, and the process time of image data treatment software is also long.The invention is compared with unmanned aerial vehicle remote sensing technology, it is not necessary to high-precision
The sensor of degree, therefore unmanned plane need not bear so big load.At the image data that the invention simultaneously need not be complicated
Reason, can reach the change of display forest environment and Fires Occurred in real time.
Existing forest fire detection method, is typically necessary the substantial amounts of human and material resources of cost, financial resources.The present invention and its
Compare, biggest advantage is exactly by patrolling and examining forest, overcoming remote measurement large area, over long distances detection and human resources consumption is huge
Big problem.
The content of the invention
It is an object of the invention to propose a kind of forest fire laser radar detecting system based on unmanned plane.Can solve the problem that
Forest manual patrol difficulty is big, in the problem that complicated landform cannot be detected very well.Complexity in unmanned aerial vehicle remote sensing technology can also be overcome
Image data treatment, reach the purpose of real-time detection forest fire.Simultaneously solve lookout detection terrain limitation,
Area coverage is small, detection has dead angle and blank, and aviation is patrolled and expends a large amount of human and material resources, financial resources with satellite remote sensing
Shortcoming.
To solve with above mentioned problem, the present invention proposes a kind of forest fire laser radar detecting system based on unmanned plane,
Including UAS and forest fire laser radar detecting system.UAS includes that aircraft mounted control system and ground control
System.Aircraft mounted control system mainly includes first microprocessor, GPS module, the first wireless communication module, flight control modules.
Ground control system by the second wireless communication module, monitoring computer, server group into；Forest fire laser radar detecting system
Including laser radar control system, forest fire detecting system.Forest fire detecting system is taken photo by plane by laser radar, high-resolution
Digital camera.Laser radar control system is made up of the second microprocessor, the 3rd wireless communication module, laser controller.
In the mobile system, GPS module, the first wireless communication module, flight control modules and first microprocessor phase
Connection；There is unmanned plane flight path memory in first microprocessor, flight path can be in memory stored in advance, pass through
Microcomputer reads route, is controlled to flight module, unmanned plane is flown according to the route arranged properly；GPS module can be real
When feedback unmanned plane geographical position；First microprocessor is connected with wireless communication module, by the first wireless communication module, makes
Unmanned plane is mutually communicated with the server of ground control system, and unmanned plane is controlled, and can in real time obtain the ground of unmanned plane
Reason positional information.
In the ground control system, the second wireless communication module is connected with server, server and monitoring computer phase
Connection；Surface personnel by monitoring computer, the first wireless communication module and the second wireless communication module two-way communication, then
Control to unmanned plane, amendment unmanned plane during flying course line, in case course line offsets are completed by first microprocessor；It is gloomy when detecting
There is naked light in woods or fire occurs, temperature and smog reach the minimum detection limit of forest fire detecting system；Monitoring computer
Second microprocessor and laser controller can be controlled by the second wireless communication module, the ground of fire scene can be obtained
Reason position and the high-definition image of fire place, judge whether the condition of a disaster.
In the forest fire detecting system, forest fire is detected by laser absorption spectrum remote sensing technology；It is logical
Laser absorption spectrum remote sensing technology is crossed to detect forest fire；The system is sent out using laser radar by laser transmitter
Light pulse is penetrated, then reflection light pulse is received by optical receiver, and light pulse is converted into electric pulse with signal adapter and sent into
Microprocessor 2 is processed；When having naked light in detecting forest or thering is flue dust to produce, can be taken photo by plane number by high-resolution
Camera shoots to fire place, and is transmitted back to ground control system by wireless communication module 3.
In the laser radar control system, laser controller, wireless communication module, laser receiver and the second microprocessor
Device is connected；Monitoring computer controls laser controller to adjust the electric current and temperature of laser by the second microprocessor, and
Control high repetition laser transmitting laser；Forest fire geographical position, fire place that second microprocessor will be detected
High-definition image and laser radar working condition, ground-based server is sent to by the 3rd wireless communication module in real time.
Described laser transmitter provides the light pulse of 100MHz, and the light beam that laser radar is projected is collimated.
Described optical receiver receives the reflected beams, detects reflectance spectrum, measurement transmitting laser pulse signal and reception
The time interval of laser pulse signal, measurement receives the peak value of laser pulse signal.
Described unmanned plane is driven by electric power management circuit by lithium battery or solar panels, solar panels when sunny
Lithium cell charging can be given.
Advantages of the present invention
A kind of forest fire laser radar detecting system based on unmanned plane is proposed, is maked an inspection tour in specified forest flight path,
Forest fire place and scope can in time be detected.Meanwhile, reception be search coverage back wave, reflected signal is stronger, system
Sensitivity it is higher.And support that data are shared in the network platform, such that it is able to realizing the real-time detection of forest fire and carrying
High workload efficiency.
Compared with unmanned aerial vehicle remote sensing technology, it is not necessary to high-precision sensor, therefore unmanned plane need not bear so big
Load.Processed without the need for complicated image data, display in real time can be reached the actual geographic position of forest fire occurs
Put the combustion range with fire.
The present invention compares with manual patrol, lookout detection, satellite remote sensing line, and biggest advantage is solved intricately
The problem that shape cannot be detected very well.Lookout is solved simultaneously to detect that the limitation of terrain, area coverage are small, detect exist extremely
The shortcoming that a large amount of human and material resources, financial resources are expended with satellite remote sensing is patrolled in angle and blank, and aviation.
Brief description of the drawings
Fig. 1：The theory diagram of the forest fire laser radar detecting system of unmanned plane of the present invention.
Fig. 2：The forest fire detecting system workflow schematic diagram of unmanned plane during flying platform of the present invention.
Fig. 3：UAS workflow schematic diagram of the present invention.
Fig. 4：Forest fire detecting system workflow schematic diagram of the present invention.
Specific embodiment
As described in Fig. 1,2, the present invention proposes a kind of forest fire laser radar detecting system based on unmanned plane, including nothing
Man-machine system and forest fire laser radar detecting system.UAS includes aircraft mounted control system and ground control system.
Aircraft mounted control system mainly includes GPS module 1, first microprocessor 2, the first wireless communication module 3, flight control modules 4；Ground
Face control system is made up of the second wireless communication module 5, server 6, monitoring computer 7.Forest fire laser radar detection system
System includes laser radar control system, forest fire detecting system.Forest fire detecting system is by laser radar 8, high-resolution
Take photo by plane digital camera 9.Laser radar control system is by the second microprocessor 10, the 3rd wireless communication module 11, laser radar control
Device processed 12.
The GPS module 1, first microprocessor 2, flight control modules 4, the first wireless communication module 3 are arranged on nobody
On machine.Laser radar 8, laser radar controller 12, the second microprocessor 10, the 3rd wireless communication module 11, high-resolution boat
Digital camera 9 is clapped to be arranged in the Laboratory Module of unmanned plane carry.Second wireless communication module 5, server 6, monitoring computer 7 are pacified
In ground monitoring room.
UAS includes aircraft mounted control system, ground control system two subsystems.Aircraft mounted control system is control
Unmanned plane during flying, and communicated with ground level control room and to adjust flight track.Ground control system mainly with the first microprocessor
Device 2 is communicated, the real-time control unmanned plane during flying in ground monitoring room.GPS module 1 is by first microprocessor 2, with nothing
The mode of line communication is communicated with ground monitoring computer, can in real time obtain the geographical location information of unmanned plane.
Before unmanned plane takes off, first by ground monitoring computer 7, the built-in flight path of control first microprocessor 2 is deposited
Reservoir, reads the route of unmanned plane during flying.After ready, unmanned plane takes off, and is flown according to specified path automatically.Connect
, on the monitoring computer 7 on ground, laser radar controller 12 is opened by controlling the second microprocessor 10, adjust Gao Chong
The temperature and electric current of complex frequency laser, while the second microprocessor 10 produces scanning signal, for the tuning of laser, make it
Wavelength is in the absorption band of combustion fumes.Monitoring computer 7 operation interface on it can be seen that unmanned plane flight path
And positional information, the also working condition of laser radar 8, including temperature and electric current, and forest combustion situation and burning
Scope and geographical position.
When the flight path of unmanned plane relatively large deviation occurs with map route, the monitoring computer 7 on ground can send finger
Order, controls flight control modules 4 by first microprocessor 2, further corrects the line of flight.When have in forest smog and
And surrounding forest temperature has greatly changed, monitor in the operation interface of computer 7 it is seen that smokescope and phase
The numerical value and image of the position environment temperature of position are answered, judges whether forest fire occur.The position is may determine that by comparing
Put the scope whether fire and fire occur.The position that fire occurs can be positioned by the GPS module 1 on unmanned plane simultaneously
Put.
Fig. 3 show as follows the step of UAS is controlled：
Step 1：Unmanned plane flies according to fixed route under the control of flight control modules 5.It is simultaneously real-time by GPS module 3
Position the flight position information of unmanned plane.
Step 2：Unmanned plane controls the first wireless communication module 2 by the flight position of unmanned plane by first microprocessor 1
Information is sent to ground-based server 4.
Step 3：Ground monitoring computer 6 obtains the flight position information of unmanned plane by server 4, and in advance specifies
Flight path compares.If there is larger deviation, monitoring computer 6 is sent out by the second wireless communication module 7 to unmanned plane
Instruction is sent, controls flight control modules 5 to adjust flight path by first microprocessor 1.
Fig. 4 show as follows the step of forest fire detecting system is controlled：
Step 1：Ground monitoring computer 7 sends instruction to control the second microprocessor 10 by the second wireless communication module 5,
And then control laser radar controller 12 to adjust the temperature and electric current of laser.The second microprocessor 10 is also controlled to produce simultaneously
Sawtooth waveforms, tuning laser wavelength is carried out for laser controller 12.
Step 2：Second microprocessor 10 is by the working condition of laser radar 8 and the smokescope that detects and detecting location
The image that the temperature and digital camera 9 of taking photo by plane of surrounding shoot, ground-based server is sent to by the 3rd wireless communication module 11
6。
Step 3：Ground monitoring computer 7 obtains the working condition of laser radar 8 and obtains cigarette in real time by server 6
Temperature and image around mistiness degree, detecting location.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the invention, every utilization is not thereby limited
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (9)
1. a kind of forest fire laser radar detecting system based on unmanned plane, it is characterised in that：The forest of described unmanned plane
Fire laser radar detecting system includes UAS and forest fire laser radar detecting system；The UAS bag
Include aircraft mounted control system and ground control system；Aircraft mounted control system mainly includes first microprocessor, GPS module, the first nothing
Line communication module, flight control modules；Ground control system by the second wireless communication module, monitoring computer, server group into；
Forest fire laser radar detecting system includes laser radar control system, forest fire detecting system；Forest fire detection system
System is taken photo by plane digital camera by laser radar, high-resolution；Laser radar control system is by the second microprocessor, the 3rd wireless telecommunications
Module, laser radar controller.
2. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
Described aircraft mounted control system is by first microprocessor and GPS module, the first wireless communication module and flight control modules phase
Connection；There is unmanned plane flight path memory in first microprocessor, flight path can be in memory stored in advance, pass through
Microcomputer reads route, is controlled to flight module, unmanned plane is flown according to projected route；GPS module can be anti-in real time
Feedback unmanned plane geographical position；First microprocessor is connected with the first wireless communication module, by the first wireless communication module, makes
Unmanned plane is mutually communicated with ground control system server.
3. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
In the ground control system, the second wireless communication module is connected with server, and server is connected with monitoring computer again；Ground
Face staff by monitoring computer, in the way of wireless telecommunications, the first wireless communication module and the second wireless communication module
Both-way communication is carried out, then the control to unmanned plane, amendment unmanned plane during flying course line, in case course line are completed by first microprocessor
Skew；When having naked light in detecting forest or thering is flue dust to produce, monitoring computer can by the second wireless communication module, the
Two control microprocessors and laser radar controller, can obtain the geographical position of fire scene and the high definition figure of fire place
Picture, judges whether the condition of a disaster.
4. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
In described forest fire detecting system, forest fire is detected by laser absorption spectrum remote sensing technology；The system
Light pulse is launched by laser transmitter using laser radar, then reflection light pulse is received by optical receiver, and turned with signal
Light pulse is converted into electric pulse the second microprocessor of feeding and is processed by parallel operation；There is naked light in forest is detected or have flue dust
During generation, fire place can be shot by high-resolution digital camera of taking photo by plane, and by the 3rd wireless communication module
It is transmitted back to ground control system.
5. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
In described laser radar control system, laser radar controller, the 3rd wireless communication module are connected with the second microprocessor；Prison
Control computer controls laser radar controller to adjust the electric current and temperature of laser by microprocessor 2, and controls high repetition
Frequency laser is launched；Forest fire geographical position, the high-definition image and laser of fire place that second microprocessor will be detected
Radar working condition, ground-based server is sent to by the 3rd wireless communication module in real time.
6. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
Laser radar is made up of laser transmitter, optical receiver, signal adapter；Laser radar is coherent infrared radar, Forest Fire
The Absorption Characteristics spectral line of the harmful substance that calamity is produced is mostly in infrared band.
7. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
Described laser transmitter provides the light pulse of 100MHz, and the light beam that laser radar is projected is collimated.
8. a kind of forest fire laser radar detecting system based on unmanned plane according to claim 1, it is characterised in that：
Described optical receiver receives the reflected beams, detects reflectance spectrum, and measurement is launched laser pulse signal and receives laser pulse
The time interval of signal, measurement receives the peak value of laser pulse signal.
9. the forest fire detecting system of a kind of unmanned plane during flying platform according to claim 1, it is characterised in that：It is described
Unmanned plane driven by lithium battery or solar panels by electric power management circuit, solar panels can fill to lithium battery when sunny
Electricity.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589758A (en) * | 2017-08-30 | 2018-01-16 | 武汉大学 | A kind of intelligent field unmanned plane rescue method and system based on double source video analysis |
| CN107680378A (en) * | 2017-11-07 | 2018-02-09 | 中车株洲电力机车有限公司 | A kind of accident surveying method, system, equipment and computer-readable storage medium |
| CN107741747A (en) * | 2017-09-25 | 2018-02-27 | 广东工商职业学院 | Automatic forest patrol system and method based on unmanned plane |
| CN108039011A (en) * | 2018-01-08 | 2018-05-15 | 南京森林警察学院 | A kind of mist detecting device for being used to prevent forest fire |
| CN108538011A (en) * | 2018-03-07 | 2018-09-14 | 北京宇航时代科技发展有限公司 | A kind of laser radar fire detection method |
| CN108717193A (en) * | 2018-06-12 | 2018-10-30 | 武汉米字能源科技有限公司 | A kind of hearth combustion temp measuring system based on laser radar |
| CN108986386A (en) * | 2018-07-28 | 2018-12-11 | 闫旭 | The fireproof monitoring system deployed to ensure effective monitoring and control of illegal activities based on cloud |
| CN109948563A (en) * | 2019-03-22 | 2019-06-28 | 华南农业大学 | A kind of withered tree detection localization method of the pine nematode based on deep learning |
| CN110058262A (en) * | 2019-05-22 | 2019-07-26 | 电子科技大学 | A kind of method of vegetation radiative transfer model inverting forest fire burning earthquake intensity |
| CN110251863A (en) * | 2019-07-11 | 2019-09-20 | 张兰勇 | A kind of forest fit-extinguishing robot integrated system |
| CN111462439A (en) * | 2020-03-17 | 2020-07-28 | 元博科技(香港)有限公司 | Fire detection early warning system |
| CN112444824A (en) * | 2020-11-19 | 2021-03-05 | 温州虎穴科技有限公司 | Special positioning system for unmanned aerial vehicle |
| CN112558082A (en) * | 2020-12-10 | 2021-03-26 | 金祺创（北京）技术有限公司 | Unmanned aerial vehicle detection system |
| CN112558081A (en) * | 2020-11-18 | 2021-03-26 | 国网智能科技股份有限公司 | Laser radar system based on wireless communication network and working method thereof |
| CN112835378A (en) * | 2019-11-23 | 2021-05-25 | 马跃华 | Multi-technology cooperative forest and grassland intelligent protection system |
| CN112989941A (en) * | 2021-02-07 | 2021-06-18 | 浙江宇联信息发展有限公司 | Map-based video information transmission system |
| CN113359141A (en) * | 2021-07-28 | 2021-09-07 | 东北林业大学 | Forest fire positioning method and system based on unmanned aerial vehicle multi-sensor data fusion |
| WO2022141040A1 (en) * | 2020-12-29 | 2022-07-07 | Telefonaktiebolaget Lm Ericsson (Publ) | Method and device for event detection |
| CN115083102A (en) * | 2022-05-12 | 2022-09-20 | 成都雷探科技有限公司 | Fire disaster detection method and system based on disaster radar |
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