CN110075462A - Fire-fighting system - Google Patents
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- CN110075462A CN110075462A CN201910398650.9A CN201910398650A CN110075462A CN 110075462 A CN110075462 A CN 110075462A CN 201910398650 A CN201910398650 A CN 201910398650A CN 110075462 A CN110075462 A CN 110075462A
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- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000001931 thermography Methods 0.000 claims description 12
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- 239000013307 optical fiber Substances 0.000 claims description 5
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
Abstract
The present embodiments relate to fire-fighting domain, solve there is currently personnel participation it is high, automated job degree is low, low-response and operation adaptability are weak the problems such as.Fire-fighting system includes control centre and with unmanned plane detection subsystem, data process subsystem and the fire monitor motion servo subsystem of control centre communication connection, and the instruction flight that unmanned plane detection subsystem is used to be issued according to the control centre that receives or remote controler is nearby convenient for the position of observation to the scene of a fire, to scene of a fire progress data acquisition；Data process subsystem is for handling the collected data of unmanned plane detection subsystem；Fire monitor motion servo subsystem is used to adjust the posture of fire monitor and the opening and closing of control fire monitor according to the collected data of unmanned plane detection subsystem.The invention has the benefit that increasingly automated operation, preventing or greatly reducing manually participate in, have capability of fast response, improving that personnel's efficiency, operating environment adaptive faculty are strong, response is fast.
Description
Technical field
The present invention relates to fire-fighting domains, and in particular to a kind of fire-fighting system.
Background technique
Four department such as the Ministry of Industry and Information Technology prints and distributes " about the instruction for accelerating security industry development ", proposes to 2020
Year, security industry system is established substantially；By 2025, security industry certain fields product technology was reached the international leading level；State
Family's security industry Demonstration Garden and internationally renowned brand construction achievement are significant, preliminarily form several world-class advanced safety equipment systems
Make cluster；Safety and emergence technology, which are equipped, obtains scale application in key industry field, and social nature's level of security significantly mentions
It is high.
Data is shown according to statistics: there are a city more than 660,2800 counties or county-level city in China at present, but fire-fighting equipment is overall
Less than the 20% of developed country.It is left to account for national population ratio 10/10000ths for most countries sole duty fireman number in the world
The right side, up to 161/10000ths, and fireman accounting of the China including full-time fireman only has 1.5/10000ths.Promotion disappears
The intelligent level of anti-equipment facilitates the personnel of giving full play to and equipment effectiveness.
Intelligent automation control system reduces manual intervention and operation for the operation function and performance of promotion fire-fighting equipment
Difficulty, promoted personnel's efficiency, be indispensable necessary condition.Need on current domestic fire fighting truck and rescue equipment into
One step introduces the advanced automated control technology based on artificial intelligence, it is difficult to which the height for meeting special front disaster relief equipment is motor-driven
Property, the intelligent index such as capability of fast response, operating environment adaptability.Therefore, it is necessary to a kind of fire-fighting systems, with solution or extremely
Mitigate the above problem less.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve, mobility is inadequate, corresponding speed is slow, operating environment
Adaptability is low, the manual intervention mostly big problem with operation difficulty, the embodiment of the present invention are supplied to a kind of fire-fighting system, including
Control centre and the unmanned plane detection subsystem communicated to connect with the control centre, data process subsystem and fire monitor are transported
Dynamic servo-drive subsystem, in which:
The unmanned plane detection subsystem is used to be flown according to the instruction that the control centre or remote controler that receive issue
Row is nearby convenient for the position of observation to the scene of a fire, carries out data acquisition to the scene of a fire；
The data process subsystem is for handling the collected data of unmanned plane detection subsystem, at the data
Reason subsystem is installed on the control centre；
Fire monitor motion servo subsystem is used for according to the data process subsystem to the unmanned plane detection subsystem
The scene of a fire location information and intensity of a fire information that collected data obtain after being handled adjust the posture and control fire-fighting of fire monitor
The opening and closing of big gun.
In some preferred embodiments, the unmanned plane detection subsystem includes unmanned plane；
The unmanned plane detection subsystem further includes thermal imaging camera, depth camera, colour TV camera, is used for avoidance
Laser radar sensor and at least one of airborne control centre, the thermal imaging camera, the depth camera,
The colour TV camera, the laser radar sensor and the airborne control centre are mounted on the unmanned plane.
In some preferred embodiments, the unmanned plane detection subsystem further include be installed on the unmanned plane from steady cloud
Platform, the thermal imaging camera, the depth camera and the colour TV camera are mounted on described from steady holder.
In some preferred embodiments, the fire-fighting system further includes logistics support subsystem, the logistics support subsystem
System is charging subsystem, for providing the battery charging of electric energy to work to the unmanned plane detection subsystem.
In some preferred embodiments, the unmanned plane is at least two.
In some preferred embodiments, the fire-fighting system further includes data transmission sub-system, unmanned plane detection
System is communicated to connect by the data transmission sub-system and the control centre, and the data transmission sub-system is towing electricity
One of cable, towing optical fiber, 2.4G wireless communication and optic communication.
In some preferred embodiments, the data process subsystem detects the unmanned plane by machine learning algorithm
The collected data of subsystem are handled, to obtain at least one of scene of a fire situation and body of fire position.
In some preferred embodiments, the fire monitor motion servo subsystem includes fire monitor rotary servo, disappears
Anti- big gun pitch angle servo mechanism and fire monitor lifting mechanism, to respectively drive the fire monitor rotation, pitching and lifting.
In some preferred embodiments, the control centre is installed on vehicle, and the fire-fighting system further includes and the control
The unmanned plane positioning system of center to center communications connection processed, to obtain location information and posture of the unmanned plane relative to the vehicle
Information.
In some preferred embodiments, the fire-fighting system further includes linkage control subsystem, for based on getting
The location information and the posture information calculate position of the body of fire position relative to the vehicle, and according to this with respect to position
Information realization is set to the full-automatic linkage control of fire monitor.
The invention has the benefit that
Instruction that unmanned plane detection subsystem is issued according to the control centre that receives (instruction can be it is pre-stored,
Be also possible to by operator pass through as remote controler human-computer interaction interface inputs) flight to scene of a fire position and to the scene of a fire into
The acquisition of row data, the data in the scene of a fire of acquisition are transmitted back to the acquisition of the processing after control centre through data process subsystem and can drive
The signal of fire monitor motion servo system work, to adjust the posture of fire monitor and the opening and closing of control fire monitor, to realize height
The automated job of degree prevents (instruction is pre-stored form) or substantially reduces (to instruct and pass through human-computer interaction circle by operator
The form of face input) artificial participation, have capability of fast response, improve personnel's efficiency, operating environment adaptive faculty is strong.
Detailed description of the invention
Fig. 1 is the system architecture diagram of one embodiment of fire-fighting system；
Fig. 2 is the start-up course flow chart of one embodiment of fire-fighting system；
Fig. 3 is work flow diagram of one embodiment of fire-fighting system under full-automatic linkage control mode.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
Referring to Fig.1, the embodiment of the invention discloses a kind of fire-fighting system, which includes control centre and and institute
Unmanned plane detection subsystem, data process subsystem and the fire monitor motion servo subsystem of control centre's communication connection are stated,
In:
Unmanned plane detection subsystem is used to be flown according to the instruction that the control centre or remote controler that receive issue to the scene of a fire
Nearby convenient for the position of observation (can be for above the scene of a fire, or the side away from scene of a fire edge certain distance in horizontal direction,
The certain distance can be adjusted according to actual needs, such as 3m), to the scene of a fire carry out data acquisition；
Data process subsystem is for handling the collected data of unmanned plane detection subsystem, data process subsystem installation
In control centre；
Fire monitor motion servo subsystem is used for collected to unmanned plane detection subsystem according to data process subsystem
The scene of a fire information and intensity of a fire information that data obtain after being handled adjust the posture of fire monitor and the opening and closing of control fire monitor, fire-fighting
Just accurately emit extinguishing chemical stream to body of fire when big gun is opened.
Specifically, ground can be fixed in above-mentioned control centre, facilitate construction, maintenance；Control centre can also install
On the moveable vehicles, the mobility of fire-fighting system is improved by the movement of the vehicles, expands its operation model
It encloses, which, which can be the ground traffic tools such as surface car, to be the transatmospheric vehicles such as aircraft to be wheel
The marine vehicles such as ship are flexibly selected according to actual application environment, to expand the application range of fire-fighting system.
In addition, control centre should include memory and controller, for storing data with execute program so that fire-fighting
System being capable of automatic running.
It should be noted that, although the flight that the present embodiment of fire-fighting system provides unmanned plane detection subsystem is according to control
The position in the scene of a fire is arrived in the instruction flight that center processed issues, those of skill in the art would appreciate that unmanned plane detection subsystem
It can directly be commanded behind the scenes the flight of unmanned plane by operator (such as fireman) by remote controller device.
Data process subsystem by the collected data processing of unmanned plane detection subsystem institute, with obtain the scene of a fire position and
Fire behavior (flame height and horizontal distribution etc.) information, and fire monitor motion servo subsystem work is driven, to adjust fire monitor
Posture and control fire monitor opening and closing, enable fire monitor to be directed at the center in the scene of a fire, thus high-effect fire-extinguishing.
It should be noted that a kind of specific constructive form of unmanned plane detection subsystem are as follows: it includes unmanned plane and heat
In imaging camera machine, depth camera, colour TV camera, the laser radar sensor for avoidance and airborne control centre
At least one, thermal imaging camera, depth camera, colour TV camera, for the laser radar sensor of avoidance and airborne
Control centre is mounted on unmanned plane.Thermal imaging camera, depth camera and colour TV camera are used to clap the scene of a fire
It takes the photograph, the combination of one of three kinds of video cameras or at least two can be selected according to scene of a fire situation, accurately to grasp the feelings in the scene of a fire
Condition；Laser radar sensor is used for avoidance, guarantees the safety of unmanned plane during flying.
Unmanned plane detection subsystem further include be installed on unmanned plane from steady holder, thermal imaging camera, depth camera
It is mounted on colour TV camera from steady holder.By the setting from steady holder so that thermal imaging camera, depth camera and
The posture that colour TV camera is always kept in a fixed state when with unmanned plane during flying, improve thermal imaging camera, depth camera and
The image quality of colour TV camera is further able to accurately grasp scene of a fire situation, is subsequent data processing, fire monitor posture tune
Section does reliable data preparation.
Since the work of unmanned plane during flying, thermal imaging camera, depth camera, colour TV camera and laser radar is required to
Electric energy is consumed, also that is, unmanned plane detection subsystem need of work consumes electric energy, therefore the another embodiment of fire-fighting system on the whole
It further include logistics support subsystem, logistics support subsystem is charging subsystem, the electricity of unmanned plane detection subsystem consumption in operation
It can be provided by battery, which is battery charging, to guarantee that unmanned plane detection subsystem can continue working.
In addition, unmanned plane is at least two, i.e., unmanned plane detection subsystem is at least two, so that part unmanned plane is filling
Still there is part unmanned plane to be able to carry out detect operation when electric.Further improving fire-fighting system, (the especially large sizes such as fire monitor are set
It is standby) working efficiency.
In addition, fire-fighting system further includes data transmission sub-system, unmanned plane detection subsystem passes through data transmission sub-system
It is communicated to connect with control centre, data transmission sub-system is in trailing cable, towing optical fiber, 2.4G wireless communication and optic communication
It is a kind of.Above-mentioned four kinds of transmission modes have different specific aims in the scope of application and aspect of performance.Trailing cable is only applicable to detect
With the lower scene of a fire of ground relative altitude and floor, but since cable can provide electric power for unmanned plane, cruising ability is strong.Due to
Optical fiber is light-weight, and the mode of optical fiber trailing cable is suitable for the relatively high scene of a fire and floor of height.And for the high scene of a fire or building
Layer can only then use the communications such as 2.4G or optic communication.
In addition, data process subsystem carries out the collected data of unmanned plane detection subsystem by machine learning algorithm
Processing, to obtain at least one of scene of a fire situation and body of fire position.Using artificial intelligence, so that fire-fighting system has
Habit ability, so as to scene of a fire situation and body of fire position at more accurate, reliable judgement, to be fire monitor motion servo
Subsystem provides foundation.Finally to guarantee extinguishing effect.
A kind of specific structure of fire monitor motion servo subsystem are as follows: bow including fire monitor rotary servo, fire monitor
Elevation angle servo mechanism and fire monitor lifting mechanism, to respectively drive the fire monitor rotation, pitching and lifting, finally by fire monitor
Body of fire position can just be reached by adjusting the extinguishing chemical stream sprayed by fire monitor, to guarantee optimal extinguishing effect.
The specific structure of motion servo subsystem is well known to those skilled in the art, and so it will not be repeated.
As described above, control centre is also mountable to vehicle, the fire-fighting system further includes communicating with the control centre
The unmanned plane positioning system of connection, to obtain location information and posture information of the unmanned plane relative to the vehicle.In nothing
The flasher of man-machine bottom installation specific shape can then be acquired picture and be known by the video camera at the top of fire fighting truck as beacon
Not Chu unmanned plane beacon, realize coarse localization, unmanned plane is measured at a distance from fire fighting truck with ultra-broadband ranging module, vehicle inertia
Measuring unit and unmanned plane Inertial Measurement Unit measure the roll angle, pitch angle and yaw angle of vehicle and unmanned plane respectively, then
Can integrate obtain unmanned plane relative to vehicle laterally, it is longitudinal, vertical on offset and rotation angle, thus realize 6 from
By the unmanned plane and vehicle relative positioning data calculation on degree, foundation is provided for the control of fire monitor.These sensing datas are equal
Be sent to control centre and focus on and calculate the relative pose information of unmanned plane and vehicle, thus realize unmanned plane positioning and
The coordinate of data is converted.
In addition, fire-fighting system further includes linkage control subsystem, for based on the location information and posture information got
Calculate position of the body of fire position relative to vehicle.Linkage control subsystem passes through unmanned plane positioning system and data processing
The data that system obtains can calculate position coordinates of the body of fire position relative to vehicle, reasonably disappear to be calculated
Anti- big gun control instruction.Control centre is sent to fire monitor motion servo subsystem by CAN bus to the control instruction of fire monitor.
For fire monitor in fire extinguishing procedure, unmanned aerial vehicle onboard video camera can observe the relative position in extinguishing chemical stream and the scene of a fire in real time, and with
This is to carry out movement fine tuning according to fire monitor, realizes precisely fire extinguishing.
Fig. 2 is the start-up course flow chart of one embodiment of fire-fighting system；Fig. 3 is that one embodiment of fire-fighting system is automatically joining
Work flow diagram under dynamic control model.Its detailed process it is above-mentioned had elaborate, be not repeated to describe.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical",
"horizontal", "inner", "outside" etc. indicate that the term of direction or positional relationship is direction based on the figure or positional relationship, this is only
It is merely for convenience of describing, rather than indication or suggestion described device or element must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used for
Purpose is described, relative importance is not understood to indicate or imply.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Term " includes " or any other like term are intended to cover non-exclusive inclusion, so that including a system
Process, article or the equipment/device of column element not only include those elements, but also other are wanted including what is be not explicitly listed
Element either further includes these processes, article or the intrinsic element of equipment/device.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection 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.
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| CN201910398650.9A CN110075462A (en) | 2019-05-14 | 2019-05-14 | Fire-fighting system |
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Cited By (4)
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| CN110898353A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Panoramic monitoring and linkage control method and system for fire-fighting robot of transformer substation |
| CN110975194A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Transformer substation fire-fighting robot auxiliary method and system |
| CN112206441A (en) * | 2020-10-12 | 2021-01-12 | 江西省智能产业技术创新研究院 | Cooperative scheduling method of fire-fighting robot scheduling system |
| CN114307016A (en) * | 2021-11-22 | 2022-04-12 | 中国矿业大学 | Fire extinguishing system based on unmanned aerial vehicle vision auxiliary fire monitor and control method |
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| CN112206441A (en) * | 2020-10-12 | 2021-01-12 | 江西省智能产业技术创新研究院 | Cooperative scheduling method of fire-fighting robot scheduling system |
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Application publication date: 20190802 |
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