CN106621139A - 3D camera-based intelligent fire truck - Google Patents
3D camera-based intelligent fire truck Download PDFInfo
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- CN106621139A CN106621139A CN201610953028.6A CN201610953028A CN106621139A CN 106621139 A CN106621139 A CN 106621139A CN 201610953028 A CN201610953028 A CN 201610953028A CN 106621139 A CN106621139 A CN 106621139A
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- fire
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- truck body
- fighting truck
- cameras
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a 3D camera-based intelligent fire truck, comprising a fire truck body and a driving control module, a 3D camera, a vision analysis module, a fire seeking module, a foaming agent box, a firefighting head, a wireless transmission module and a controller which are mounted on the fire truck body. The controller is respectively connected to the driving control module, the 3D camera, the vision analysis module, the fire seeking module, the firefighting head and the wireless transmission module. The 3D camera is connected to the vision analysis module, and the firefighting head is connected to the foaming agent box. According to the 3D camera-based intelligent fire truck, unmanned operation is used for fire prevention, the camera is used to find a fire source efficiently and quickly, and fire is extinguished at first time and is reported to a main console. Particularly, the fire truck can play an important role in a hazard fire scene where people cannot approach.
Description
Technical field
The present invention relates to a kind of intelligent fire car based on 3D cameras, belongs to technical field of mechanical equipment.
Background technology
Now society, fire in people's daily life, brought inexhaustible tear with it is grieved
Deep sorrow.Traditional fire fire-fighting mainly manipulates fire-fighting vehicle by fire fighter and fire-fighting equipment performs fire extinguishing and rescue is appointed
Business.It often consumes a large amount of manpowers and result is unsatisfactory, inefficient, and personnel demand amount is big, and China disappears at present
The anti-communication technology falls behind, and China's urban fire control communications facility builds aggregate level also than relatively low, particularly modernization, informationalized
High-tech fire communication Facilities Construction has a long way to go, it is difficult to adapt to the command scheduling needs that modern fire extinguishing is fought, multiple in fire
Often there is personnel assignment phenomenon not in time in season, and some fire locations personnel can not enter, and is one and is badly in need of solution
Problem certainly.
At present, with the continuous development of social economy, urbanization process is accelerated, and a large amount of infrastructure constantly start, high building
Mansion is seen everywhere in each place.Building construction is higher, and once the loss of fire generation that it produce becomes more serious.Catching fire
When floor is relatively low, the mainly artificial support of current fire protection is lifted Shower tap and is sprayed water toward floor eminence, and slightly higher floor
Mainly water pipe is lifted on aerial ladder with fireman station when fiery to spray water its related floor to reach the purpose of fire extinguishing.But,
There is huge defect in above-mentioned two kinds of modes, when floor internal fires, fireman can only stand outside window to its sprinkling fire, and
Sprinkling fire scope is confined to the visual field and is located in periphery, and not only the place that catch fire in another room can not be put out a fire, while
Greatly waste water resource.
All it has been to go to scene to carry out rescue and relief work work by rescue and relief work personnel parent in fire-fighting domain of speedily carrying out rescue work since for a long time
Make, and in the adverse circumstances such as high temperature, heat-flash, radiation, dense smoke, many with a varied topography, barriers, chemical attack, inflammable and explosive
Under, there are many difficulties using artificial operation or even be difficult to complete the task of being expected；Rescue and relief work personnel are in high temperature, inflammable and explosive
In environment, there is potential safety hazard in closely rescue and relief work.
The content of the invention
The technical problem to be solved is to provide a kind of intelligent fire car based on 3D cameras, solves existing people
There is the not enough of inconvenience in work fire fighting.The present invention using 3D cameras characteristic, the chrominance information based on target object and
All barriers in viewfinder range can be carried out obtaining optimum driving path after disposable comprehensive assessment by depth information, and people
Eye avoidance has great similitude.
The present invention is employed the following technical solutions to solve above-mentioned technical problem：
The present invention provides a kind of intelligent fire car based on ultrasonic wave, including fire fighting truck body and on fire fighting truck body
Traveling control module, 3D cameras, visual analysis module, seek fiery module, foaming agent case, fire hydrant, wireless transport module, control
Device processed, controller respectively with traveling control module, 3D cameras, visual analysis module, seek fiery module, fire hydrant, be wirelessly transferred
Module connects, and 3D cameras are connected with visual analysis module, and connection fire hydrant is connected with foaming agent case；3D cameras, for adopting
3D rendering around collection fire fighting truck body, is sent to visual analysis module；Visual analysis module, for asking to traveling control module
The transport condition of fire fighting truck body is sought, and barrier is modeled according to the transport condition of 3D rendering information and fire fighting truck body,
The transport condition of Use barriers thing model and fire fighting truck body determines traveling adjusts path；Controller is by travelling control module control
The traveling of fire fighting truck body processed, and fire fighting truck body is controlled according to the analysis result of visual analysis module carry out avoidance, when seeking fire
When module finds burning things which may cause a fire disaster, controller control fire hydrant is put out a fire, and photographed 3D cameras by wireless transport module
Fire outdoor scene is transmitted to console.
Used as the further prioritization scheme of the present invention, camera is arranged on fire fighting truck body by elevating lever.
Used as the further prioritization scheme of the present invention, fire hydrant is connected by pipeline with foaming agent case.
Used as the further prioritization scheme of the present invention, 3D rendering includes color image and depth image, visual analysis module
Barrier profile is identified using color image, using depth image the distance of barrier is obtained.
Used as the further prioritization scheme of the present invention, visual analysis module is counted again according to the transport condition of fire fighting truck body
Size and distance and relative position with fire fighting truck body of the barrier in terrestrial coordinate system is calculated, realizes that barrier is modeled.
The present invention adopts above technical scheme compared with prior art, with following technique effect：It is it is unattended and
Fire preventing, using camera burning things which may cause a fire disaster is efficiently quickly found, and the very first time is put out a fire and reported master console.Particularly
In the dangerous scene of a fire that people cannot be close, can play a significant role.Can remote monitoring intelligent fire-fighting dolly present position and its
Complete the situation of task, and make a response rapidly, so as to greatly increase fire-fighting real work efficiency, reduce people's person and
Property loss, should have the wide market space.
Specific embodiment
Embodiments of the present invention are described below in detail, and the embodiment for describing is exemplary, is only used for explaining this
Invention, and be not construed as limiting the claims.
Those skilled in the art of the present technique it is understood that unless expressly stated, singulative " " used herein,
" one ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that used in the specification of the present invention
Wording " including " refers to there is the feature, integer, step, operation, element and/or component, but it is not excluded that existing or adding
Plus one or more other features, integer, step, operation, element, component and/or their group.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.Additionally, " connection " used herein or " coupling " can include wireless connection or couple.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combination.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With with art of the present invention in those of ordinary skill general understanding identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art in
The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.
Technical scheme is described in further detail below：
The present invention provides a kind of intelligent fire car based on ultrasonic wave, including fire fighting truck body and on fire fighting truck body
Traveling control module, 3D cameras, visual analysis module, seek fiery module, foaming agent case, fire hydrant, wireless transport module, control
Device processed, controller respectively with traveling control module, 3D cameras, visual analysis module, seek fiery module, fire hydrant, be wirelessly transferred
Module connects, and 3D cameras are connected with visual analysis module, and connection fire hydrant is connected with foaming agent case；3D cameras, for adopting
3D rendering around collection fire fighting truck body, is sent to visual analysis module；Visual analysis module, for asking to traveling control module
The transport condition of fire fighting truck body is sought, and barrier is modeled according to the transport condition of 3D rendering information and fire fighting truck body,
The transport condition of Use barriers thing model and fire fighting truck body determines traveling adjusts path；Controller is by travelling control module control
The traveling of fire fighting truck body processed, and fire fighting truck body is controlled according to the analysis result of visual analysis module carry out avoidance, when seeking fire
When module finds burning things which may cause a fire disaster, controller control fire hydrant is put out a fire, and photographed 3D cameras by wireless transport module
Fire outdoor scene is transmitted to console.
3D rendering includes color image and depth image, and visual analysis module identifies barrier wheel using color image
Exterior feature, using depth image the distance of barrier is obtained.Visual analysis module is recalculated according to the transport condition of fire fighting truck body
Size and distance and relative position with fire fighting truck body of the barrier in terrestrial coordinate system, realizes that barrier is modeled.
During the traveling of fire fighting truck body, first 3D cameras with certain frequency to carrying out around fire fighting truck body
Shooting, for carrying out 3D modeling to preceding object thing, obtains position, shape, size and the range information of barrier.3D is imaged
Head can be based on double visible image capturing heads, or visible image capturing head+infrared laser projectoscope.Double visible image capturing heads are surveyed
Away from principle of parallax is utilized, the two width images to Same Scene obtained under different visual angles are processed, so as to recover the three-dimensional of object
Geological information, and measure space length.Visible image capturing head+infrared laser projectoscope obtains the color of image using visible image capturing
Multimedia message, is obtained with the depth information of piece image using infrared laser projectoscope, it is seen that light video camera head and infrared laser are projected
Instrument keeps the frame synchronization of image to external world, and the color and depth information of superimposed image can rebuild the 3D rendering of barrier at the moment.
Either 3D cameras of which kind of principle, the information of barrier is sent in real time visual analysis module and is processed.
The major function of visual analysis module is as follows：
1) initial data of 3D cameras is received and is analyzed, with image recognition algorithm all barriers in picture are recognized,
To each barrier, the information such as the distance of shape, size, relative position in the picture and camera of barrier are parsed；
2) current running state information is asked for traveling control module, obstacle in recalculating 1) according to running condition information
Size and distance and relative position of the thing in terrestrial coordinate system；
3) the driving trace adjusting parameter of optimum is obtained with navigation obstacle avoidance algorithms to all obstacle informations in 2), these
Parameter includes adjustment angle and adjustment deadline date etc., and these parameters are sent to controller；
4) controller is received after driving trace adjusting parameter, and travel route is planned again；If the adjustment of visual analysis module
Parameter is 0, shows not detecting any barrier in this image pickup scope, and controller can continue according to preset travel route
Traveling.
Further, fire hydrant is connected by pipeline with foaming agent case.
When there is fire to occur, controller enters fire zone by controlling fire fighting truck body, in ultrasonic distance measuring module, seeks
Burning things which may cause a fire disaster is quickly found with the help of fiery module, fire hydrant is then controlled and is put out a fire, while can be by fire by wireless transport module
Calamity outdoor scene wireless feedback is to console so as to can communicate with remote console, and reception is dispatched a car and assignment instructions, to make UIT
Skill is applied in the middle of actual operation, and is put into production use, and to fire-fighting equipment industry, protection people's property, reduces personnel's wound
Die all significant.
The above, the only specific embodiment in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the conversion expected or replacement, all should cover
The present invention include within the scope of, therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (5)
1. the intelligent fire car of 3D cameras is based on, it is characterised in that including fire fighting truck body and installed in fire fighting truck body
On traveling control module, 3D cameras, visual analysis module, seek fiery module, foaming agent case, fire hydrant, wireless transport module,
Controller, controller respectively with traveling control module, 3D cameras, visual analysis module, seek fiery module, fire hydrant, wireless pass
Defeated module connection, 3D cameras are connected with visual analysis module, and connection fire hydrant is connected with foaming agent case；
3D cameras, for gathering the 3D rendering around fire fighting truck body, are sent to visual analysis module；
Visual analysis module, for asking the transport condition of fire fighting truck body to traveling control module, and according to 3D rendering information
And the transport condition of fire fighting truck body is modeled to barrier, the transport condition of Use barriers thing model and fire fighting truck body determines
Traveling adjusts path；
Controller controls the traveling of fire fighting truck body by traveling control module, and according to the analysis result control of visual analysis module
Fire fighting truck body processed carries out avoidance, and when seeking fiery module and finding burning things which may cause a fire disaster, controller control fire hydrant is put out a fire, and by wireless
The fire outdoor scene that transport module photographs 3D cameras is transmitted to console.
2. the intelligent fire car based on 3D cameras according to claim 1, it is characterised in that camera passes through elevating lever
On fire fighting truck body.
3. the intelligent fire car based on 3D cameras according to claim 1, it is characterised in that fire hydrant by pipeline with
Foaming agent case connects.
4. the intelligent fire car based on 3D cameras according to claim 1, it is characterised in that 3D rendering includes chromaticity diagram
Picture and depth image, visual analysis module identifies barrier profile using color image, and using depth image barrier is obtained
Distance.
5. the intelligent fire car based on 3D cameras according to claim 1, it is characterised in that visual analysis module according to
The transport condition of fire fighting truck body recalculate size of the barrier in terrestrial coordinate system and distance and with fire fighting truck body
Relative position, realize barrier model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953028.6A CN106621139A (en) | 2016-10-27 | 2016-10-27 | 3D camera-based intelligent fire truck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953028.6A CN106621139A (en) | 2016-10-27 | 2016-10-27 | 3D camera-based intelligent fire truck |
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| CN106621139A true CN106621139A (en) | 2017-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610953028.6A Pending CN106621139A (en) | 2016-10-27 | 2016-10-27 | 3D camera-based intelligent fire truck |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108694845A (en) * | 2018-06-20 | 2018-10-23 | 信利光电股份有限公司 | A kind of based reminding method and device of vehicle drive |
| CN109865232A (en) * | 2019-02-22 | 2019-06-11 | 武汉理工大学 | Fire search and rescue system and its control method |
| CN111359126A (en) * | 2020-03-20 | 2020-07-03 | 三一汽车制造有限公司 | Rescue fire-extinguishing vehicle and control method thereof |
| US11232689B2 (en) | 2019-01-04 | 2022-01-25 | Metal Industries Research & Development Centre | Smoke detection method with visual depth |
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| US20100295927A1 (en) * | 2009-04-17 | 2010-11-25 | The Boeing Company | System and method for stereoscopic imaging |
| CN102528811A (en) * | 2011-12-19 | 2012-07-04 | 上海交通大学 | Mechanical arm positioning and obstacle avoiding system in Tokamak cavity |
| CN203763736U (en) * | 2014-04-02 | 2014-08-13 | 浙江海洋学院 | Fully-intelligent fire fighting truck |
| CN204965185U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Keep away barrier system and vehicle and robot |
| CN105759836A (en) * | 2016-03-14 | 2016-07-13 | 武汉卓拔科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera |
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2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100295927A1 (en) * | 2009-04-17 | 2010-11-25 | The Boeing Company | System and method for stereoscopic imaging |
| CN102528811A (en) * | 2011-12-19 | 2012-07-04 | 上海交通大学 | Mechanical arm positioning and obstacle avoiding system in Tokamak cavity |
| CN203763736U (en) * | 2014-04-02 | 2014-08-13 | 浙江海洋学院 | Fully-intelligent fire fighting truck |
| CN204965185U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Keep away barrier system and vehicle and robot |
| CN105759836A (en) * | 2016-03-14 | 2016-07-13 | 武汉卓拔科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108694845A (en) * | 2018-06-20 | 2018-10-23 | 信利光电股份有限公司 | A kind of based reminding method and device of vehicle drive |
| US11232689B2 (en) | 2019-01-04 | 2022-01-25 | Metal Industries Research & Development Centre | Smoke detection method with visual depth |
| CN109865232A (en) * | 2019-02-22 | 2019-06-11 | 武汉理工大学 | Fire search and rescue system and its control method |
| CN111359126A (en) * | 2020-03-20 | 2020-07-03 | 三一汽车制造有限公司 | Rescue fire-extinguishing vehicle and control method thereof |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170510 |