CN111013068A - A fire gun pronunciation intelligence fire extinguishing systems for big space fire engineering - Google Patents
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 33
- 238000005507 spraying Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 9
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0272—Voice signal separating
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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Abstract
The invention discloses a fire monitor voice intelligent fire extinguishing system for large-space fire engineering, which comprises a voice acquisition module, a voice preprocessing module, a semantic conversion analysis module, a keyword extraction module, a parameter storage database, a positioning module, a processing module, a fire extinguishing execution module and an attitude adjusting module. According to the intelligent fire extinguishing device, voice information is collected and the collected voice is processed to be converted into a control instruction which can be recognized by the fire monitor, so that the voice intelligent control of the fire monitor is realized, the complexity of manual operation of the fire monitor by personnel is reduced, the rotation angle and the elevation angle of the fire monitor and fire extinguishing can be controlled according to the voice control instruction, the voice operation is realized, the danger of operating the fire monitor on the fire scene by the personnel is reduced, the intelligent fire extinguishing device has the characteristics of intellectualization and simple operation control, and the fire source position can be accurately subjected to fire extinguishing treatment.
Description
Technical Field
The invention belongs to the technical field of fire monitor, and relates to a speech intelligent fire extinguishing system of a fire monitor for large-space fire engineering.
Background
At present, fire monitor is widely used in special vehicles for executing the task of fire disaster, and most national fire departments including China also can use the fire monitor for other emergency rescue purposes. The inlet of the fire monitor is a quantitative water source with a certain pressure, and the water flow passes through the fire monitor, then the pressure energy is converted into kinetic energy, and the kinetic energy is sprayed out from the outlet of the monitor head at a high speed to form jet flow so as to achieve the purpose of extinguishing fire outside a certain distance.
When the existing fire monitor is used, the manual water spraying and the water spraying distance are controlled, the difficulty of adjusting the water spraying distance of the fire monitor by personnel to align to a fire source is increased, the water spraying distance is required to be adjusted continuously, the rescue time is shortened, the personnel are required to be close to the fire monitor to be adjusted, the probability that the personnel are injured by the fire source is increased, and the problems of poor intelligent characteristics and complex control are solved.
Disclosure of Invention
The invention aims to provide a voice intelligent fire extinguishing system for a fire monitor in large-space fire engineering, which solves the problems that the existing fire monitor cannot carry out voice intelligent control, and has poor intelligent characteristics, complex operation and control and poor personnel safety.
The purpose of the invention can be realized by the following technical scheme:
a fire monitor voice intelligent fire extinguishing system for large-space fire engineering comprises a voice acquisition module, a voice preprocessing module, a semantic conversion analysis module, a keyword extraction module, a parameter storage database, a positioning module, a processing module, a fire extinguishing execution module and an attitude adjusting module;
the voice acquisition module is connected with the semantic conversion analysis module through the voice preprocessing module, the semantic conversion analysis module is connected with the keyword extraction module, the processing module is respectively connected with the positioning module and the posture adjustment module, and the parameter storage database is respectively connected with the semantic conversion analysis module, the keyword extraction module and the processing module;
the voice acquisition module is arranged on the fire monitor and used for acquiring voice information around the fire monitor in real time and sending the acquired voice information to the voice preprocessing module;
the voice preprocessing module is used for receiving the voice information sent by the voice acquisition module, denoising the received voice information to obtain mixed voice sent by each person, sequentially separating the mixed voice to separate the voice information corresponding to different persons, and sending the separated voice information to the semantic conversion analysis module;
the semantic conversion analysis module is used for receiving the voice information corresponding to different personnel sent by the voice preprocessing module, comparing the voice information corresponding to each personnel with each character pronunciation stored in the parameter storage database, converting the voice information into character contents and sending the converted character contents to the keyword extraction module;
the keyword extraction module is used for receiving the converted text contents sent by the semantic conversion analysis module, sequentially comparing and screening the converted text contents with each keyword stored in the parameter storage database one by one, and sending the screened keywords to the processing module;
the parameter storage database is used for storing the elevation angle of the fire monitor and the fire monitor firing range distance corresponding to the output pressure of the fire monitor, storing character pronunciations corresponding to characters, corresponding the character pronunciations to the characters one by one, and storing fire monitor control instructions corresponding to all keywords;
the positioning module is used for acquiring the position information of the fire monitor in real time and sending the position information of the fire monitor to the processing module;
the processing module receives fire source position information detected by a fire source monitoring center sent through a communication network, receiving the current position information of the fire monitor sent by the positioning module, counting whether the distance between the position of the fire source and the current position of the fire monitor is within the range of the fire monitor or not, if the distance is greater than the range, the processing module sends a traveling control instruction to control the fire fighting truck to move towards the direction close to the fire source, the distance between the position of the cargo source and the current position of the fire monitor is reduced, and the processing module receives the screening keywords sent by the keyword extraction module, extracts the fire monitor control instruction corresponding to the keywords from the parameter storage database, and sends the fire monitor control instruction to the attitude adjustment module, meanwhile, the processing module sends the distance between the fire source and the fire monitor to the comprehensive estimation module, receives a water spray control command fed back by the comprehensive estimation module, and controls the fire extinguishing execution module according to the received water spray control command;
the attitude adjusting module is used for receiving the control instruction sent by the processing module and controlling the elevation angle and the horizontal plane steering of the fire monitor according to the received control instruction, so that water sprayed from a water outlet pipe of the fire monitor can be aligned to a fire source.
Further, the method for processing the mixed voice by the voice preprocessing module comprises the following steps:
s1, intercepting the mixed voice according to a set time length, intercepting into a plurality of voice sections, and sequencing the voice sections in sequence according to the sequence, wherein the sequence is 1,2,3,. and.m;
s2, carrying out tone analysis on each voice segment, judging whether the voice segment only contains one tone sound, and extracting the voice segment with single sound;
s3, comparing the voice obtained in the step S2 with the voice in the rest voice sections, combining the voice sections with the same tone to form a voice subsequence, and removing the voice corresponding to the tone of the voice in the step S2 from the rest voice sections;
s4, extracting and removing the voice corresponding to the voice timbre in the step S2 to be used as a prepared voice section, extracting whether the prepared voice section only contains the sound with one timbre, and repeatedly executing the step S3 until the voices in all the voice sections are completely divided according to different timbres;
and S5, recombining the voices with the same tone in each voice section according to the sequence of the voice sections.
Further, the gesture adjustment module includes rotation regulation unit and angle of elevation regulation unit, and rotation regulation unit is used for carrying out the rotation regulation in the horizontal plane to the outlet pipe of fire monitor, and angle of elevation regulation unit is used for adjusting the angle of elevation of fire monitor outlet pipe to the regulation of carrying out the water spray range scope.
Further, the device comprises a comprehensive estimation module, wherein the comprehensive estimation module is used for receiving the distance between the fire source and the fire monitor sent by the processing module, acquiring the elevation angle of a water outlet pipe of the fire monitor and the output pressure of the fire monitor, inquiring the elevation angle of the water outlet pipe of the fire monitor in a parameter storage database and the preset firing range distance of the fire monitor corresponding to the output pressure according to the current elevation angle and the output pressure of the fire monitor, judging whether the difference value between the distance between the fire source and the fire monitor and the preset firing range distance of the fire monitor is within a preset error range, if the difference value is within the preset error range, feeding back a water spraying instruction to the processing module by the comprehensive estimation module, and if the difference value is not within the preset error range, feeding back the spraying distance to the processing.
The invention has the beneficial effects that:
according to the intelligent fire extinguishing system for the fire monitor in the large space fire engineering, the collected voice information is separated and converted through the collected voice information, the converted characters are obtained, the converted characters are subjected to keyword extraction and are converted into the control instruction which can be recognized by the fire monitor, the intelligent voice control of the fire monitor is realized, the complexity of manually operating the fire monitor by personnel is reduced, the rotation angle and the elevation angle of the fire monitor and the fire extinguishing can be controlled according to the voice control instruction, the voice operation is realized, the danger of operating the fire monitor by the personnel on the fire scene is reduced, the intelligent fire extinguishing system has the characteristics of intellectualization and simple operation control, and the fire source position can be accurately subjected to fire extinguishing treatment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a speech intelligent fire extinguishing system of a fire monitor for large space fire fighting engineering.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a fire monitor voice intelligent fire extinguishing system for large space fire fighting engineering comprises a voice acquisition module, a voice preprocessing module, a semantic conversion analysis module, a keyword extraction module, a parameter storage database, a positioning module, a processing module, a comprehensive estimation module, a fire extinguishing execution module and an attitude adjustment module;
the voice acquisition module is connected with the semantic conversion analysis module through the voice preprocessing module, the semantic conversion analysis module is connected with the keyword extraction module, and the processing module is respectively connected with the positioning module, the posture adjustment module and the comprehensive estimation module. The parameter storage database is respectively connected with the semantic conversion analysis module, the keyword extraction module, the processing module and the comprehensive estimation module;
the voice acquisition module is arranged on the fire monitor and used for acquiring voice information around the fire monitor in real time and sending the acquired voice information to the voice preprocessing module;
the voice preprocessing module is used for receiving the voice information sent by the voice acquisition module, denoising the received voice information to obtain mixed voice sent by each person, separating the mixed voice in sequence to separate the voice information corresponding to different persons, and sending the separated voice information to the semantic conversion analysis module;
the method for processing the mixed voice by the voice preprocessing module comprises the following steps:
s1, intercepting the mixed voice according to a set time length, intercepting into a plurality of voice sections, and sequencing the voice sections in sequence according to the sequence, wherein the sequence is 1,2,3,. and.m;
s2, carrying out tone analysis on each voice segment, judging whether the voice segment only contains one tone sound, and extracting the voice segment with single sound;
s3, comparing the voice obtained in the step S2 with the voice in the rest voice sections, combining the voice sections with the same tone to form a voice subsequence, and removing the voice corresponding to the tone of the voice in the step S2 from the rest voice sections;
s4, extracting and removing the voice corresponding to the voice timbre in the step S2 to be used as a prepared voice section, extracting whether the prepared voice section only contains the sound with one timbre, and repeatedly executing the step S3 until the voices in all the voice sections are completely divided according to different timbres;
and S5, recombining the voices with the same tone in each voice section according to the sequence of the voice sections.
Based on different timbres of different personnel, to realize the separation to mixed pronunciation, improved the accuracy of pronunciation separation.
The semantic conversion analysis module is used for receiving the voice information corresponding to different personnel sent by the voice preprocessing module, comparing the voice information corresponding to each personnel with each character pronunciation stored in the parameter storage database, converting the voice information into character contents and sending the converted character contents to the keyword extraction module;
the keyword extraction module is used for receiving the converted text contents sent by the semantic conversion analysis module, sequentially comparing and screening the converted text contents with each keyword stored in the parameter storage database one by one, and sending the screened keywords to the processing module;
the parameter storage database is used for storing the elevation angle of the fire monitor and the distance of the fire monitor range corresponding to the output pressure of the fire monitor, is used for storing the character pronunciations corresponding to the characters, corresponding the character pronunciations to the characters one by one, and storing the fire monitor control instructions corresponding to the key characters, the instructions for controlling the fire monitor comprise the following keywords which are respectively a left side, a right side, a front, a back, an elevation angle, an ascending, a descending, a left turning, a right turning and the like, different keywords correspond to different fire monitor control instructions, wherein, the keywords of the left side, the right side, the front, the back and the like belong to the advancing keywords and are used for controlling the fire monitor to control the running direction, the keywords of the elevation angle, the ascending and the descending belong to the elevation angle control keywords, the left-turn and right-turn keywords belong to the steering control keywords and are used for controlling the steering of the fire monitor in the horizontal plane.
The positioning module is used for acquiring the position information of the fire monitor in real time and sending the position information of the fire monitor to the processing module;
the processing module receives fire source position information detected by a fire source monitoring center and sent by a communication network, receives fire monitor current position information sent by the positioning module, counts whether the distance between the fire source position and the fire monitor current position is within the range of the fire monitor, if the distance is larger than the range, the processing module sends a traveling control instruction to control the fire truck to move towards the direction close to the fire source, reduces the distance between the cargo source position and the fire monitor current position, receives a screening keyword sent by the keyword extraction module, extracts a fire monitor control instruction corresponding to the keyword from the parameter storage database, sends the fire monitor control instruction to the attitude adjustment module, simultaneously, the processing module sends the distance between the fire source and the fire monitor to the comprehensive estimation module, receives a water spray control instruction fed back by the comprehensive estimation module, and controls the fire extinguishing execution module according to the received water spray control instruction, and receiving the information that the spraying distance fed back by the comprehensive estimation module is unmatched, and sending a traveling control instruction by the processing module to control the fire truck to move towards the direction close to the fire source.
The fire extinguishing execution module is used for receiving the water spraying control instruction sent by the processing module and controlling the water supply pump to be started so as to output water to extinguish the fire source.
The attitude adjusting module is used for receiving the control instruction sent by the processing module and controlling the elevation angle and the horizontal plane steering of the fire monitor according to the received control instruction, so that water sprayed out of a water outlet pipe of the fire monitor can be aligned to a fire source, and accurate positioning fire extinguishing is realized.
Wherein, the gesture adjustment module includes rotation regulation unit and angle of elevation regulation unit, and rotation regulation unit is used for carrying out the rotation regulation in the horizontal plane to the outlet pipe of fire monitor, and angle of elevation regulation unit is used for adjusting the angle of elevation of fire monitor outlet pipe to carry out the regulation of water spray range scope.
The comprehensive estimation module is used for receiving the distance between the fire source and the fire monitor sent by the processing module, acquiring the elevation angle of the water outlet pipe of the fire monitor and the output pressure of the fire monitor, inquiring the preset range distance of the fire monitor corresponding to the elevation angle of the water outlet pipe of the fire monitor and the output pressure in the parameter storage database according to the current elevation angle and the output pressure of the fire monitor, judging whether the difference value between the distance between the fire source and the fire monitor and the preset range distance of the fire monitor is within a preset error range, if the difference value is within the preset error range, feeding back a water spraying instruction to the processing module by the comprehensive estimation module, and if the difference value is not within the preset error range, feeding back the spraying distance to the processing module by.
The foregoing is merely exemplary and illustrative of the principles of the present invention and various modifications, additions and substitutions of the specific embodiments described herein may be made by those skilled in the art without departing from the principles of the present invention or exceeding the scope of the claims set forth herein.
Claims (4)
1. The utility model provides a fire gun pronunciation intelligence fire extinguishing systems for big space fire engineering which characterized in that: the system comprises a voice acquisition module, a voice preprocessing module, a semantic conversion analysis module, a keyword extraction module, a parameter storage database, a positioning module, a processing module, a fire extinguishing execution module and an attitude adjustment module;
the voice acquisition module is connected with the semantic conversion analysis module through the voice preprocessing module, the semantic conversion analysis module is connected with the keyword extraction module, the processing module is respectively connected with the positioning module and the posture adjustment module, and the parameter storage database is respectively connected with the semantic conversion analysis module, the keyword extraction module and the processing module;
the voice acquisition module is arranged on the fire monitor and used for acquiring voice information around the fire monitor in real time and sending the acquired voice information to the voice preprocessing module;
the voice preprocessing module is used for receiving the voice information sent by the voice acquisition module, denoising the received voice information to obtain mixed voice sent by each person, sequentially separating the mixed voice to separate the voice information corresponding to different persons, and sending the separated voice information to the semantic conversion analysis module;
the semantic conversion analysis module is used for receiving the voice information corresponding to different personnel sent by the voice preprocessing module, comparing the voice information corresponding to each personnel with each character pronunciation stored in the parameter storage database, converting the voice information into character contents and sending the converted character contents to the keyword extraction module;
the keyword extraction module is used for receiving the converted text contents sent by the semantic conversion analysis module, sequentially comparing and screening the converted text contents with each keyword stored in the parameter storage database one by one, and sending the screened keywords to the processing module;
the parameter storage database is used for storing the elevation angle of the fire monitor and the fire monitor firing range distance corresponding to the output pressure of the fire monitor, storing character pronunciations corresponding to characters, corresponding the character pronunciations to the characters one by one, and storing fire monitor control instructions corresponding to all keywords;
the positioning module is used for acquiring the position information of the fire monitor in real time and sending the position information of the fire monitor to the processing module;
the processing module receives fire source position information detected by a fire source monitoring center sent through a communication network, receiving the current position information of the fire monitor sent by the positioning module, counting whether the distance between the position of the fire source and the current position of the fire monitor is within the range of the fire monitor or not, if the distance is greater than the range, the processing module sends a traveling control instruction to control the fire fighting truck to move towards the direction close to the fire source, the distance between the position of the cargo source and the current position of the fire monitor is reduced, and the processing module receives the screening keywords sent by the keyword extraction module, extracts the fire monitor control instruction corresponding to the keywords from the parameter storage database, and sends the fire monitor control instruction to the attitude adjustment module, meanwhile, the processing module sends the distance between the fire source and the fire monitor to the comprehensive estimation module, receives a water spray control command fed back by the comprehensive estimation module, and controls the fire extinguishing execution module according to the received water spray control command;
the attitude adjusting module is used for receiving the control instruction sent by the processing module and controlling the elevation angle and the horizontal plane steering of the fire monitor according to the received control instruction, so that water sprayed from a water outlet pipe of the fire monitor can be aligned to a fire source.
2. The intelligent fire extinguishing system for the fire monitor in the large space fire fighting project according to claim 1, characterized in that: the method for processing the mixed voice by the voice preprocessing module comprises the following steps:
s1, intercepting the mixed voice according to a set time length, intercepting into a plurality of voice sections, and sequencing the voice sections in sequence according to the sequence, wherein the sequence is 1,2,3,. and.m;
s2, carrying out tone analysis on each voice segment, judging whether the voice segment only contains one tone sound, and extracting the voice segment with single sound;
s3, comparing the voice obtained in the step S2 with the voice in the rest voice sections, combining the voice sections with the same tone to form a voice subsequence, and removing the voice corresponding to the tone of the voice in the step S2 from the rest voice sections;
s4, extracting and removing the voice corresponding to the voice timbre in the step S2 to be used as a prepared voice section, extracting whether the prepared voice section only contains the sound with one timbre, and repeatedly executing the step S3 until the voices in all the voice sections are completely divided according to different timbres;
and S5, recombining the voices with the same tone in each voice section according to the sequence of the voice sections.
3. The intelligent fire extinguishing system for the fire monitor in the large space fire fighting project according to claim 1, characterized in that: the attitude adjusting module comprises a rotation adjusting unit and an elevation angle adjusting unit, the rotation adjusting unit is used for performing rotation adjustment on a water outlet pipe of the fire monitor in a horizontal plane, and the elevation angle adjusting unit is used for adjusting the elevation angle of the water outlet pipe of the fire monitor so as to adjust the range of water spraying range.
4. The intelligent fire extinguishing system for the fire monitor in the large space fire fighting project according to claim 1, characterized in that: still including synthesizing and estimating the module, synthesize and estimate the distance that the module is used for receiving the source of a fire and the fire monitor that processing module sent, and obtain the angle of elevation and the fire monitor output pressure of fire monitor outlet pipe, according to fire monitor current angle of elevation and the fire monitor preset range distance that elevation and output pressure that disappears the fire monitor outlet pipe in the output pressure inquiry parameter storage database correspond, judge whether the distance of source of a fire and fire monitor is in predetermined error range with the fire monitor preset range distance difference, if in predetermined error range, then synthesize and estimate module feedback water spray instruction to processing module, if not in predetermined error range of estimating, then synthesize that module feedback jet distance does not match to processing module.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111552295A (en) * | 2020-05-14 | 2020-08-18 | 武汉联一合立技术有限公司 | Control method and device of unmanned bird repelling vehicle and autonomous bird repelling system |
| CN113053381A (en) * | 2021-03-30 | 2021-06-29 | 三一汽车制造有限公司 | Control system, control method, control device and electronic equipment of fire fighting truck |
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| CN207654573U (en) * | 2017-05-02 | 2018-07-27 | 傅源彬 | A kind of novel intelligent fire-fighting robot with human-computer interaction function |
| CN109065051A (en) * | 2018-09-30 | 2018-12-21 | 珠海格力电器股份有限公司 | Voice recognition processing method and device |
| CN109635151A (en) * | 2018-12-18 | 2019-04-16 | 深圳市沃特沃德股份有限公司 | Establish the method, apparatus and computer equipment of audio retrieval index |
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| CN111552295A (en) * | 2020-05-14 | 2020-08-18 | 武汉联一合立技术有限公司 | Control method and device of unmanned bird repelling vehicle and autonomous bird repelling system |
| CN113053381A (en) * | 2021-03-30 | 2021-06-29 | 三一汽车制造有限公司 | Control system, control method, control device and electronic equipment of fire fighting truck |
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