CN109276831A - Elevating fire truck fire extinguishing system, method and elevating fire truck - Google Patents
Elevating fire truck fire extinguishing system, method and elevating fire truck Download PDFInfo
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- CN109276831A CN109276831A CN201810836498.3A CN201810836498A CN109276831A CN 109276831 A CN109276831 A CN 109276831A CN 201810836498 A CN201810836498 A CN 201810836498A CN 109276831 A CN109276831 A CN 109276831A
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- fire
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- elevating
- unmanned plane
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
Abstract
The embodiment of the present invention provides a kind of elevating fire truck fire extinguishing system, method and elevating fire truck, belongs to field of fire fighting equipment.The elevating fire truck includes cantilever crane and the water cannon positioned at the end of the cantilever crane, the system includes: controller, detector and the unmanned plane with binocular camera, wherein, the controller is for controlling the unmanned plane and binocular camera shooting fire scene image；The detector is used to detect the position coordinates of the unmanned plane；The controller is also used to determine the position in the scene of a fire according to the position coordinates of the fire scene image and the unmanned plane, and according to the position in the scene of a fire, controls the cantilever crane water cannon is moved to above the scene of a fire and put out a fire with ejecting extinguishing medium.Elevating fire truck fire extinguishing system, method and the elevating fire truck can fast implement the positioning in the scene of a fire, save rescue time, improve fire-fighting efficiency.
Description
Technical field
The present invention relates to fire-fighting equipments, more particularly to elevating fire truck fire extinguishing system, method and elevating fire truck.
Background technique
Elevating fire truck is the powerful mean of current skyscraper fire extinguishing, while being also widely used in petroleum and petrochemical industry etc. other
The rescue task of fire.Elevating fire truck possesses the cantilever crane form of multiple types, plurality of specifications, the arm of most of elevating fire truck
It is rack-mounted to crank arm, it can clear the jumps and extinguishing operation is carried out to the subsequent scene of a fire of barrier.It is all barrier around the scene of a fire
When, due to not observing the specific location in the scene of a fire, all it is usually at present first to lift cantilever crane, is found by the camera at arm end
Then the position of fire source is directed at fire source ejecting extinguishing medium again；Since the combinative movement of cantilever crane generally requires the regular hour, and
During finding target, the continuous adjustment of cantilever crane posture is needed, so this side for looking for target by cantilever crane movement
Method often delays valuable rescue time.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of elevating fire truck fire extinguishing system, method and elevating fire truck are provided, it should
Elevating fire truck fire extinguishing system, method and elevating fire truck can fast implement the positioning in the scene of a fire, save rescue time, mention
High fire-fighting efficiency.
To achieve the goals above, the embodiment of the present invention provides a kind of elevating fire truck fire extinguishing system, the elevating fire truck
Water cannon including cantilever crane and positioned at the end of the cantilever crane, the system include: controller, detector and have binocular camera shooting
The unmanned plane of head, wherein the controller is for controlling the unmanned plane and binocular camera shooting fire scene image；It is described
Detector is used to detect the position coordinates of the unmanned plane；The controller be also used to according to the fire scene image and it is described nobody
The position coordinates of machine determine the position in the scene of a fire, and according to the position in the scene of a fire, control the cantilever crane for the water cannon
It is moved to above the scene of a fire and is put out a fire with ejecting extinguishing medium.
Preferably, the position coordinates according to the fire scene image and the unmanned plane determine the position packet in the scene of a fire
It includes: identifying the scene of a fire characteristic area in the fire scene image；The scene of a fire feature is determined according to the position coordinates of the unmanned plane
The position coordinates in region are to obtain the position in the scene of a fire.
Preferably, the scene of a fire characteristic area in the identification fire scene image include: by the fire scene image with prestore
Flame image compare；Judge in the fire scene image with the matched region of the pixel color of the flame image for the scene of a fire
Characteristic area.
Preferably, the binocular camera is binocular thermal imaging camera.
Preferably, when the binocular camera is the binocular thermal imaging camera, the identification fire scene image
In scene of a fire characteristic area include: that the scene of a fire characteristic area is identified according to the thermography of the fire scene image.
The embodiment of the present invention also provides a kind of elevating fire truck extinguishing method, which includes cantilever crane and be located at
The water cannon of the end of the cantilever crane, this method use with binocular camera unmanned plane, this method comprises: control it is described nobody
Machine and the binocular camera shoot fire scene image；According to the determination of the position coordinates of the fire scene image and the unmanned plane
The position in the scene of a fire；Detect the position coordinates of the unmanned plane；And the position according to the scene of a fire, controlling the cantilever crane will be described
Water cannon is moved to above the scene of a fire and is put out a fire with ejecting extinguishing medium.
Preferably, the position coordinates according to the fire scene image and the unmanned plane determine the position packet in the scene of a fire
It includes: identifying the scene of a fire characteristic area in the fire scene image；The scene of a fire feature is determined according to the position coordinates of the unmanned plane
The position coordinates in region are to obtain the position in the scene of a fire.
Preferably, the scene of a fire characteristic area in the identification fire scene image include: by the fire scene image with prestore
Flame image compare；Judge in the fire scene image with the matched region of the pixel color of the flame image for the scene of a fire
Characteristic area.
Preferably, when the binocular camera is binocular thermal imaging camera, in the identification fire scene image
Scene of a fire characteristic area includes: to identify the scene of a fire characteristic area according to the thermography of the fire scene image.
The embodiment of the present invention also provides a kind of elevating fire truck, which includes elevating fire truck described above
Fire extinguishing system.
Through the above technical solutions, using elevating fire truck fire extinguishing system provided by the invention, method and elevating fire-fighting
Vehicle shoots fire scene image by unmanned plane and binocular camera, and is determined according to the position coordinates of fire scene image and unmanned plane
The position in the scene of a fire allows cantilever crane that water cannon is accurately aimed at the scene of a fire and puts out a fire.The present invention can fast implement the positioning in the scene of a fire,
Rescue time has been saved, fire-fighting efficiency is improved.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the structural schematic diagram for the elevating fire truck fire extinguishing system that one embodiment of the invention provides；
Fig. 2 is the fire scene image schematic diagram for the elevating fire truck fire extinguishing system that one embodiment of the invention provides；
Fig. 3 be another embodiment of the present invention provides elevating fire truck fire extinguishing system structural schematic diagram；
Fig. 4 be another embodiment of the present invention provides elevating fire truck fire extinguishing system structural schematic diagram；
Fig. 5 is the scene of a fire positioning schematic diagram for the elevating fire truck fire extinguishing system that one embodiment of the invention provides；
Fig. 6 is the elevating fire truck fire extinguishing flow diagram that one embodiment of the invention provides；
Fig. 7 is the flow chart for the elevating fire truck extinguishing method that one embodiment of the invention provides；
Fig. 8 be another embodiment of the present invention provides elevating fire truck extinguishing method flow chart；
Fig. 9 be another embodiment of the present invention provides elevating fire truck extinguishing method flow chart.
Description of symbols
1 controller, 2 binocular camera
21 binocular thermal imaging camera, 3 unmanned plane
4 detector, 41 GPS module
5 elevating fire truck, 6 cantilever crane
7 water cannons.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the structural schematic diagram for the elevating fire truck fire extinguishing system that one embodiment of the invention provides.As shown in Figure 1, should
Elevating fire truck includes cantilever crane and the water cannon positioned at the end of the cantilever crane, the system include: controller 1, detector 4 and
Unmanned plane 3 with binocular camera 2, wherein the controller 1 is for controlling the unmanned plane 3 and the binocular camera 2
Shoot fire scene image；The detector 4 is used to detect the position coordinates of the unmanned plane；The controller 1 is also used to according to institute
The position coordinates for stating fire scene image and the unmanned plane determine the position in the scene of a fire, and according to the position in the scene of a fire, control
It makes the cantilever crane water cannon is moved to above the scene of a fire and put out a fire with ejecting extinguishing medium.
Controller 1 may include unmanned aerial vehicle (UAV) control device, fire-fighting vehicle controller, arm rest controller and water cannon controller, and
And controller 1 by cantilever crane, water cannon, unmanned plane 3 and the respective drive system of binocular camera 2 control cantilever crane, water cannon, nobody
Machine 3 and binocular camera.
Unmanned plane 3 be furnished with binocular camera 2, binocular camera 2 can in vertical plane around 2 rotary shaft of binocular camera into
Row rotation, in addition, the position for the unmanned plane that the image that binocular camera 2 obtains can be detected by screen real-time display, detector 4
Set the controller 1 that coordinate can be real-time transmitted to elevating fire truck.
Controller 1 controls unmanned plane 3 and binocular camera 2 shoots fire scene image.The solid of the simulation human eye of binocular camera 2
Vision, when guaranteeing the work of two cameras, the relative position between them is known.Two cameras of binocular camera 2 are distinguished
The image of photographic subjects can obtain different subpoints on imaging plane, to can be obtained using the methods of triangulation
To the three-dimensional position of target point.
It is used to calculate the function of the position of target based on binocular camera 2, controller 1 can determine fire according to fire scene image
Position, and control cantilever crane the water cannon be moved to above the scene of a fire and put out a fire with ejecting extinguishing medium.
Fig. 2 is the fire scene image schematic diagram for the elevating fire truck fire extinguishing system that one embodiment of the invention provides.Work as fire brigade
When receiving fire rescue request, elevating fire truck (being furnished with unmanned plane 3) is reached near the scene of a fire rapidly, around the discovery scene of a fire all
When being relatively high barrier, fireman manipulates rapidly the vertically lift-off certain altitude of unmanned plane 3, and then unmanned plane 3 hangs in the sky
Stop, if not occurring the information in the scene of a fire in the image of 2 captured in real-time of binocular camera at this time, the driving of 3 control module of unmanned plane
Binocular camera 2 carries out pose adjustment, so that the scene of a fire appears in the visual range of camera, as shown in Figure 2.
Fig. 3 be another embodiment of the present invention provides elevating fire truck fire extinguishing system structural schematic diagram.As shown in figure 3,
The position that the scene of a fire is determined according to the fire scene image includes: the scene of a fire characteristic area in the identification fire scene image；
Determine the position coordinates of the scene of a fire characteristic area to obtain the position in the scene of a fire according to the position coordinates of the unmanned plane 3.
When calculating the position in the scene of a fire, it is necessary first to know that the corresponding actual bit in which region is equipped with fire on fire scene image
Feelings.In the embodiment of the present invention, fire scene image can be identified, to obtain scene of a fire characteristic area, scene of a fire characteristic area is corresponding
Physical location be the scene of a fire position.Since the pixel color of scene of a fire characteristic area on fire scene image is different from other regions,
Therefore the present embodiment can be judged in the fire scene image by comparing the fire scene image with the flame image prestored
The matched region of pixel color with the flame image is scene of a fire characteristic area.In addition, detector 4 can be GPS module 41,
Position coordinates of real-time detection unmanned plane 3, and be sent to controller 1, controller 1 are based on according to the position coordinates of unmanned plane 3
The peculiar function of binocular camera 2 can calculate the coordinate of scene of a fire characteristic area, the i.e. position in the scene of a fire.
Fig. 4 be another embodiment of the present invention provides elevating fire truck fire extinguishing system structural schematic diagram.As shown in figure 4,
The binocular camera 2 is binocular thermal imaging camera 21, is the binocular thermal imaging camera 21 in the binocular camera 2
When, the scene of a fire characteristic area identified in the fire scene image includes: according to the identification of the thermography of the fire scene image
Scene of a fire characteristic area.
It, may be not clear enough using common camera shooting fire scene image since the scene of a fire is mostly all along with dense smoke.
Therefore, the present embodiment can also use binocular thermal imaging camera 21 to shoot fire scene image, obtain the thermography of fire scene image.From
On the thermography it can be seen that each region of temperature from low to high, due to stronger, the temperature highest on thermography of scene of a fire fever
Region and its surrounding a certain range be scene of a fire characteristic area, thus controller 1 can according to the position coordinates of unmanned plane 3,
And the peculiar function based on binocular camera 2, calculate the coordinate of scene of a fire characteristic area.
Fig. 5 is the scene of a fire positioning schematic diagram for the elevating fire truck fire extinguishing system that one embodiment of the invention provides.Such as Fig. 5 institute
Show, elevating fire truck 5 is equipped with cantilever crane 6, and there is cantilever crane 6 section or more piece to crank arm, and cantilever crane 6 can be around the arm of elevating fire truck 5
360 degree of 6 axis of frame (centre of gyration) revolutions, the end of cantilever crane 6 are equipped with water cannon 7, and water cannon 7 can be with ejecting extinguishing medium.When obtaining
Behind the position in the scene of a fire, the controller 1 of elevating fire truck 5 control the fixed point expansion of cantilever crane 6 (i.e. a key is deployed into designated position) arrive away from
(with a certain distance from big gun head and the scene of a fire need to keep, this distance will be determined suitable position from the scene of a fire according to fire extinguishing experience, can be made
Firing-fighting medium sphere of action, function and effect are optimal) then adjust water cannon 7 posture, be aligned the scene of a fire, ejecting extinguishing medium, thus
It extinguishes the blaze.
Fig. 6 is the elevating fire truck fire extinguishing flow diagram that one embodiment of the invention provides.As shown in fig. 6, elevating fire-fighting
The fire extinguishing process of vehicle 5 are as follows: elevating fire truck 5 reaches near the scene of a fire, and fireman's preliminary observation scene of a fire situation simultaneously does initially unmanned plane 3
Change setting, unmanned plane 3 is made vertically to go up to the air, unmanned plane 3 reaches certain altitude and carries out hovering, control binocular thermal imaging camera shooting
First 21 capture scene of a fire position (acquisition image data, carries out the identification of scene of a fire feature, until certain provincial characteristics and scene of a fire feature meet,
Identification scene of a fire region simultaneously positions the region), and send scene of a fire location information to fire-fighting vehicle controller 1, fire fighting truck arm
The fixed point of frame 6 is deployed into suitable height and amplitude, so that big gun head keeps certain distance with the scene of a fire and water cannon 7 is directed at the scene of a fire, carries out
Extinguishing operation.
Fig. 7 is the flow chart for the elevating fire truck extinguishing method that one embodiment of the invention provides.As shown in fig. 7, this is elevated
Fire fighting truck includes cantilever crane and the water cannon positioned at the end of the cantilever crane, and this method uses the unmanned plane with binocular camera,
This method comprises:
Step S71 controls the unmanned plane and binocular camera shooting fire scene image；
Step S72 determines the position in the scene of a fire according to the position coordinates of the fire scene image and the unmanned plane；
Step S73 detects the position coordinates of the unmanned plane；And
Step S74, according to the position in the scene of a fire, control the cantilever crane by the water cannon be moved to above the scene of a fire with
Ejecting extinguishing medium is put out a fire.
Fig. 8 be another embodiment of the present invention provides elevating fire truck extinguishing method flow chart.As shown in figure 8, the party
Method includes:
Step S81 controls the unmanned plane and binocular camera shooting fire scene image；
Step S82 compares the fire scene image with the flame image prestored；
Step S83 judges in the fire scene image with the matched region of the pixel color of the flame image for scene of a fire spy
Levy region；
Step S84 detects the position coordinates of the unmanned plane；
Step S85 determines the position coordinates of the scene of a fire characteristic area to obtain according to the position coordinates of the unmanned plane
The position in the scene of a fire.
Fig. 9 be another embodiment of the present invention provides elevating fire truck extinguishing method flow chart.As shown in figure 9, institute
State binocular camera be binocular thermal imaging camera when, this method comprises:
Step S91 controls the unmanned plane and binocular camera shooting fire scene image；
Step S92 identifies the scene of a fire characteristic area according to the thermography of the fire scene image；
Step S93 detects the position coordinates of the unmanned plane；
Step S94 determines the position coordinates of the scene of a fire characteristic area to obtain according to the position coordinates of the unmanned plane
The position in the scene of a fire.
Since the embodiment of the above method is similar with the embodiment of system above, details are not described herein.
The embodiment of the present invention also provides a kind of elevating fire truck, which includes elevating fire truck described above
Fire extinguishing system.
Through the above technical solutions, using elevating fire truck fire extinguishing system provided by the invention, method and elevating fire-fighting
Vehicle shoots fire scene image by unmanned plane and binocular camera, and determines the position in the scene of a fire according to fire scene image, makes cantilever crane can
It is put out a fire so that water cannon is accurately aimed at the scene of a fire.The present invention can fast implement the positioning in the scene of a fire, save rescue time, improve
Fire-fighting efficiency.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of elevating fire truck fire extinguishing system, which is characterized in that the elevating fire truck include cantilever crane and be located at the cantilever crane
End water cannon, which includes:
Controller, detector and the unmanned plane with binocular camera, wherein
The controller is for controlling the unmanned plane and binocular camera shooting fire scene image；
The detector is used to detect the position coordinates of the unmanned plane；
The controller is also used to determine the position in the scene of a fire according to the position coordinates of the fire scene image and the unmanned plane,
And the position according to the scene of a fire, it controls the cantilever crane and the water cannon is moved to above the scene of a fire with ejecting extinguishing medium
It puts out a fire.
2. elevating fire truck fire extinguishing system according to claim 1, which is characterized in that it is described according to the fire scene image and
The position coordinates of the unmanned plane determine that the position in the scene of a fire includes:
Identify the scene of a fire characteristic area in the fire scene image；
Determine the position coordinates of the scene of a fire characteristic area to obtain the position in the scene of a fire according to the position coordinates of the unmanned plane
It sets.
3. elevating fire truck fire extinguishing system according to claim 2, which is characterized in that in the identification fire scene image
Scene of a fire characteristic area include:
The fire scene image is compared with the flame image prestored；
Judge in the fire scene image with the matched region of the pixel color of the flame image for scene of a fire characteristic area.
4. elevating fire truck fire extinguishing system according to claim 2, which is characterized in that the binocular camera is binocular heat
Imaging camera head.
5. elevating fire truck fire extinguishing system according to claim 4, which is characterized in that in the binocular camera be described
When binocular thermal imaging camera, the scene of a fire characteristic area in the identification fire scene image includes:
The scene of a fire characteristic area is identified according to the thermography of the fire scene image.
6. a kind of elevating fire truck extinguishing method, which is characterized in that the elevating fire truck include cantilever crane and be located at the cantilever crane
End water cannon, this method use with binocular camera unmanned plane, this method comprises:
Control the unmanned plane and binocular camera shooting fire scene image；
The position in the scene of a fire is determined according to the position coordinates of the fire scene image and the unmanned plane；
Detect the position coordinates of the unmanned plane；And
According to the position in the scene of a fire, controls the cantilever crane and the water cannon is moved to above the scene of a fire with ejecting extinguishing medium
It puts out a fire.
7. elevating fire truck extinguishing method according to claim 6, which is characterized in that it is described according to the fire scene image and
The position coordinates of the unmanned plane determine that the position in the scene of a fire includes:
Identify the scene of a fire characteristic area in the fire scene image；
Determine the position coordinates of the scene of a fire characteristic area to obtain the position in the scene of a fire according to the position coordinates of the unmanned plane
It sets.
8. elevating fire truck extinguishing method according to claim 7, which is characterized in that in the identification fire scene image
Scene of a fire characteristic area include:
The fire scene image is compared with the flame image prestored；
Judge in the fire scene image with the matched region of the pixel color of the flame image for scene of a fire characteristic area.
9. elevating fire truck extinguishing method according to claim 7, which is characterized in that the binocular camera be binocular
When thermal imaging camera, the scene of a fire characteristic area in the identification fire scene image includes:
The scene of a fire characteristic area is identified according to the thermography of the fire scene image.
10. a kind of elevating fire truck, which is characterized in that the elevating fire truck includes that any one of claim 1-5 right is wanted
Seek the elevating fire truck fire extinguishing system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810836498.3A CN109276831A (en) | 2018-07-26 | 2018-07-26 | Elevating fire truck fire extinguishing system, method and elevating fire truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810836498.3A CN109276831A (en) | 2018-07-26 | 2018-07-26 | Elevating fire truck fire extinguishing system, method and elevating fire truck |
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Family
ID=65182800
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| CN201810836498.3A Pending CN109276831A (en) | 2018-07-26 | 2018-07-26 | Elevating fire truck fire extinguishing system, method and elevating fire truck |
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| CN114247071A (en) * | 2020-09-21 | 2022-03-29 | 中联重科股份有限公司 | Method for guiding vehicle to run and method for controlling fire fighting vehicle to extinguish fire |
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Application publication date: 20190129 |