CN110882513B - Automatic butt joint monitoring system and method for fire hose - Google Patents
Automatic butt joint monitoring system and method for fire hose Download PDFInfo
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- CN110882513B CN110882513B CN201911253571.5A CN201911253571A CN110882513B CN 110882513 B CN110882513 B CN 110882513B CN 201911253571 A CN201911253571 A CN 201911253571A CN 110882513 B CN110882513 B CN 110882513B
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- A62—LIFE-SAVING; FIRE-FIGHTING
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Abstract
The invention provides an automatic butt joint monitoring system and method for a fire hose, which comprises a fire-fighting robot body, the fire hose and fire-fighting medium supply equipment, wherein the fire-fighting robot body is provided with a first pair of interfaces, one end of the fire hose is connected with the fire-fighting medium supply equipment, the other end of the fire hose is provided with a second pair of interfaces matched with the first pair of interfaces, and the fire-fighting robot body and the fire-fighting medium supply equipment are both provided with at least one image acquisition device for monitoring the butt joint state of the first pair of interfaces and the second pair of interfaces in real time; this is disclosed carries out the full flow control through the whole butt joint process to fire-fighting robot and fire hose, and the operation progress is held to the accuracy, is convenient for handle the very first time that the mistake took place in the butt joint, and the process that launches and pack up the hosepipe is monitored simultaneously, and the best operation point is look for to supplementary robot.
Description
Technical Field
The disclosure relates to the technical field of fire fighting systems, in particular to an automatic butt joint monitoring system and method for a fire hose.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Docking that adopts on the present robot system is socket and plug butt joint when receiving and releasing the system and being applied to automatic charging more, and the mode of adoption also is mostly the pure mechanical structure who uses the guide way, and in the fire control field, more and more fire-fighting robot comes into operation, the continuous efficiency of putting out a fire of improving the fire control.
The inventor of the disclosure finds in research that (1) the existing fire-fighting robots mostly adopt a fire truck to carry out pressurization water supply, and the fire-fighting truck cannot meet the fire-fighting requirement of an unattended substation because the fire truck cannot realize continuous water supply and does not have the functions of automatic butt joint, recovery and the like of a water hose; (2) the existing butt joint system on the fire-fighting robot equipment detects and alarms the butt joint result, namely only the detection of success or failure of butt joint can be realized, but the butt joint process cannot be monitored; (3) at present, a corresponding fire hose automatic retraction monitoring method does not exist, and the monitoring of the fire hose which is completely unfolded or completely retracted cannot be realized; (4) in the existing automatic fire-fighting system, the detection of water belt damage cannot be realized, so that fire-fighting medium leakage can be caused; (5) at present, the identification of each part of the water hose cannot be realized, so that the identification and the monitoring of the butt joint of the fire-fighting robot and the fire hose cannot be realized, and the automatic butt joint monitoring of the water hose cannot be realized.
Disclosure of Invention
In order to solve the defects of the prior art, the disclosure provides an automatic butt joint monitoring system and method for a fire hose, which are used for carrying out full-flow monitoring on the whole butt joint process of a fire-fighting robot and the fire hose and accurately grasping the operation progress so as to process the fire hose at the first time when a mistake occurs in butt joint; meanwhile, the process of unfolding and folding the water band is monitored, and the robot is assisted to find the optimal operation point.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides an automatic butt joint monitoring system for a fire hose.
The utility model provides an automatic monitored control system that docks of fire hose, includes fire-fighting robot body, fire hose and fire-fighting medium supply apparatus, be equipped with first butt joint on the fire-fighting robot body, the one end and the fire-fighting medium supply apparatus of fire hose are connected, and the other end is equipped with the second butt joint mouth with first butt joint mouth assorted, all be equipped with at least one image acquisition device on fire-fighting robot body and the fire-fighting medium supply apparatus for the butt joint state of real time monitoring first butt joint mouth and second butt joint mouth.
As some possible implementations, the automatic fire hose docking monitoring system further includes a fire control platform configured to: and receiving image data acquired by each image acquisition device in real time, identifying and analyzing the content in the image, and judging the current state of the equipment in the image.
As some possible implementations, the first pair of interfaces is disposed at a rear of the fire fighting robot.
As a further limitation, the fire hose is arranged on a hose reel, and an image acquisition device is arranged on the hose reel and used for acquiring the state image of the fire hose in real time.
As a further limitation, the fire control platform is further configured to: processing and identifying the state image of the fire hose captured in real time, determining that the hose is completely unfolded when the connection part of the hose reel and the hose appears in the image, and stopping the robot; and when the joint of the water hose and the robot is jointed in the image, the water hose is judged to be completely retracted, and the water hose reel stops acting.
As a further limitation, the hose reel is provided with a first sensor, and when the hose is unwound: monitoring the number of turns of the water hose reel in real time, determining that the water hose is completely unfolded when the number of turns of the water hose reel reaches a preset value, sending a complete unfolding control signal to the fire control platform by the first sensor, and stopping the robot; when the water belt is retracted: the number of turns of rotation of real-time supervision hosepipe reel, when the number of turns of rotation reachd preset numerical value, the affirmation hosepipe has been withdrawed completely, and first sensor sends the control signal that expandes completely to fire control platform, and the hosepipe reel stops the action.
As a further limitation, the first sensor is a rotary encoder or a rotary sensor or other revolution measuring sensor.
As a further limitation, a pressure sensor is arranged at the position of the fire hose or the first pair of interfaces or the second pair of interfaces and used for detecting water pressure in real time, transmitting the water pressure to the fire control platform, comparing the water pressure with a stored preset pressure threshold value, and when the water pressure is lower than the preset pressure threshold value, prompting that the pressure is insufficient, and judging that pipeline leakage/hose damage exists.
By way of further limitation, the fire control platform is further configured to: the relative positions of the first pair of joints and the second pair of joints are obtained by extracting obvious characteristic values in the images, and the current butt joint state is judged by continuously grabbing the images and processing the images.
By way of further limitation, the fire control platform is further configured to: when the first butt joint and the second butt joint are successfully butted, the first sensor sends a butt joint success signal to the fire control platform.
The second aspect of the disclosure provides a method for monitoring automatic butt joint of fire hoses.
A fire hose automatic butt joint monitoring method utilizes the fire hose automatic butt joint monitoring system of the disclosure, and comprises the following steps:
the first pair of interfaces is arranged at the rear part of the robot, the robot stops at a position within a set error range, backs up backwards, the elastic butt joint device performs error correction, and the second pair of interfaces of the water hose is butt-jointed to the robot;
when monitoring that first interface and second interface lead to unable butt joint because of the error is too big, the fire control platform is through the image of gathering, and the scope that the analysis error exceeds to feed back the robot control system with the result, control robot moves forward and adjustment angle backs a car once more, reduce the butt joint again after the error.
As some possible implementation manners, the fire control platform performs image processing on the image acquired by the image acquisition device, where the image processing manner specifically is as follows: the image is denoised, smoothed and transformed through image preprocessing, the important features of the image are enhanced, and the preprocessed image is subjected to image segmentation, edge detection and image refinement.
As a further limitation, the image recognition is performed on the processed image, specifically: and identifying the image by adopting a neural network image identification model fusing a genetic algorithm and a BP network, extracting important characteristic values in the processed image, and acquiring the current state of the equipment in the image according to the extracted characteristic values.
Compared with the prior art, the beneficial effect of this disclosure is:
the utility model provides a fire hose remote flexible automatic butt joint technique has designed the quick butt joint mouth of modularization, realizes the nimble butt joint of arbitrary fire-fighting robot and water supply equipment, realizes dynamic, detachable, interim team of group between the two, can be nimble according to condition of a fire and distance, and dynamic quick travel is organized the team, realizes putting out a fire fast.
The utility model provides a fire hose butt joint monitoring technology that multisensor fuses, through the overall process control to the butt joint process of fire-fighting robot body and fire hose, can accurately hold the operation progress to in the very first time of mistake takes place to the butt joint handle, monitor the process that the hosepipe expandes and packs up simultaneously, supplementary robot seeks the best operation point.
According to the automatic water hose butt joint system, the butt joint process is transmitted to the background control system in real time through the monitoring system, the water hose is timely recovered when the automatic butt joint fails, the butt joint is carried out again, and the reliability of unattended butt joint is guaranteed.
This openly through the process control of butt joint and the mode that the result detection of butt joint combined together, the effectual monitoring rate of accuracy that has improved the butt joint of fire hose and fire-fighting robot has improved the butt joint work efficiency of fire-fighting robot.
When the automatic butt joint system works, the fire-fighting robot firstly stops at a position within a set error range, and the butt joint angle of the fire-fighting robot is controlled through continuous adjustment of butt joint errors, so that the fire-fighting robot can be automatically butted with a fire hose better.
This is disclosed is equipped with pressure sensor through the position at fire hose or first butt joint or second butt joint for real-time detection water pressure transmits fire control platform, and contrasts with the preset pressure threshold value of storage, and the suggestion pressure is not enough when water pressure is less than preset pressure threshold value, judges that there is the pipeline leakage/hosepipe damaged, and effectual realization detects to the damage of fire hose or pipeline, has improved the global monitoring ability to automatic fire extinguishing system.
The method comprises the steps of identifying images by adopting a neural network image identification model fusing a genetic algorithm and a BP network, extracting important characteristic values in the processed images, obtaining the current state of equipment in the images according to the extracted characteristic values, and rapidly identifying the characteristics of all parts of a fire hose and the characteristics of a butt joint of a fire-fighting robot through the neural network image identification model, so that butt joint and retraction of the fire hose are more effectively monitored.
Drawings
Fig. 1 is a schematic structural view of an automatic butt joint monitoring system for fire hoses according to embodiment 1 of the present disclosure.
Fig. 2 is a plan view of a fire fighting medium supply device according to embodiment 1 of this disclosure.
Fig. 3 is a side view of the fire fighting medium supply equipment according to embodiment 1 of this disclosure.
Fig. 4 is a rear view of the fire fighting medium supply equipment according to embodiment 1 of this disclosure.
Fig. 5 is a front view of the fire fighting medium supply equipment according to embodiment 1 of this disclosure.
Fig. 6 is a block diagram of a fire fighting medium supply device according to embodiment 1 of the present disclosure;
fig. 7 is a schematic view of a fire fighting medium supply device according to embodiment 1 of this disclosure.
Fig. 8 is a schematic flowchart of an image recognition method according to embodiment 2 of the present disclosure.
1. Quickly inserting a water belt joint; 2-water band; 3-a threaded water hose joint; 4-water belt supporting seat; 5-a spindle screw; 6-a compression plate; 7-a screw; 8-a support plate; 9-a pillar; 10-a spring; 11-blocking mother; 12-a base; 13-a screw; 14-a screw; 15-a reel motor; 16-pinion gear; 17-a screw; 18-a frame body; 19-a reel; 20-a central axis; 21-booster pump drain pipe I; 22-a booster pump water discharge pipe II; 23-communicating pipe; 24-relief valves; 25-overflow valve return pipe; 26-screws; 27-a booster pump water inlet pipe I; 28-a three-way connection; 29-a booster pump water inlet pipe II; 30-a main water inlet pipe of a booster pump; 31-foam pump drain; 32-foam pump liquid inlet pipe; 33-a drain ball valve; 34-a booster pump; 35-booster pump support; 36-a screw; 37-bolt; 38-a nut; 39-a base plate; 40-a moving wheel; 41-foam pump support; 42-screws; 43-screws; 44-a foam pump; 45-ball valves; 46-a screw; 47-foam level indicator; 48-a foam storage tank; 49-screw plug; 50-a pressure relief valve; 51-fire water storage tank; 52-water inlet joint; 53-fire water level indicator; 54-a boost switch; 55-emergency stop switch; 56-foam mix switch; 57-reel switch; 58-wireless transceiver module; 59-a master control system; 60-power module 24V; 61-power module 48V; 62-booster pump soft starter; 63-reel motor soft starter; 64-foam pump soft starter.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example 1:
as shown in fig. 1, an embodiment 1 of the present disclosure provides an automatic butt joint monitoring system for a fire hose, including a fire-fighting robot body, a fire hose, and a fire-fighting medium supply device, where a first pair of interfaces is disposed at a rear portion of the fire-fighting robot body, one end of the fire hose is connected to the fire-fighting medium supply device, and a second pair of interfaces matched with the first pair of interfaces is disposed at the other end of the fire hose, and a plurality of visual cameras are disposed on the fire-fighting robot body and the fire-fighting medium supply device, and are used for monitoring a butt joint state of the first pair of interfaces and the second pair of interfaces in real.
The fire-fighting robot comprises a fire-fighting robot, a fire-fighting medium supply device, a first visual camera and a second visual camera, wherein the first visual camera and the second visual camera are arranged at the front part and the rear part of the fire-fighting robot at least, the fire-fighting medium supply device is provided with a third visual camera, the first visual camera can acquire images in front of the fire-fighting robot to realize fire identification, the second visual camera and the third visual camera can acquire images of a first pair of interfaces and a second pair of interfaces, or the second visual camera and the third visual camera are respectively used for acquiring images of the first pair of interfaces and the second pair of interfaces, and through the cooperation of the second visual camera and the third visual camera, the full-flow monitoring of the butt joint of the fire-fighting robot and the fire hose is realized, so that the high automation of the butt joint.
The automatic fire hose docking monitoring system further comprises a fire control platform configured to: and receiving image data acquired by each image acquisition device in real time, identifying and analyzing the content in the image, and judging the current state of the equipment in the image.
The fire hose is arranged on the hose reel, and the hose reel is provided with a fourth visual camera for acquiring state images of the fire hose in real time, wherein the state images at the two ends of the fire hose can be acquired at least.
The hose reel is arranged in the fire-fighting medium supply equipment or fixed on the fire-fighting medium supply equipment, the second pair of interfaces is exposed, when the fire-fighting robot needs to be in butt joint with the fire-fighting hose, the robot backs up backwards, the first pair of interfaces are close to the fire-fighting medium supply equipment, and the second pair of interfaces of the fire-fighting hose and the first pair of interfaces of the fire-fighting robot are automatically in butt joint within a certain error range through the flexible butt joint device on the fire-fighting medium supply equipment.
The first visual camera, the second visual camera, the third visual camera and the fourth visual camera are all connected with the fire control platform through a wireless network and used for transmitting the acquired equipment state images to the fire control platform in real time for image processing and recognition.
The fire control platform is further configured to: processing and identifying the state image of the fire hose captured in real time, determining that the hose is completely unfolded when the connection part of the hose reel and the hose appears in the image, and stopping the robot; and when the joint of the water hose and the robot is jointed in the image, the water hose is judged to be completely retracted, and the water hose reel stops acting.
Be equipped with first sensor on the hosepipe reel, when the hosepipe expandes: monitoring the number of turns of the water hose reel in real time, determining that the water hose is completely unfolded when the number of turns of the water hose reel reaches a preset value, sending a complete unfolding control signal to the fire control platform by the first sensor, and stopping the robot; when the water belt is retracted: the number of turns of rotation of real-time supervision hosepipe reel, when the number of turns of rotation reachd preset numerical value, the affirmation hosepipe has been withdrawed completely, and first sensor sends the control signal that expandes completely to fire control platform, and the hosepipe reel stops the action.
The damage of fire hose can lead to water pressure not enough, presets the numerical value of pressure according to the quantity of the force (forcing) pump that starts, the position of fire hose or first butt joint or second butt joint is equipped with pressure sensor for real-time detection water pressure transmits fire control platform, and compares with the preset pressure threshold value of storage, and the suggestion pressure is not enough when water pressure is less than preset pressure threshold value, judges that there is the pipeline leakage/hosepipe damage.
The fire control platform is further configured to: the relative positions of the first butt joint and the second butt joint are obtained by extracting the obvious characteristic values in the image, the current butt joint state is judged by continuously grabbing the image and carrying out image processing, wherein the water hose joint is a metal piece with a fixed model, the water hose is mostly white, and the image can be easily identified by extracting the obvious characteristic values in the image.
The fire control platform is further configured to: when the first butt joint and the second butt joint are successfully butted, the first sensor sends a butt joint success signal to the fire control platform.
The fire-fighting medium supply equipment described in this embodiment is specifically:
as shown in fig. 2-7, the hose assembly comprises a hose assembly, a hose docking device, a hose retrieving device, a water storage pipe assembly, a booster pump assembly, a movable chassis assembly, a foam pump assembly, a foam storage tank assembly, a fire water storage tank assembly, a control assembly and the like.
The water hose assembly comprises a 1 quick-plug water hose joint, a 2 water hose and a 3 threaded water hose joint, wherein the 1 quick-plug water hose joint and the 2 water hose are buckled and pressed together, the 3 threaded water hose joint and the 2 water hose are buckled and pressed together, one end of the 3 threaded water hose joint is fixed on the water hose withdrawing device, and the 1 quick-plug water hose joint is placed on a 19 reel of the water hose butting device;
the water hose butt joint device comprises a water hose supporting seat 4, rotating shaft screws 5, a pressing plate 6, screws 7, a supporting plate 8, a support 9, a spring 10, a blocking nut 11, a base 12, screws 13 and the like, wherein the two pressing plates 6 are respectively fixed on the water hose supporting seat 4 through the rotating shaft screws 5, as shown in fig. 6, the compacting plate fixes the water band on the water band supporting seat to play a role in positioning, when the water band is pulled out by the robot, the compacting plate can move in the process of lifting the water band, the water band is not blocked from moving, in the butt joint process, the spring can play the impact force that slows down the robot butt joint in-process, 4 10 springs embolia respectively on 9 pillars, 4 pillar one end are fixed on 4 hosepipe supporting seats, and the other end passes 8 backup pads, 12 bases and 11 and keeps off the mother and fix together, and 8 backup pads and 12 bases link together through 7 screws, and 12 bases pass through 13 screw connections and remove on the 39 bottom plates of chassis subassembly.
The water hose withdrawing device comprises 14 screws, 15 reel motors, 16 pinions, 17 screws, 18 frames, 19 reels, 20 center shafts and the like, wherein the 15 reel motors are fixed on 39 bottom plates of the movable chassis assemblies through the 14 screws, the 16 pinions are fixed on output shafts of the 15 reel motors through the 17 screws, the pinions and the output shafts of the reel motors are fixed together, the output shafts of the reel motors rotate to drive the pinions to rotate, gear rings are arranged on the reels and meshed with the pinions, the pinions rotate to drive the reels to rotate, the 18 frames are welded on the 39 bottom plates of the movable chassis assemblies, one end of the 20 center shaft is connected with the water storage pipe assembly through a 23 communicating pipe, and the other end of the 20 center shaft penetrates through the.
A water storage pipe component, which comprises a 21 booster pump water outlet pipe I, a 22 booster pump water outlet pipe II, a 23 communicating pipe, a 24 overflow valve, a 25 overflow valve water return pipe, 26 screws, a 27 booster pump water inlet pipe I, a 28 three-way joint, a 29 booster pump water inlet pipe II, a 30 booster pump main water inlet pipe, a 31 foam pump liquid discharge pipe, a 32 foam pump liquid inlet pipe, a 33 drainage ball valve and the like, wherein the 23 communicating pipe is fixed on a 39 bottom plate of a mobile chassis component through 26 screws, the 24 overflow valve is connected to the upper part of the 23 communicating pipe, one ends of the 21 booster pump water outlet pipe I and the 22 booster pump water outlet pipe are connected to a 34 booster pump, the other end is connected to the 23 communicating pipe, one end of the 25 overflow valve water return pipe is connected to the 24 overflow valve, the other end is connected, one end of a main water inlet pipe of the 30 booster pumps is connected with the 28 tee joint, the other end of the main water inlet pipe is connected with the 33 drainage ball valve, and the 33 drainage ball valve is connected with the fire water storage tank.
The booster pump assembly comprises a 34 booster pump, a 35 booster pump bracket, 36 screws, 37 bolts, 38 nuts and the like, wherein the 34 booster pump is connected with the 35 booster pump bracket through 4 groups of 37 bolts, 38 nuts, and the 35 booster pump bracket is connected with a base plate 39 of the movable chassis assembly through 36 screws.
The movable chassis component comprises a base plate 39, a movable wheel 40 and the like, wherein the two movable wheels 40 are welded with the base plate 39.
The foam pump assembly comprises a 41 foam pump bracket, 42 screws, 43 screws, 44 foam pumps and the like, wherein the 41 foam pump bracket is fixed on a 39 bottom plate of the movable chassis assembly through the 43 screws, and the 44 foam pumps are fixed on the 41 foam pump bracket through the 42 screws. The foam pump discharges foam into the foam pump fluid-discharge pipe from the foam storage jar, and 31 foam pump fluid-discharge pipes are connected at 30 booster pump main inlet tubes, and the foam that the foam pump was beaten gets into the booster pump together with the fire water.
The foam storage tank assembly comprises a 45 ball valve, 46 screws, a 47 foam liquid level indicator, a 48 foam storage tank, a 49 screw plug and the like, wherein the 45 ball valve is installed on the 48 foam storage tank, the 49 screw plug is installed on the 48 foam storage tank and serves as a filling foam inlet, the 47 foam liquid level indicator is installed on the 48 foam storage tank, and the 48 foam storage tank is fixed on a 51 fire-fighting water storage tank through four 46 screws.
Fire water storage jar subassembly includes 50 relief valves, 51 fire water storage jar, 52 water supply connector, 53 fire water level indicator etc. and constitutes, and 50 relief valves and 52 water supply connector welding are on 51 fire water storage jar, and 53 fire water level indicator installs on 51 fire water storage jar, and 51 fire water storage jar welding is on the 39 bottom plates of removing chassis subassembly.
The 52 water inlet joint can be connected with a fire hydrant through a control valve to realize continuous water supply, and the water supply process can be controlled remotely.
The control assembly comprises a 54 pressure boost switch, a 55 emergency stop switch, a 56 foam mixed switch, a 57 reel switch, a 58 wireless transceiver module, a 59 master control system, a 60 power supply module 24V, a 61 power supply module 48V, a 62 booster pump soft starter, a 63 reel motor soft starter, and a 64 foam pump soft starter, and comprises a 54 pressure boost switch, a 55 emergency stop switch, a 56 foam mixed switch, a 57 reel switch, a 58 wireless transceiver module, a 60 power supply module 24V, a 61 power supply module 48V, a 62 booster pump soft starter, a 63 reel motor soft starter, and a 64 foam pump soft starter which are respectively connected with the 59 master control system.
When a 54-booster switch is pressed, a 59-stage general control system controls a 34-booster pump to start working through a 62-booster-pump soft starter, fire water passes through a 30-booster-pump main water inlet pipe, a 27-booster-pump water inlet pipe I, a 28-way joint, a 29-booster-pump water inlet pipe II, a 21-booster-pump water outlet pipe I, a 22-booster-pump water outlet pipe II, a 23-way pipe, a 19 reel, a 2-stage water hose and a 1-stage quick-plugging water hose joint from a 51-; when the boost switch is pressed 54 again, the general control system 59 controls 34 the booster pump to stop working through 62 the booster pump soft starter.
After a 56-foam mixing switch is pressed, the 59-type master control system controls a 44-foam pump to start working through a 64-foam pump soft starter, and foam enters fire fighting water through a 32-foam pump liquid inlet pipe and a 31-foam pump liquid outlet pipe in a mixing mode; when the foam mix switch is pressed 56 again, the master control system 59 controls 44 the foam pump to stop working through the 64 foam pump soft starter.
If foam is needed in the fire extinguishing process, the foam pump is started to work, mixed fire water is used for extinguishing fire, and if foam is not needed, the foam pump is not started, and only fire water is used for extinguishing fire. The fire extinguishing property of the fire catching equipment is freely selected.
After the reel switch is pressed down 57, the master control system 59 controls the reel motor 15 to start working through the reel motor soft starter 63, and the reel boiled water is recycled; when the reel switch is pressed 57 again, the general control system 59 controls 15 the reel motor to stop working through the soft starter of the 63 reel motor.
When fire occurs, the fire-fighting robot rapidly arrives at a fire scene, the fire-fighting point of the equipment is subjected to carry identification and positioning through an infrared thermal imaging system, the position of a three-dimensional coordinate system of the fire point is analyzed, the injection angle and the injection flow of an injection device are calculated by combining the fire condition, fire-fighting media such as dry powder, water columns or fine water mist are selected according to the type of the fire-fighting equipment, after various fire-fighting parameters are calculated, the robot is in butt joint with fire-fighting medium supply equipment, an operator can select the fire-fighting water supply speeds of 3L/s, 6L/s and 9L/s according to the type of the fire-fighting equipment, the foam proportion can be selected according to requirements to 3%, 5%, 10% and 20%, and after the parameter setting is finished, the fire-fighting medium supply equipment is started to. And carrying out fire-fighting operation, wherein after the fire-fighting operation is finished, the automatic belt-removing device of the robot finishes automatic belt-removing, and the fire-fighting medium supply equipment can realize automatic recovery of the water belt.
The butt joint camera that operating personnel passes through the fire control robot, and steerable robot realizes the automatic butt joint of fire hose, and the butt joint device that fire control medium supply equipment was equipped with has multi-direction buffer function, can realize the automatic adjustment of small error among the butt joint process, realizes the butt joint function fast.
Example 2:
the embodiment 2 of the present disclosure provides a method for monitoring automatic butt joint of fire hoses, which utilizes the system for monitoring automatic butt joint of fire hoses according to the embodiment 1 of the present disclosure, and includes the following steps:
the first pair of interfaces is arranged at the rear part of the robot, the robot firstly stops at a position within a set error range, backs up backwards, the elastic butt joint device performs error correction, and the second pair of interfaces of the water hose is butt-jointed to the robot;
when monitoring that first interface and second interface lead to unable butt joint because of the error is too big, the fire control platform is through the image of gathering, and the scope that the analysis error exceeds to feed back the robot control system with the result, control robot moves forward and adjustment angle backs a car once more, reduce the butt joint again after the error.
As shown in fig. 8, the image recognition method adopted in this embodiment is divided into two parts, namely, image processing and image recognition, and the fire control platform performs image processing on the image acquired by the image acquisition device, where the image processing mode specifically includes: the image preprocessing is used for denoising, smoothing and transforming the image, strengthening the important characteristics of the image, and carrying out image segmentation, edge detection and image refinement on the preprocessed image, wherein a segmentation method based on regional characteristics, a segmentation method based on correlation matching, a segmentation method based on boundary characteristics and the like exist in an image segmentation part.
Performing image recognition on the processed image, specifically: identifying the image by adopting a neural network image identification model fusing a genetic algorithm and a BP network, extracting important characteristic values in the processed image, acquiring the current state of equipment in the image according to the extracted characteristic values, for example, mainly extracting the characteristics of a water belt joint when judging whether the butt joint is successful, identifying the water belt joint and a robot joint, and calculating the relative positions of the water belt joint and the robot joint; when judging whether the water hose is completely unfolded, training the characteristics of the joint of the water hose and the water hose reel, identifying whether the joint appears in the image, extracting the characteristics of the water hose joint for training when judging whether the water hose is completely retracted, and identifying whether the joint of the water hose appears in the image.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. The automatic butt joint monitoring system for the fire hose is characterized by comprising a fire-fighting robot body, the fire hose and fire-fighting medium supply equipment, wherein a first pair of interfaces is arranged on the fire-fighting robot body, one end of the fire hose is connected with the fire-fighting medium supply equipment, a second pair of interfaces matched with the first pair of interfaces is arranged at the other end of the fire hose, and at least one image acquisition device is arranged on each of the fire-fighting robot body and the fire-fighting medium supply equipment and is used for monitoring the butt joint state of the first pair of interfaces and the second pair of interfaces in real time;
the fire hose is arranged on a hose reel, and the hose reel is provided with an image acquisition device for acquiring a state image of the fire hose in real time;
be equipped with first sensor on the hosepipe reel, when the hosepipe expandes: monitoring the number of turns of the water hose reel in real time, determining that the water hose is completely unfolded when the number of turns of the water hose reel reaches a preset value, sending a complete unfolding control signal to the fire control platform by the first sensor, and stopping the robot; when the water belt is retracted: the number of turns of rotation of real-time supervision hosepipe reel, when the number of turns of rotation reachd preset numerical value, the affirmation hosepipe has been withdrawed completely, and first sensor sends the control signal that expandes completely to fire control platform, and the hosepipe reel stops the action.
2. The automatic fire hose docking monitoring system of claim 1, comprising a fire control platform configured to: and receiving image data acquired by each image acquisition device in real time, identifying and analyzing the content in the image, and judging the current state of the equipment in the image.
3. The automatic docking monitoring system for a fire hose according to claim 2, wherein the fire control platform is further configured to: processing and identifying the state image of the fire hose captured in real time, determining that the hose is completely unfolded when the connection part of the hose reel and the hose appears in the image, and stopping the robot; and when the joint of the water hose and the robot is jointed in the image, the water hose is judged to be completely retracted, and the water hose reel stops acting.
4. The automatic butt joint monitoring system for the fire hose according to claim 2, wherein a pressure sensor is arranged at the position of the fire hose or the first pair of interfaces or the second pair of interfaces, and is used for detecting water pressure in real time, transmitting the water pressure to the fire control platform, comparing the detected water pressure with a stored preset pressure threshold value, and when the water pressure is lower than the preset pressure threshold value, prompting that the pressure is insufficient, and judging that pipeline leakage/hose breakage exists.
5. The automatic docking monitoring system for a fire hose according to claim 2, wherein the fire control platform is further configured to: and obtaining the relative positions of the first pair of joints and the second pair of joints by extracting the obvious characteristic values in the images, and judging the current butt joint state by continuously grabbing the images and processing the images.
6. The automatic docking monitoring system for a fire hose according to claim 2, wherein the fire control platform is further configured to: when the first butt joint and the second butt joint are successfully butted, the first sensor sends a butt joint success signal to the fire control platform.
7. A fire hose automatic butt joint monitoring method is characterized in that the fire hose automatic butt joint monitoring system of any one of claims 1 to 6 is used, and the method comprises the following steps:
the first pair of interfaces is arranged at the rear part of the robot, the robot stops at a position within a set error range, backs up backwards, the elastic butt joint device performs error correction, and the second pair of interfaces of the water hose is butt-jointed to the robot;
when monitoring that first interface and second interface lead to unable butt joint because of the error is too big, the fire control platform is through the image of gathering, and the scope that the analysis error exceeds to feed back the robot control system with the result, control robot moves forward and adjustment angle backs a car once more, reduce the butt joint again after the error.
8. The automatic butt joint monitoring method for the fire hose according to claim 7, wherein the fire control platform performs image processing on the image acquired by the image acquisition device, and the image processing method specifically comprises: the image is denoised, smoothed and transformed through image preprocessing, the important features of the image are enhanced, and the preprocessed image is subjected to image segmentation, edge detection and image refinement.
9. The automatic butt joint monitoring method for the fire hose according to claim 8, wherein the image recognition is performed on the processed image, and specifically: and identifying the image by adopting a neural network image identification model fusing a genetic algorithm and a BP network, extracting important characteristic values in the processed image, and acquiring the current state of equipment in the image according to the extracted characteristic values.
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