CN208481918U - A kind of fire monitor of airport crash fire vehicle automatically tracks accurate fire extinguishing system - Google Patents
A kind of fire monitor of airport crash fire vehicle automatically tracks accurate fire extinguishing system Download PDFInfo
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- CN208481918U CN208481918U CN201820838204.6U CN201820838204U CN208481918U CN 208481918 U CN208481918 U CN 208481918U CN 201820838204 U CN201820838204 U CN 201820838204U CN 208481918 U CN208481918 U CN 208481918U
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- fire monitor
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Abstract
The utility model relates to fire fighting truck technical fields, accurate fire extinguishing system is automatically tracked more particularly to a kind of fire monitor of airport crash fire vehicle, its structure includes master controller, video camera, rangefinder, six axis posture instrument of vehicle, vehicle speed sensor, observing and controlling holder pose adjustment module and fire monitor control module, system obtains view field image automatically, target range, fire-fighting vehicle speed and posture, the signal of ambient wind velocity wind direction, after fire source enters visual field, system locks fire disaster target automatically and adjust fire monitor gesture follow-up in real time by observing and controlling holder pose adjustment module and sensor feedback signal by image recognition and track algorithm tracks fire source, to realize that fire fighting truck automatically tracks, the function of precisely putting out a fire, substantially reduce the fire-fighting operation reaction time, save the valuable fire fighting and rescue time, improve extinguishing chemical utilization rate.
Description
Technical field
The utility model relates to fire fighting truck technical fields, and in particular to a kind of fire monitor of airport crash fire vehicle automatically tracks essence
Quasi- fire extinguishing system.
Background technique
It is common water pot foam firefighting that airport vehicle is served at present for the airport crash fire vehicle majority of aerial extinguishing rescue
Vehicle, minority are extraordinary chassis airport crash fire vehicle.Based on airport aerial extinguishing environment, most effective attack time window is aircraft
Land moment to the 1-2 minute slided, this requires fire fighting truck high-speed maneuver after aircraft landing that aircraft is followed to carry out quick extinguishing work
Industry realizes effective fire behavior compacting.In the prior art, the fire monitor for completing extinguishing operation is all that fireman's manual operation is needed to disappear
Anti- big gun control rocking bar or directional type handle carry out fire monitor pose adjustment, are adjusted in place the time greater than 10 generally for static object
Second, the time is adjusted in place for dynamic object and is greater than 15 seconds, and constantly to correct target on the move, fireman disappears in operation
It also needs to adjust fire monitor posture in due course while anti-system and aims at mobile target, therefore operation difficulty is big, when fire monitor adjusts
Between it is long, fire extinguisher utilization rate is low, and fire-fighting efficiency is low, while wasting valuable attack time.
Summary of the invention
The purpose of this utility model is that aiming at the shortcomings in the prior art, and a kind of fire monitor of airport crash fire vehicle is provided
Accurate fire extinguishing system is automatically tracked, which realizes fire fighting truck to the automatic locking tracking of fire disaster target in movement and precisely go out
The function of fire, substantially reduces the fire-fighting operation reaction time, saves the valuable fire fighting and rescue time, improves extinguishing chemical utilization
Rate.
The purpose of this utility model is achieved through the following technical solutions:
The fire monitor for providing a kind of airport crash fire vehicle automatically tracks accurate fire extinguishing system, including master controller, further includes:
For obtain working field of view image and to master controller send vision signal video camera, the video camera by with
Too net is connect with master controller；
For detecting fire extinguishing target range and to the rangefinder of master controller transmission range signal, the rangefinder passes through
RS485 bus is connect with master controller；
It is described for detecting fire fighting truck posture and to the six axis posture instrument of vehicle of master controller transmission fire fighting truck attitude signal
Six axis posture instrument of vehicle is connect by RS485 bus with master controller；
It is total by CAN for detecting car speed and to the vehicle speed sensor of master controller transmission vehicle velocity signal
Line is connect with master controller；
Observing and controlling holder pose adjustment module for observing and controlling holder posture to be calculated and adjusted, the observing and controlling holder appearance
State adjustment module is connect by CAN bus with master controller both-way communication；
Fire monitor control module for being adjusted to fire monitor posture, the fire monitor control module are total by CAN
Line is connect with master controller both-way communication.
In above-mentioned technical proposal, the fire monitor control module includes fire monitor attitude transducer and for driving fire monitor
Carry out rotation and pitching servo motor, master controller by fire monitor attitude transducer obtain in real time fire monitor attitude signal with
Control servo motor is adjusted the posture of fire monitor.
It further include water-aspirator pressure sensor in above-mentioned technical proposal, the water-aspirator pressure sensor passes through analog input
Port is connect with master controller.
It further include pump capacity sensor in above-mentioned technical proposal, the pump capacity sensor passes through analog input
Port is connect with master controller.
It further include the anemoclinograph for detecting ambient wind velocity and wind direction, the wind speed and direction in above-mentioned technical proposal
Instrument is connect by RS485 bus with master controller.
It further include touching display screen in above-mentioned technical proposal, the touching display screen passes through LVDS bus and master controller
Both-way communication connection.
It further include fire monitor manual control module in above-mentioned technical proposal, the fire monitor manual control module passes through CAN
Bus is connect with master controller.
In above-mentioned technical proposal, the fire monitor manual control module includes fire monitor control handle.
In above-mentioned technical proposal, the video camera is near-infrared video camera.
The utility model has the beneficial effects that
A kind of fire monitor of airport crash fire vehicle of the utility model automatically tracks accurate fire extinguishing system, and master controller passes through each
A sensor obtain automatically view field image, target range, fire-fighting vehicle speed and posture, ambient wind velocity wind direction signal, work as fire source
Into after visual field, fireman can select fire source by touching display screen, and system is locked automatically by image recognition and track algorithm
Fire disaster target and by observing and controlling holder pose adjustment module and sensor feedback signal adjust in real time fire monitor gesture follow-up with
Track fire source, to realize the function that fire fighting truck is automatically tracked, precisely put out a fire.Compared with prior art, the utility model have with
Lower advantage:
(1) fire fighting truck that system realizes movement substantially reduces fire-fighting work to the fire disaster target locking tracking in movement
The industry reaction time has saved the valuable fire fighting and rescue time, has improved fire-fighting operation efficiency；
(2) system realizes the precise positioning of fire disaster target, reduces fire-fighting fire extinguishing caused by during fire monitor aims at
Agent waste, extinguishing chemical utilization rate is up to 95%；
(3) system redundancy devises fire monitor and manually controls function, can when accurate fire extinguishing system loses target or failure
Manual manipulation fire monitor carries out extinguishing operation, improves the reliability of fire-fighting operation system.
Detailed description of the invention
Using attached drawing, the utility model is described in further detail, but the embodiment in attached drawing is not constituted to the utility model
Any restrictions for those of ordinary skill in the art without creative efforts, can also be according to following attached
Figure obtains other attached drawings.
Fig. 1 is that a kind of fire monitor of airport crash fire vehicle of the utility model automatically tracks the theory structure of accurate fire extinguishing system
Figure.
Fig. 2 is that a kind of fire monitor of airport crash fire vehicle of the utility model automatically tracks the concrete function of accurate fire extinguishing system
Control executes logical AND flow chart.
Appended drawing reference:
Master controller 1, touching display screen, observing and controlling holder pose adjustment module 3；
Fire monitor control module 4, fire monitor attitude transducer 41, servo motor 42；
Fire monitor manual control module 5, rangefinder 6, anemoclinograph 7, six axis posture instrument 8 of vehicle, near-infrared video camera
9, water-aspirator pressure sensor 10, pump capacity sensor 11, vehicle speed sensor 12.
Specific embodiment
With the following Examples and attached drawing is further described the utility model.
A kind of fire monitor of airport crash fire vehicle of the present embodiment automatically tracks accurate fire extinguishing system, as shown in Figure 1, including master
Controller 1, further includes:
For obtaining working field of view image and to the near-infrared video camera 9 of the transmission vision signal of master controller 1, near-infrared is taken the photograph
Camera 9 is connect by Ethernet with master controller 1.Near-infrared video camera 9 sends fire fighting truck working field of view by Ethernet in real time
Image information is input to master controller 1.
For detecting fire extinguishing target range and to the rangefinder 6 of 1 transmission range signal of master controller, rangefinder 6 passes through
RS485 bus is connect with master controller 1；Rangefinder 6 sends fire disaster target distance by RS485 bus in real time and arrives master controller 1,
Track resolving is sprayed for fire monitor and attitude rectification provides information input.
For detect fire fighting truck posture and to master controller 1 send fire fighting truck attitude signal six axis posture instrument 8 of vehicle, vehicle
Six axis posture instruments 8 are connect by RS485 bus with master controller 1.
For detecting car speed and to the vehicle speed sensor 12 of the transmission vehicle velocity signal of master controller 1, pass through CAN
Bus is connect with master controller 1.Six axis posture instrument 8 of vehicle and vehicle speed sensor 12 send the vehicle speed that disappears by CAN bus in real time
Degree and posture information provide information input to master controller 1 for fire monitor attitude rectification.
Observing and controlling holder pose adjustment module 3 for observing and controlling holder posture to be calculated and adjusted, observing and controlling holder posture
Adjustment module 3 is connect by CAN bus with 1 both-way communication of master controller；Observing and controlling holder pose adjustment module 3 receives master controller
1 instruction is adjusted observing and controlling holder posture, real-time tracing fire disaster target, and posture information is fed back to master controller 1.
Fire monitor control module 4 for being adjusted to fire monitor posture, fire monitor control module 4 pass through CAN bus
It is connect with 1 both-way communication of master controller.Specifically, fire monitor control module 4 is including fire monitor attitude transducer 41 and for driving
Dynamic fire monitor carries out the servo motor 42 of rotation and pitching, and master controller 1 is obtained in real time by fire monitor attitude transducer 41 to disappear
Anti- big gun attitude signal is adjusted with controlling servo motor 42 to the posture of fire monitor, to obtain suitable rotation angle and pitching
Angle.
It further include water-aspirator pressure sensor 10 and pump capacity sensor 11, water-aspirator pressure sensor 10 in the present embodiment
It is connect by analog input port with master controller 1 with pump capacity sensor 11.Water-aspirator pressure sensor 10 and water pump
Flow sensor 11 sends water-aspirator pressure and flow information to master controller 1 in real time, sprays track resolving and posture for fire monitor
Amendment provides information input.
It further include the anemoclinograph 7 for detecting ambient wind velocity and wind direction in the present embodiment, anemoclinograph 7 passes through
RS485 bus is connect with master controller 1.Anemoclinograph 7 and vehicle speed sensor 12 pass through RS485 bus and send fire source mesh in real time
Subject distance and wind speed and direction information spray track resolving for fire monitor and attitude rectification provide information input to master controller 1.
It further include touching display screen 2 in the present embodiment, touching display screen 2 passes through LVDS bus and 1 two-way of master controller
News connection.Touching display screen 2 is for the input of working field of view image information, target position information input and output and environment, vehicle, water
Pump, fire monitor parameter information are shown.Touching display screen 2 is mounted on driver's cabin, is manipulated by fire-fighting operation person, and system passes through video camera
The automatic view field image that obtains monitors scene of fire in real time, after fire disaster target enters visual field, passes through touching display screen 2 by fireman
Selected fire source.
Further include fire monitor manual control module 5 in the present embodiment, fire monitor manual control module 5 by CAN bus with
Master controller 1 connects.Fire monitor manual control module 5 includes fire monitor control handle, and fire monitor control handle passes through CAN bus
Fire monitor handle position information is sent in real time to manipulate fire monitor to master controller 1, and under MANUAL CONTROL mode.System
There are two types of operating modes: automatic precisely modes of fire suppression and MANUAL CONTROL mode, first system read camera video signal and carry out
Image real-time tracking, if fire extinguishing target image is lost, system is automatically converted to MANUAL CONTROL mode and acquires fire monitor in real time
The input of control handle position directly drives fire monitor aiming and extinguishing operation through 1 operation of master controller.Fire monitor manually controls mould
Formula priority is higher than automatic accurate modes of fire suppression.
The working principle of automatic precisely modes of fire suppression is as follows: system obtains view field image real time monitoring by video camera automatically
Fire source is selected by touching display screen 2 by fireman, system is known by image after fire disaster target enters visual field in scene of fire
Other and track algorithm automatically track target simultaneously tracks fire source with fire monitor horizontal turning follow-up, it is ensured that fire disaster target and injection track
In approximately the same plane.Then, 6 the real time measure roof big gun of rangefinder is at a distance from fire disaster target, system integration objective distance, wind speed
With the feedback information of the sensors such as wind direction, car speed and posture, water-aspirator pressure and flow, real-time resolving fire monitor sprays rail
Mark, and by adjusting fire monitor pitch angle in real time, it is always positioned at fire disaster target on fire monitor injection geometric locus.When fire source mesh
Mark enters within fire monitor range region, and when fire disaster target and injection intersection of locus, system automatic prompt fireman is opened fire with artillery, from
And realize the function that fire monitor is automatically tracked, precisely put out a fire.
As shown in Fig. 2, concrete function control execution logical AND process of this system under automatic precisely modes of fire suppression is as follows:
1, enter automatic precision quasi- modes of fire suppression after vehicle launch engine, master controller 1, touching display screen 2, system pass
Sensor, which powers on, to be initialized；
2,1 acquisition camera vision signal of master controller, fire extinguishing target range signal, vehicle velocity signal, fire fighting truck appearance
State signal, and parameter information is carried out by touching display screen 2 and is shown；
3, system carries out characteristics of image according to collected fire fighting truck working field of view and the target homing position information of input
It extracts and identifies；
4, system reads camera video signal and carries out image real-time tracking, if fire extinguishing target image is lost, system is certainly
Turn is changed to MANUAL CONTROL mode and acquisition fire monitor control handle position input in real time directly drives through 1 operation of master controller and disappears
Anti- big gun aims at and extinguishing operation；
If 5, fire extinguishing target image is in touch screen working field of view, master controller 1 is according to fire extinguishing target image in touch-control
Position calculates the posture of observing and controlling holder and is adjusted in real time in screen working field of view；
6, system Combined extinguishing target range, car speed, fire fighting truck posture information carry out fire monitor injection track resolving；
7, master controller 1 sprays the water that trajectory calculation goes out to hit target the fire monitor that needs adjust according to the fire monitor of resolving
Flat rotation angle and pitch angle；
8, the environmental factors feedback information such as system integrated environment wind speed and direction, water-aspirator pressure, pump capacity signal disappears
Anti- big gun attitude rectification；
9, system is output to fire monitor mechanism according to the feathering angle and pitch angle of revised fire monitor and carries out servo
Motor 42 drives, and is corrected in real time according to the gesture feedback information of fire monitor；
10, when system lock tracks target and target range in fire monitor range region, acousto-optic hint fire-fighting operation person
It carries out opening fire with artillery operation.
Finally it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than to this reality
With the limitation of novel protected range, although being explained in detail referring to preferred embodiment to the utility model, this field it is general
Lead to it will be appreciated by the skilled person that can be with the technical solution of the present invention is modified or equivalently replaced, without departing from this
The spirit and scope of utility model technical solution.
Claims (9)
1. a kind of fire monitor of airport crash fire vehicle automatically tracks accurate fire extinguishing system, it is characterised in that: including master controller,
For obtaining working field of view image and to the video camera of master controller transmission vision signal, the video camera passes through Ethernet
It is connect with master controller；
For detecting fire extinguishing target range and to the rangefinder of master controller transmission range signal, the rangefinder passes through RS485
Bus is connect with master controller；
For detect fire fighting truck posture and to master controller send fire fighting truck attitude signal six axis posture instrument of vehicle, the vehicle
Six axis posture instruments are connect by RS485 bus with master controller；
For detect car speed and to master controller send vehicle velocity signal vehicle speed sensor, by CAN bus with
Master controller connection；
Observing and controlling holder pose adjustment module for observing and controlling holder posture to be calculated and adjusted, the observing and controlling holder posture tune
Mould preparation block is connect by CAN bus with master controller both-way communication；
Fire monitor control module for being adjusted to fire monitor posture, the fire monitor control module by CAN bus with
The connection of master controller both-way communication.
2. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: the fire monitor control module include fire monitor attitude transducer and for driving fire monitor to carry out the servo of rotation and pitching
Motor, master controller obtain fire monitor attitude signal in real time by fire monitor attitude transducer to control servo motor to fire monitor
Posture be adjusted.
3. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: it further include water-aspirator pressure sensor, the water-aspirator pressure sensor is connect by analog input port with master controller.
4. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: it further include pump capacity sensor, the pump capacity sensor is connect by analog input port with master controller.
5. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: it further include the anemoclinograph for detecting ambient wind velocity and wind direction, the anemoclinograph passes through RS485 bus and master control
Device connection processed.
6. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: it further include touching display screen, the touching display screen is connect by LVDS bus with master controller both-way communication.
7. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: it further include fire monitor manual control module, the fire monitor manual control module is connect by CAN bus with master controller.
8. a kind of fire monitor of airport crash fire vehicle according to claim 7 automatically tracks accurate fire extinguishing system, feature exists
In: the fire monitor manual control module includes fire monitor control handle.
9. a kind of fire monitor of airport crash fire vehicle according to claim 1 automatically tracks accurate fire extinguishing system, feature exists
In: the video camera is near-infrared video camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820838204.6U CN208481918U (en) | 2018-05-31 | 2018-05-31 | A kind of fire monitor of airport crash fire vehicle automatically tracks accurate fire extinguishing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108525176A (en) * | 2018-05-31 | 2018-09-14 | 东莞市永强汽车制造有限公司 | A kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking |
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2018
- 2018-05-31 CN CN201820838204.6U patent/CN208481918U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108525176A (en) * | 2018-05-31 | 2018-09-14 | 东莞市永强汽车制造有限公司 | A kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking |
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