CN109331376B - Automatic fire extinguishing system of urban main-battle fire truck and implementation method - Google Patents

Abstract

The invention discloses an automatic fire extinguishing system for an urban main battle fire truck and an implementation method, comprising a bottom bracket platform, a top bracket platform, a central control system and a display system; the top bracket platform is mounted on the bottom bracket platform; the bottom bracket platform is mounted with a first A horizontal motor, a pitch motor is installed on the first horizontal motor, and a fire monitor is installed on the pitch motor; a second horizontal motor is installed on the top bracket platform, and a first camera, an infrared camera and a second camera are installed on the second horizontal motor in sequence The first horizontal motor, pitch motor, first camera, infrared camera, second camera and second horizontal motor are respectively connected with the central control system, and the central control system is connected with the display system. The invention reduces the demand for the number of firefighters in the fire fighting operation of the main urban fire truck, and at the same time improves the speed and efficiency of the fire fighting operation, and achieves the purpose of fast, efficient and safe fire fighting in the urban fire field.

Description

Urban main battle fire truck automatic fire extinguishing system and realization method

technical field

The invention relates to the field of fire protection, in particular to an automatic fire extinguishing system for an urban main battle fire truck and a realization method thereof.

Background technique

With the continuous development of the fire protection industry, more and more fire-fighting vehicles continue to improve the automation of vehicle fire-fighting operations. Urban firefighting tasks continue to present realistic needs such as complex operating environments and diverse tasks, which put forward higher requirements for the number of personnel and the level of operation. For example, after the main fire fighting vehicles in the city arrive at the fire area, firefighters need to conduct fire detection, fire point prediction, and fire monitor operation on the scene environment. At this stage, manual operations are basically used, which is time-consuming and labor-intensive.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the defects of the prior art, and to provide a self-extinguishing system mounted on an urban main battle fire truck, which can realize automatic environment detection and fire judgment at the fire-extinguishing site, automatic positioning of fire-fighting monitors and fire-extinguishing. Jet, automatic jet drop point adjustment and stop reset after completion of fire-fighting operations. The system can realize the integration of automatic fire-fighting operations, greatly reduce the number of fire-fighting personnel and the operational capacity requirements of fire-fighting vehicles, improve the efficiency of fire-fighting operations, speed up fire-fighting and rescue, and further reduce casualties and property losses.

In order to solve the above-mentioned technical problems, the automatic fire extinguishing system for urban main battle fire trucks provided by the present invention includes a bottom support platform, a top support platform, a central control system and a display system; the top support platform passes through the first support structure and the second support structure. Installed above the bottom bracket platform; the bottom bracket platform is installed with a first horizontal motor, the first horizontal motor is installed with a pitch motor, and the pitch motor is installed with a fire monitor; the top bracket platform is installed with a second horizontal motor, and the second horizontal motor A first camera, an infrared camera and a second camera are sequentially installed on the top; the first horizontal motor, the tilt motor, the first camera, the infrared camera, the second camera and the second horizontal motor are respectively connected with the central control system; the central control system and the display system connection.

Further, the distance from the infrared camera to the first camera is equal to the distance from the infrared camera to the second camera.

The present invention also provides a method for realizing the automatic fire extinguishing system of the above-mentioned urban main battle fire truck, comprising the following steps:

1) Fire field identification and positioning: the automatic fire extinguishing system for the main urban fire truck provided by the present invention starts to work after the fire truck enters the fire field and stops; first, the second horizontal motor installed on the upper part of the top support platform rotates left and right, driving the installation on the upper part of the second horizontal motor. In this process, the infrared camera continuously scans the fire environment and transmits the picture to the central control system; the central control system continuously processes the fire picture returned by the infrared camera and identifies the location of the fire source in the scanned picture. At the same time, the acquired fire scene image is transmitted to the display system for display; the second horizontal motor continues to rotate left and right until the central fire source position appears in the center of the infrared camera shooting screen, the second horizontal motor stops rotating; when the second horizontal motor After the rotation is stopped, the first camera and the second camera are turned on at the same time, and the acquired fire scene picture is transmitted to the central control system; the central control system calculates the position of the infrared camera relative to the fire source according to the fire scene picture captured by the first camera and the second camera The central control system converts the acquired three-dimensional coordinates of the infrared camera relative to the fire source position into the three-dimensional coordinates of the fire monitor relative to the fire source position;

2) Matching of the working parameters of the fire monitor: After the automatic fire extinguishing system of the main battle fire truck provided by the present invention obtains the information and position of the fire field after the system works, the central control system calculates and matches the fire monitor jet trajectory model stored in the system to make the fire extinguishing liquid. The parameter information that reaches the fire source position, the parameter information is the horizontal rotation angle of the first horizontal motor, the rotation angle of the pitch motor and the working pressure of the fire-fighting vehicle water pump; after the rotation angle of the first horizontal motor and the rotation angle of the pitch motor reach the predetermined angle, The fire-fighting vehicle-mounted water pump starts to work according to the matched working pressure;

3) Prediction of the jet drop point of the fire monitor: After the automatic fire extinguishing system of the main battle fire truck provided by the present invention completes the matching of the working parameters of the fire monitor, firstly, the first camera and the second camera are turned on to shoot and the obtained jet trajectory image is continuously transmitted. to the central control system; the central control system subtracts the background of the acquired image and obtains the captured jet trajectory binary image, and displays the trajectory binary image in the display system at the same time; the central control system will acquire the jet trajectory binary image Continuously compare and calculate with the jet trajectory model, and convert the compared trajectory deviation to the corresponding first horizontal motor position deviation value and pitch motor pitch position deviation value, and display the horizontal and pitch position deviation values in the display system at the same time;

4) Adjustment of the drop point of the fire monitor jet: The automatic fire extinguishing system of the main battle fire truck provided by the present invention controls the first level after the prediction of the drop point of the fire monitor jet is completed. The angle of the motor and the pitch motor is adjusted, and the vehicle-mounted fire pump continues to work during this process;

5) Stop the fire-extinguishing process: the automatic fire-extinguishing system of the main battle fire truck provided by the present invention keeps the infrared camera on during the continuous spraying of the fire monitor, and the central control system continuously recognizes the state of the fire source point captured by the infrared camera; It has always existed, and the on-board fire pump continues to work; when the fire source disappears, the on-board fire pump stops working, and the fire extinguishing process is completed.

Beneficial effects of the present invention: The automatic fire extinguishing system for urban main battle fire trucks provided by the present invention can realize automatic identification and positioning of the fire source, automatic matching of the working parameters of the fire monitor, and automatic prediction of the drop point of the fire monitor when the fire engine arrives at the fire scene at the main city station. 、Automatically adjust the landing point of the fire monitor and the automatic fire-fighting process stop judgment. The system further reduces the number of personnel required for the fire-fighting operation of the main city fire trucks, and also improves the speed and efficiency of fire-fighting operations to achieve the rapidity of the urban fire scene. , efficient and safe fire fighting purposes.

Description of drawings

Fig. 1 is the front view of the system structure of the present invention;

Fig. 2 is the system structure side view of the present invention;

Fig. 3 is the system data transmission connection diagram of the present invention;

Fig. 4 is the front view of the display system of the present invention;

Fig. 5 is the flow chart that the present invention realizes fire field identification and location;

Fig. 6 is the flow chart that the present invention realizes the working parameter matching of fire monitor;

Fig. 7 is the flow chart that the present invention realizes the prediction of the drop point of fire monitor jet;

Fig. 8 is the flow chart that the present invention realizes the adjustment of the drop point of the fire monitor jet;

Fig. 9 is the flow chart that the present invention realizes the stop judgment of fire extinguishing process;

In the picture: 1-bottom support platform, 2-first support structure, 3-second support structure, 4-top support platform, 5-first horizontal motor, 6-tilt motor, 7-fire monitor, 8- First camera, 9-infrared camera, 10-second camera, 11-second level motor.

Detailed ways

The present invention will be further explained below in conjunction with accompanying drawings 1-4.

As shown in Figures 1 and 2, the automatic fire extinguishing system for the main urban fire truck provided by the present invention includes a bottom support platform 1, a top support platform 4, a central control system and a display system; the top support platform 4 passes through the first support structure. 2. The second support structure 3 is installed above the bottom support platform 1; a first horizontal motor 5 is installed on the upper part of the bottom support platform 1, a pitch motor 6 is installed on the upper part of the first horizontal motor 5, and a fire monitor is installed on the upper part of the pitch motor 6 7; a second horizontal motor 11 is installed on the upper part of the top support platform 4, and a first camera 8, an infrared camera 9, and a second camera 10 are installed on the upper part of the horizontal motor 11 in sequence, and the three are horizontally aligned, and the installation position of the infrared camera 9 is in the first camera. 8 and the middle position of the second camera 10, the first camera 8 and the second camera 10 constitute a binocular stereo camera;

As shown in Figure 3, the first horizontal motor 5, pitch motor 6, first camera 8, infrared camera 9, second camera 10 and second horizontal motor 11 of the city's main battle fire truck automatic fire extinguishing system pass through data cables respectively. The cable is connected with the central control system to realize signal processing and input and output, and the central control system is connected with the display system; the display system is designed to display the working process data of the automatic fire extinguishing system of the main battle fire truck provided by the present invention, as shown in FIG. 4 .

The present invention also provides a method for realizing the automatic fire extinguishing system of the above-mentioned urban main battle fire truck, comprising the following steps:

1) Fire field identification and positioning: The automatic fire extinguishing system for the main battle fire truck provided by the present invention starts to work after the fire truck enters the fire field and stops, and its work flow is shown in Figure 5: First, the second The horizontal motor 11 rotates left and right, and drives the infrared camera 9 installed on its upper part to do the same left and right rotation. During this process, the infrared camera 9 continuously scans the fire environment and transmits the picture to the central control system; At this time, the second horizontal motor 11 rotates left and right until the position of the central fire source appears on the image captured by the infrared camera 9. After the center position, the second horizontal motor 11 stops rotating; after the second horizontal motor 11 stops rotating, the first camera 8 and the second camera 10 are turned on at the same time, and the acquired fire scene picture is transmitted to the central control system; The three-dimensional coordinates of the camera installation position relative to the fire source position are calculated from the pictures of the fire scene captured by the first camera 8 and the second camera 10, and the central control system converts the acquired three-dimensional coordinates of the camera installation position relative to the fire source position into the fire monitor 7 relative to the fire source position. The three-dimensional coordinates of the location of the fire source;

2) Matching of the working parameters of the fire monitor: After the automatic fire extinguishing system of the main battle fire truck provided by the present invention obtains the information and position of the fire field after the system works, its work flow is as shown in Figure 6: the central control system is based on the fire monitor jet trajectory stored in it. The empirical model calculates and matches the parameter information that can make the fire extinguishing agent reach the position of the fire source. The parameter information is the horizontal rotation angle of the first horizontal motor 5, the rotation angle of the pitch motor 6 and the working pressure of the fire-fighting vehicle water pump; the first horizontal motor 5 After the rotation angle and the rotation angle of the pitch motor 6 reach the predetermined angle, the fire truck on-board water pump starts to work according to the matched working pressure;

3) Prediction of the drop point of the fire monitor jet: After the automatic fire extinguishing system of the main battle fire truck provided by the present invention completes the matching of the working parameters of the fire monitor, its work flow is shown in Figure 7: First, the first camera 8 and the second camera 9 Start shooting and continuously transmit the acquired jet trajectory image to the central control system; the central control system performs background subtraction on the acquired image and acquires the captured jet trajectory binary image, and displays the trajectory binary image in the display system at the same time; The central control system continuously compares the obtained jet trajectory binary image with the jet trajectory model, and converts the compared trajectory deviation to the corresponding position deviation value of the first horizontal motor 5 and the pitch position deviation value of the pitch motor 6. The horizontal and pitch position deviation values are displayed in the display system;

4) Adjustment of the jet drop point of the fire monitor: After the automatic fire extinguishing system of the main battle fire truck provided by the present invention completes the prediction of the jet drop point of the fire monitor 7, its work flow is shown in Figure 8: the central control system calculates and matches the level and After the pitch position deviation value is determined, the first horizontal motor 5 and the pitch motor 6 are controlled respectively to adjust the angle, and the vehicle-mounted fire pump continues to work during this process;

5) Judgment of the stop of the fire-extinguishing process: the automatic fire-extinguishing system of the urban main battle fire truck provided by the present invention is in the continuous spraying process of the fire monitor 7, and its work flow is as shown in Figure 9: the infrared camera 9 is always on, and the central control system constantly recognizes the infrared camera 9 The state of the captured fire source; when the fire source always exists, the on-board fire pump continues to work; after the central control system judges that the fire source disappears, the on-board fire pump stops working and the fire extinguishing process is completed.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements can be made without departing from the principles of the present invention, and these improvements should also be regarded as the present invention. scope of protection.

Claims (1)

1. A method for automatic fire extinguishing by an automatic fire-extinguishing system of an urban main battle fire truck, characterized in that: it comprises an automatic fire-extinguishing system of an urban main battle fire truck; A support platform (4), a central control system and a display system; characterized in that: the top support platform (4) is mounted on the bottom support platform (1) through a first support structure (2) and a second support structure (3). ); a first horizontal motor (5) is installed on the bottom bracket platform (1), a pitch motor (6) is installed on the first horizontal motor (5), and a fire monitor (7) is installed on the pitch motor (6). ); a second horizontal motor (11) is installed on the top support platform (4), and a first camera (8), an infrared camera (9) and a second camera (10) are installed on the second horizontal motor (11) in sequence ); the first horizontal motor (5), pitch motor (6), first camera (8), infrared camera (9), second camera (10) and second horizontal motor (11) are respectively connected to the central control system connection; the central control system is connected with the display system; The method for automatically extinguishing the fire by the automatic fire extinguishing system of the urban main battle fire truck further comprises the following steps: 1) Recognition and positioning of fire scene: After the main battle fire truck in the city arrives at the fire scene, the second horizontal motor (11) rotates left and right, driving the first camera (8), infrared camera (9), and second camera (10) Do the same left and right rotation, wherein the infrared camera (9) continuously scans the fire environment during this process and transmits the picture to the central control system; the central control system continuously processes the fire picture returned by the infrared camera (9) and recognizes the picture. At the same time, the acquired fire scene image is transmitted to the display system for display; the second horizontal motor (11) continues to rotate left and right until the central fire source position appears after the central position of the image captured by the infrared camera (9). , the second horizontal motor (11) stops rotating, the first camera (8) and the second camera (10) are turned on at the same time, and the captured fire scene picture is transmitted to the central control system; the central control system is based on the first camera ( 8) Calculate the three-dimensional coordinates of the installation position of the infrared camera (9) relative to the fire source position with the fire scene picture captured by the second camera (10). The three-dimensional coordinates are converted into the three-dimensional coordinates of the fire monitor (7) relative to the position of the fire source; 2) Matching of the working parameters of the fire monitor: The central control system calculates and matches the working parameter information that can make the fire extinguishing agent reach the fire source position according to the jet trajectory model of the fire monitor stored in it, and the parameter information is the first horizontal motor (5). ) rotation angle, pitch motor (6) rotation angle and the working pressure of the fire fighting vehicle water pump; after the first horizontal motor (5) and the pitch motor (6) reach the predetermined angle, the fire fighting vehicle water pump starts to start according to the matched working pressure ; 3) Fire monitor jet drop point prediction: the first camera (8) and the second camera (10) start shooting and continuously transmit the acquired jet trajectory images to the central control system; the central control system performs background on the acquired images. Subtract and convert the captured jet trajectory image into a binary image, and at the same time display the binary image in the display system; the central control system continuously compares and calculates the obtained jet trajectory binary image with the jet trajectory model, Convert the compared trajectory deviation to the corresponding first horizontal motor (5) position deviation value and pitch motor (6) position deviation value, and simultaneously display the horizontal and pitch position deviation values in the display system; 4) Adjustment of the drop point of the fire monitor jet: After the central control system calculates and matches the deviation value of the horizontal and pitch positions, it controls the first horizontal motor (5) and the pitch motor (6) to adjust the angle respectively; 5) The fire extinguishing process is stopped: the infrared camera (9) is always on, and the central control system continuously recognizes the state of the fire source point captured by the infrared camera (9); when the fire source point always exists, the vehicle-mounted fire pump continues to work; After the point disappears, the on-board fire pump stops working, and the fire extinguishing process is completed.

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