CN110075462A - Fire-fighting system - Google Patents

Abstract

The embodiment of the present invention relates to the field of fire protection, and solves the existing problems of high degree of personnel participation, low degree of automatic operation, slow response, weak operation adaptability and the like. The firefighting system includes the control center and the UAV detection subsystem, data processing subsystem and fire monitor movement servo subsystem that are all connected to the control center in communication. The UAV detection subsystem is used to send command to fly to a location convenient for observation near the fire site, and collect data on the fire site; the data processing subsystem is used to process the data collected by the UAV detection subsystem; the fire monitor movement servo The collected data adjusts the posture of the fire monitor and controls the opening and closing of the fire monitor. The beneficial effects of the invention are: highly automatic operation, eliminating or greatly reducing manual participation, possessing rapid response capability, improving personnel efficiency, strong adaptability to the working environment, and quick response.

Description

Fire Fighting System

technical field

The invention relates to the field of fire protection, in particular to a fire protection system.

Background technique

The Ministry of Industry and Information Technology and other four departments issued the "Guiding Opinions on Accelerating the Development of the Safety Industry", proposing that by 2020, the safety industry system will be basically established; by 2025, the product technology in some fields of the safety industry will reach the international leading level; Remarkable achievements have been made in the construction of parks and internationally renowned brands, and several world-class advanced safety equipment manufacturing clusters have initially formed; safety and emergency technology and equipment have been applied on a large scale in key industries, and the level of social intrinsic safety has been significantly improved.

According to statistics, there are more than 660 cities and 2,800 counties or county-level cities in my country at present, but the overall fire-fighting equipment is less than 20% of that in developed countries. The number of full-time firefighters in most countries in the world accounts for about 10/10,000 of the national population, reaching a maximum of 161/10,000, while the proportion of firefighters including full-time firefighters in my country is only 1.5/10,000. Improving the intelligence level of fire-fighting equipment helps to give full play to the effectiveness of personnel and equipment.

The intelligent automatic control system is an indispensable condition for improving the operation function and performance of fire-fighting equipment, reducing the difficulty of manual intervention and operation, and improving personnel efficiency. At present, advanced artificial intelligence-based automatic control technology needs to be further introduced into domestic fire trucks and emergency rescue equipment, and it is difficult to meet the intelligent indicators such as high mobility, rapid response ability, and operating environment adaptability of special front-line disaster relief equipment. Therefore, there is a need for a fire protection system that addresses or at least alleviates the above-mentioned problems.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of insufficient maneuverability, slow corresponding speed, low adaptability to the working environment, many manual interventions and difficult operation, the embodiment of the present invention provides a fire protection system, including The control center and the unmanned aerial vehicle detection subsystem, the data processing subsystem and the fire monitor movement servo subsystem all communicated with the control center, wherein:

The UAV detection subsystem is used to fly to a location convenient for observation near the fire scene and collect data on the fire scene according to the received instructions from the control center or the remote controller;

The data processing subsystem is used to process the data collected by the UAV detection subsystem, and the data processing subsystem is installed in the control center;

The fire monitor motion servo subsystem is used to adjust the attitude of the fire monitor and control the position of the fire monitor according to the fire site position information and fire information obtained after the data processing subsystem processes the data collected by the drone detection subsystem. opening and closing.

In some preferred embodiments, the drone detection subsystem includes a drone;

The drone detection subsystem also includes at least one of a thermal imaging camera, a depth camera, a color camera, a laser radar sensor for obstacle avoidance, and an airborne control center, the thermal imaging camera, the depth camera, The color camera, the laser radar sensor and the airborne control center are all installed on the drone.

In some preferred embodiments, the UAV detection subsystem also includes a self-stabilized pan-tilt installed on the UAV, and the thermal imaging camera, the depth camera and the color camera are all installed on the Self-stabilizing cloud platform.

In some preferred embodiments, the fire-fighting system further includes a logistics support subsystem, and the logistics support subsystem is a charging subsystem, which is used to charge the battery that provides electrical energy for the UAV detection subsystem.

In some preferred embodiments, there are at least two drones.

In some preferred embodiments, the fire protection system also includes a data transmission subsystem, the UAV detection subsystem communicates with the control center through the data transmission subsystem, and the data transmission subsystem is a drag cable , tow optical fiber, 2.4G wireless communication and optical communication.

In some preferred embodiments, the data processing subsystem uses a machine learning algorithm to process the data collected by the UAV detection subsystem to obtain at least one of the situation of the fire scene and the central location of the fire scene.

In some preferred embodiments, the fire monitor movement servo subsystem includes a fire monitor rotation servo mechanism, a fire monitor pitch angle servo mechanism, and a fire monitor lifting mechanism, so as to respectively drive the fire monitor to rotate, pitch and lift.

In some preferred embodiments, the control center is installed on the vehicle, and the fire fighting system also includes a UAV positioning system communicatively connected with the control center to obtain position information of the UAV relative to the vehicle and attitude information.

In some preferred embodiments, the fire fighting system further includes a linkage control subsystem, which is used to calculate the position of the center of the fire scene relative to the position of the vehicle based on the acquired position information and the attitude information, and according to the relative position The information realizes the automatic linkage control of the fire monitor.

The beneficial effects of the present invention are:

The UAV detection subsystem flies to the location of the fire site according to the instructions received from the control center (the instructions can be pre-stored, or input by the operator through a human-machine interface such as a remote control) and monitor the fire site. Data collection is carried out, and the collected fire field data is transmitted back to the control center and processed by the data processing subsystem to obtain signals that can drive the fire monitor movement servo system to adjust the attitude of the fire monitor and control the opening and closing of the fire monitor, so as to achieve height The automated operation eliminates (instructions are in the form of pre-stored) or greatly reduces (instructions are entered by the operator through the human-computer interface) manual participation, has rapid response capabilities, improves personnel efficiency, and has strong adaptability to the working environment.

Description of drawings

Fig. 1 is a system architecture diagram of an embodiment of a fire protection system;

Fig. 2 is the start-up process flow diagram of an embodiment of the fire protection system;

Fig. 3 is a working flow chart of an embodiment of the fire protection system in the fully automatic linkage control mode.

Detailed ways

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

Referring to Fig. 1, the embodiment of the present invention discloses a fire fighting system, which includes a control center and a drone detection subsystem, a data processing subsystem and a fire monitor movement servo subsystem that are all communicatively connected to the control center, in:

The UAV detection subsystem is used to fly to a convenient observation position near the fire scene according to the received instructions from the control center or the remote control (it can be above the fire scene, or it can be a certain distance from the edge of the fire scene to the side in the horizontal direction. A certain distance can be adjusted according to actual needs, such as 3m), and data collection on the fire scene;

The data processing subsystem is used to process the data collected by the UAV detection subsystem, and the data processing subsystem is installed in the control center;

The fire monitor movement servo subsystem is used to adjust the attitude of the fire monitor and control the opening and closing of the fire monitor according to the fire field information and fire situation information obtained after processing the data collected by the UAV detection subsystem by the data processing subsystem. When it is turned on, it will accurately launch the fire extinguishing agent flow to the center of the fire scene.

Specifically, the above-mentioned control center can be fixed on the ground to facilitate construction and maintenance; the control center can also be installed on a movable vehicle, and the mobility of the vehicle can be used to improve the mobility of the fire protection system and expand its operating range. The means of transportation can be ground vehicles such as ground vehicles, air vehicles such as airplanes, or water vehicles such as ships, which can be flexibly selected according to the actual application environment to expand the application range of the fire protection system.

In addition, the control center should include memory and controllers for storing data and executing programs so that the fire protection system can operate automatically.

It should be noted that although the present embodiment of the firefighting system provides that the flight of the UAV detection subsystem is to fly to the fire site according to the instructions issued by the control center, those skilled in the art know that the UAV detection subsystem It is also possible to directly direct the flight of the UAV by the operator (such as a firefighter) by operating the remote controller.

The data processing subsystem processes the data collected by the UAV detection subsystem to obtain information on the location and fire conditions (flame height and horizontal distribution, etc.) of the fire scene, and drives the fire monitor motion servo subsystem to adjust the fire monitor The attitude of the fire monitor and the control of the opening and closing of the fire monitor enable the fire monitor to be aimed at the center of the fire scene, thereby effectively extinguishing the fire.

It should be noted that a specific structural form of the drone detection subsystem is as follows: it includes the drone, thermal imaging camera, depth camera, color camera, laser radar sensor for obstacle avoidance, and the onboard control center. At least one, thermal imaging camera, depth camera, color camera, lidar sensor for obstacle avoidance, and airborne control center are all installed on the drone. Thermal imaging cameras, depth cameras and color cameras are all used to shoot the fire scene, and one or at least two combinations of the three cameras can be selected according to the fire scene to accurately grasp the fire scene; the lidar sensor is used to avoid fire. Obstacles to ensure the safety of UAV flight.

The UAV detection subsystem also includes a self-stabilizing gimbal installed on the UAV, and thermal imaging cameras, depth cameras and color cameras are all installed on the self-stabilizing gimbal. Through the setting of the self-stabilizing platform, the thermal imaging camera, depth camera and color camera always maintain a fixed posture when flying with the UAV, which improves the imaging quality of the thermal imaging camera, depth camera and color camera, and can further accurately grasp Fire situation, and make reliable data preparation for subsequent data processing and fire monitor attitude adjustment.

Since the flight of the drone, the thermal imaging camera, the depth camera, the color camera and the laser radar all need to consume electric energy, that is, the work of the drone detection subsystem as a whole needs to consume electric energy, so another embodiment of the fire protection system also includes The logistics support subsystem, the logistics support subsystem is a charging subsystem, and the power consumed by the UAV detection subsystem is provided by the battery. The charging subsystem charges the battery to ensure that the UAV detection subsystem can continue to work.

In addition, there are at least two drones, that is, there are at least two drone detection subsystems, so that some drones can still perform detection operations when they are charging. Further improve the work efficiency of the fire protection system (especially large equipment such as fire monitors).

In addition, the fire protection system also includes a data transmission subsystem. The UAV detection subsystem communicates with the control center through the data transmission subsystem. The data transmission subsystem is one of towing cables, towing optical fibers, 2.4G wireless communication and optical communication. The above four transmission methods have different pertinence in terms of scope of application and performance. The towed cable is only suitable for detecting fires and floors that are relatively low in height from the ground, but since the cable can provide power for the UAV, it has a strong endurance. Due to the light weight of the optical fiber, the method of towing the optical cable is suitable for relatively high fire sites and floors. For extremely high fire sites or floors, only wireless communication methods such as 2.4G or optical communication can be used.

In addition, the data processing subsystem processes the data collected by the UAV detection subsystem through a machine learning algorithm to obtain at least one of the situation of the fire scene and the central position of the fire scene. The use of artificial intelligence enables the fire protection system to have the ability to learn, so that it can judge the situation of the fire scene and the center of the fire scene more accurately and reliably, thereby providing a basis for the fire monitor movement servo subsystem. To ensure the ultimate fire extinguishing effect.

A specific structure of the fire monitor motion servo subsystem is: including the fire monitor rotation servo mechanism, the fire monitor pitch angle servo mechanism and the fire monitor lifting mechanism, to respectively drive the fire monitor to rotate, pitch and lift, and finally the fire monitor Adjust the fire extinguishing agent flow sprayed by the fire monitor to just reach the center of the fire scene, thereby ensuring the best fire extinguishing effect. The specific structure of the motion servo subsystem is well known to those skilled in the art, so it will not be repeated here.

As mentioned above, the control center can also be installed on the vehicle, and the fire fighting system also includes a UAV positioning system communicatively connected with the control center to obtain the position information and attitude information of the UAV relative to the vehicle . A flashing light source of a specific shape is installed at the bottom of the drone as a beacon, and the camera on the top of the fire truck can collect pictures and identify the beacon of the drone to achieve rough positioning. The distance of the fire truck, the vehicle inertial measurement unit and the UAV inertial measurement unit respectively measure the roll angle, pitch angle and yaw angle of the vehicle and the UAV, and then it can be comprehensively obtained that the UAV is relative to the vehicle in the lateral direction, Longitudinal and vertical offset and rotation angle, so as to realize the relative positioning data calculation of UAV and vehicle in 6 degrees of freedom, and provide a basis for the control of fire monitors. These sensor data are sent to the control center for centralized processing and the relative pose information of the UAV and the vehicle is calculated, so as to realize the coordinate conversion of UAV positioning and data.

In addition, the fire fighting system also includes a linkage control subsystem, which is used to calculate the position of the center of the fire scene relative to the vehicle based on the acquired position information and attitude information. The linkage control subsystem can calculate the position coordinates of the center of the fire scene relative to the vehicle through the data obtained by the UAV positioning system and the data processing subsystem, so as to calculate a reasonable fire monitor control command. The control command of the control center to the fire monitor is sent to the fire monitor motion servo subsystem through the CAN bus. During the fire extinguishing process of the fire monitor, the drone's onboard camera can observe the relative position of the fire extinguishing agent flow and the fire scene in real time, and use this as a basis to fine-tune the movement of the fire monitor to achieve accurate fire extinguishing.

Fig. 2 is a flowchart of the start-up process of an embodiment of the fire-fighting system; Fig. 3 is a flowchart of the work of an embodiment of the fire-fighting system in the fully automatic linkage control mode. The specific process has been described in detail above, and will not be described again.

It should be noted that, in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. Terms indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In addition, it should be noted that, in the description of the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a It is a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary, and it may be the internal communication of two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The term "comprising" or any other similar term is intended to cover a non-exclusive inclusion such that a process, article, or apparatus/apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed, or includes Elements inherent in these processes, articles, or equipment/devices.

So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings, but those skilled in the art will easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims (10)

1. a kind of fire-fighting system, which is characterized in that including control centre and with the unmanned plane of control centre communication connection Detection subsystem, data process subsystem and fire monitor motion servo subsystem, in which:

The unmanned plane detection subsystem is used for the command remote control device issued according to the control centre or remote controler that receive It flies to the scene of a fire and is nearby convenient for the position of observation, data acquisition is carried out to the scene of a fire；

The data process subsystem is for handling the collected data of unmanned plane detection subsystem, data processing System is installed on the control centre；

Fire monitor motion servo subsystem is for acquiring the unmanned plane detection subsystem according to the data process subsystem To data handled after the scene of a fire information that obtains and intensity of a fire information adjust the posture of fire monitor and the opening and closing of control fire monitor.

2. fire-fighting system according to claim 1, which is characterized in that the unmanned plane detection subsystem includes unmanned plane；

The unmanned plane detection subsystem further includes thermal imaging camera, depth camera, colour TV camera, swashing for avoidance At least one of optical radar sensor and airborne control centre, it is the thermal imaging camera, the depth camera, described Colour TV camera, the laser radar sensor and the airborne control centre are mounted on the unmanned plane.

3. fire-fighting system according to claim 2, which is characterized in that the unmanned plane detection subsystem further includes being installed on The unmanned plane from steady holder, the thermal imaging camera, the depth camera and the colour TV camera are mounted on It is described from steady holder.

4. fire-fighting system according to claim 2, which is characterized in that the fire-fighting system further includes logistics support subsystem System, the logistics support subsystem is charging subsystem, for providing electric energy to work to the unmanned plane detection subsystem Battery charging.

5. fire-fighting system according to claim 4, which is characterized in that the unmanned plane is at least two.

6. fire-fighting system according to any one of claim 1 to 5, which is characterized in that the fire-fighting system further includes number According to transmission subsystem, the unmanned plane detection subsystem passes through the data transmission sub-system and control centre's communication link It connects, the data transmission sub-system is one of trailing cable, towing optical fiber, 2.4G wireless communication and optic communication.

7. fire-fighting system according to claim 6, which is characterized in that the data process subsystem is calculated by machine learning Method handles the collected data of unmanned plane detection subsystem, to obtain in scene of a fire situation and body of fire position At least one.

8. fire-fighting system according to claim 6, which is characterized in that the fire monitor motion servo subsystem includes fire-fighting Big gun rotary servo, fire monitor pitch angle servo mechanism and fire monitor lifting mechanism, rotated with respectively driving the fire monitor, Pitching and lifting.

9. fire-fighting system according to claim 3, which is characterized in that the control centre is installed on vehicle, the fire-fighting System further includes the unmanned plane positioning system communicated to connect with the control centre, to obtain the unmanned plane relative to the vehicle Location information and posture information.

10. fire-fighting system according to claim 9, which is characterized in that the fire-fighting system further includes linkage control subsystem System, for calculating body of fire position relative to the vehicle based on the location information got and the posture information Position, and full-automatic linkage control of the information realization to fire monitor depending on the relative position.