CN108525176A - A kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking - Google Patents
A kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking Download PDFInfo
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- CN108525176A CN108525176A CN201810549869.XA CN201810549869A CN108525176A CN 108525176 A CN108525176 A CN 108525176A CN 201810549869 A CN201810549869 A CN 201810549869A CN 108525176 A CN108525176 A CN 108525176A
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- fire
- master controller
- fire monitor
- monitor
- motion tracking
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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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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- Business, Economics & Management (AREA)
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Abstract
The present invention relates to fire fighting truck technical fields, more particularly to a kind of fire monitor of airport crash fire vehicle from the accurate fire extinguishing system of motion tracking, 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 burning things which may cause a fire disaster enters visual field, system locks fire disaster target and adjust fire monitor gesture follow-up in real time by observing and controlling holder pose adjustment module and sensor feedback signal automatically by image recognition and track algorithm tracks burning things which may cause a fire disaster, to realize fire fighting truck from motion tracking, 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 present invention relates to fire fighting truck technical fields, and in particular to a kind of fire monitor of airport crash fire vehicle precisely goes out from motion tracking
Fiery system.
Background technology
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 that aircraft
Land moment to the 1-2 minutes 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, and the time is adjusted in place more 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 the target that fire monitor posture aims at movement in due course while anti-system, 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.
Invention content
It is an object of the invention to be directed to deficiency in the prior art, and it is automatic to provide a kind of fire monitor of airport crash fire vehicle
Accurate fire extinguishing system is tracked, which realizes fire fighting truck to the automatic locking tracking of fire disaster target in movement and precisely put out a fire
Function substantially reduces the fire-fighting operation reaction time, saves the valuable fire fighting and rescue time, improves extinguishing chemical utilization rate.
The purpose of the present invention is achieved through the following technical solutions：
A kind of fire monitor of airport crash fire vehicle is provided from the accurate fire extinguishing system of motion tracking, 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 buses are 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 buses 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 servomotor is adjusted the posture of fire monitor.
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.
Further include pump capacity sensor in above-mentioned technical proposal, the pump capacity sensor passes through analog input
Port is connect with master controller.
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 buses with master controller.
Further include touching display screen in above-mentioned technical proposal, the touching display screen passes through LVDS buses and master controller
Both-way communication connects.
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.
Beneficial effects of the present invention：
For a kind of fire monitor of airport crash fire vehicle of the present invention from the accurate fire extinguishing system of motion tracking, master controller passes through each biography
Sensor obtains the signal of view field image, target range, fire-fighting vehicle speed and posture, ambient wind velocity wind direction automatically, when burning things which may cause a fire disaster enters
After visual field, fireman can select burning things which may cause a fire disaster by touching display screen, and system locks burning things which may cause a fire disaster automatically by image recognition and track algorithm
Target simultaneously adjusts fire monitor gesture follow-up tracking fire in real time by observing and controlling holder pose adjustment module and sensor feedback signal
Source, to realize function that fire fighting truck is put out a fire from motion tracking, precisely.Compared with prior art, the present invention has the following advantages：
(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 wastes, and 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.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of fire monitor of airport crash fire vehicle of the present invention from the principle assumption diagram of the accurate fire extinguishing system of motion tracking.
Fig. 2 is that a kind of fire monitor of airport crash fire vehicle of the present invention is controlled from the concrete function of the accurate fire extinguishing system of motion tracking
Execute logical AND flow chart.
Reference numeral：
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 implementation mode
With the following Examples and attached drawing the invention will be further described.
A kind of fire monitor of airport crash fire vehicle of the present embodiment is from the accurate fire extinguishing system of motion tracking, as shown in Figure 1, including master
Controller 1 further includes：
For obtain working field of view image and to master controller 1 send vision signal near-infrared video camera 9, 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 buses are connect with master controller 1；Rangefinder 6 sends fire disaster target distance by RS485 buses and arrives master controller 1 in real time,
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 buses 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, passing 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 the posture of fire monitor with control servomotor 42, to obtain suitable rotation angle and pitching
Angle.
Further include water-aspirator pressure sensor 10 and pump capacity sensor 11, water-aspirator pressure sensor 10 in the present embodiment
It is connect with master controller 1 by analog input port 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
It corrects and information input is provided.
Further include the anemoclinograph 7 for detecting ambient wind velocity and wind direction in the present embodiment, anemoclinograph 7 passes through
RS485 buses are connect with master controller 1.Anemoclinograph 7 and vehicle speed sensor 12 send burning things which may cause a fire disaster mesh in real time by RS485 buses
Subject distance and wind speed and direction information spray track resolving for fire monitor and attitude rectification provide information input to master controller 1.
Further include touching display screen 2 in the present embodiment, touching display screen 2 passes through LVDS buses 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, system passes through video camera
The automatic view field image real time monitoring scene of fire that obtains passes through touching display screen 2 after fire disaster target enters visual field by fireman
Selected burning things which may cause a fire disaster.
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 master controller 1, and fire monitor is manipulated 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 operation principle of automatic precisely modes of fire suppression is as follows：System obtains view field image real time monitoring by video camera automatically
Burning things which may cause a fire disaster 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 burning things which may cause a fire disaster 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, fire disaster target is made to be always positioned on fire monitor injection geometric locus.When burning things which may cause a fire disaster mesh
Mark enters within fire monitor range region, and when fire disaster target and injection intersection of locus, system automatic prompt fireman opens fire with artillery, from
And realize the function that fire monitor is put out a fire from motion tracking, precisely.
As shown in Fig. 2, concrete function control execution logical AND flow 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
Extraction and identification；
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 for needing to 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 is 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 the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (9)
1. a kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking, it is characterised in that：Including master controller,
For obtaining working field of view image and sending the video camera of vision signal to master controller, 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 buses with master controller；
For detect car speed and to master controller send vehicle velocity signal vehicle speed sensor, by CAN bus with
Master controller connects；
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
Master controller both-way communication connects.
2. a kind of fire monitor of airport crash fire vehicle according to claim 1 exists from the accurate fire extinguishing system of motion tracking, feature
In：The fire monitor control module include fire monitor attitude transducer and for drive fire monitor carry out rotation and pitching servo
Motor, master controller obtain fire monitor attitude signal with control servomotor to fire monitor in real time by fire monitor attitude transducer
Posture be adjusted.
3. a kind of fire monitor of airport crash fire vehicle according to claim 1 exists from the accurate fire extinguishing system of motion tracking, feature
In：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 exists from the accurate fire extinguishing system of motion tracking, feature
In：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 exists from the accurate fire extinguishing system of motion tracking, feature
In：Further include the anemoclinograph for detecting ambient wind velocity and wind direction, the anemoclinograph passes through RS485 buses and master control
Device connection processed.
6. a kind of fire monitor of airport crash fire vehicle according to claim 1 exists from the accurate fire extinguishing system of motion tracking, feature
In：Further include touching display screen, the touching display screen is connect by LVDS buses with master controller both-way communication.
7. a kind of fire monitor of airport crash fire vehicle according to claim 1 exists from the accurate fire extinguishing system of motion tracking, feature
In：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 exists from the accurate fire extinguishing system of motion tracking, feature
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 exists from the accurate fire extinguishing system of motion tracking, feature
In：The video camera is near-infrared video camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810549869.XA CN108525176A (en) | 2018-05-31 | 2018-05-31 | A kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810549869.XA CN108525176A (en) | 2018-05-31 | 2018-05-31 | A kind of fire monitor of airport crash fire vehicle is from the accurate fire extinguishing system of motion tracking |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109675237A (en) * | 2019-02-13 | 2019-04-26 | 罗舒 | Extinguishing device is penetrated with the intelligent fire sand blasting that 4 quadrant detector automatically tracks fire source |
| CN110101996A (en) * | 2019-06-05 | 2019-08-09 | 山东国兴智能科技股份有限公司 | Fire-fighting robot co-located and AUTONOMOUS TASK method under complex environment |
| CN110292729A (en) * | 2019-07-15 | 2019-10-01 | 江苏海祥消防科技有限公司 | One kind being used for airport emergency management and rescue fire-fighting system |
| CN110639144A (en) * | 2019-09-20 | 2020-01-03 | 武汉理工大学 | Fire control unmanned ship squirt controlling means based on flame image dynamic identification |
| CN110652681A (en) * | 2019-09-25 | 2020-01-07 | 广州市禹成消防科技有限公司 | Automatic tracking fire extinguishing device and automatic tracking fire extinguishing method |
| CN110887408A (en) * | 2019-12-20 | 2020-03-17 | 常熟华东汽车有限公司 | Water cannon aiming system and water cannon aiming control method |
| WO2020073595A1 (en) * | 2018-10-12 | 2020-04-16 | 中国矿业大学 | Urban main station fire truck automatic fire extinguishing system and implementation method |
| CN115138015A (en) * | 2022-07-18 | 2022-10-04 | 北京东晨润科技有限公司 | Manned interactive fire fighting fighter plane |
| WO2023091150A1 (en) * | 2021-11-22 | 2023-05-25 | Hale Products, Inc. | Fire-fighting system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023091150A1 (en) * | 2021-11-22 | 2023-05-25 | Hale Products, Inc. | Fire-fighting system |
| CN115138015A (en) * | 2022-07-18 | 2022-10-04 | 北京东晨润科技有限公司 | Manned interactive fire fighting fighter plane |
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Application publication date: 20180914 |