CN111084953B - Horizontal positioning algorithm suitable for automatic tracking and positioning jet fire extinguishing device - Google Patents
Horizontal positioning algorithm suitable for automatic tracking and positioning jet fire extinguishing device Download PDFInfo
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- CN111084953B CN111084953B CN202010036158.XA CN202010036158A CN111084953B CN 111084953 B CN111084953 B CN 111084953B CN 202010036158 A CN202010036158 A CN 202010036158A CN 111084953 B CN111084953 B CN 111084953B
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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
Abstract
The invention belongs to the field of fire water cannons, and particularly relates to a horizontal positioning algorithm for an automatic tracking and positioning jet fire extinguishing device. In order to solve the problem of inaccurate horizontal positioning, the fire disaster cannot be timely extinguished, and the fire extinguishing efficiency is reduced at the initial stage. The invention is supposed to make up for the horizontal installation error of the water cannon by a horizontal positioning algorithm; manufacturing errors and assembly errors of mechanical parts; individual differences of pyroelectric infrared sensors; and horizontal positioning errors caused by instability of the output signal of the sensor due to environmental temperature changes.
Description
Technical Field
The invention belongs to the technical field of automatic fire extinguishing of fire-fighting equipment, and particularly relates to a horizontal positioning algorithm of an automatic tracking and positioning jet fire extinguishing device.
Background
Compared with the traditional spraying technology, the intelligent fire water monitor is an intelligent fire-fighting product produced by adopting a high-tech technology, integrates the computer technology, the red ultraviolet sensing technology, the mechanical transmission technology, the image transmission technology and other technologies, has all weather and automatic active detection on a monitored range, immediately completes positioning and automatic spraying fire extinguishing once a fire is found, extinguishes the fire at an early stage, and can be restarted if recombustion exists. After the fire is extinguished, the device automatically closes the valve and automatically stops water injection. The modern fire-fighting concept of high intellectualization is realized.
At present, use automatic tracking location efflux extinguishing device to sweep water and put out a fire after the fire source location in the market adopts the mode of horizontal reciprocal swing, because there is horizontal positioning error, leads to not having the impact force of make full use of water source to strike the fire source, has the level simultaneously and sweeps the problem that water leads to the fire source diffusion, therefore the fire source can not be timely put out and has reduced fire extinguishing efficiency at the initial stage.
The first reason for inaccurate horizontal positioning of comprehensive analysis is that the product itself is caused by manufacturing errors of mechanical parts, assembly errors and individual differences of infrared sensors, and most manufacturers calibrate errors before leaving factories. The second reason is that in an actual fire scene, the problems of gun head installation horizontal error, large flame and small flame and the problems of far flame position and near flame position from a water gun exist, and the situation is generally calibrated by complicated program classification, wherein the far flame position is calibrated once, the near flame position is calibrated once, the large flame position is calibrated once, and the small flame position is calibrated once, so the program complexity is improved, and the program stability is reduced. However, errors caused by some unstable factors exist, and in order to solve the existing problems, the invention discloses a positioning algorithm. The automatic compensation of the problems caused by the reasons can be realized. Meanwhile, the factory water test calibration work of a manufacturer can be reduced, and the manual calibration cost is reduced.
Disclosure of Invention
The invention mainly aims at the technical problems in the prior art and provides a horizontal positioning algorithm for an automatic tracking and positioning jet fire extinguishing device. When a fire disaster occurs, the ultraviolet detector triggers the fire extinguishing device to perform horizontal scanning when detecting a signal of a fire source, after the horizontal positioning is successful, the vertical positioning is performed again, and finally, a water spraying fire extinguishing process is started.
In order to achieve the purpose, the invention adopts the technical scheme that: a horizontal positioning algorithm suitable for an automatic tracking and positioning jet fire extinguishing device is characterized by comprising the following steps.
Firstly, the water cannon head rotates forwards to scan, the pyroelectric infrared sensor signals are recorded, and the forward rotation positioning angle alpha 1 is calculated.
The gun head rotates forwards from the initial reset angle, and signal data larger than a threshold value are recorded while rotating; when the signal is lower than the threshold value, analyzing the recorded data, if the sum of the recorded data is larger than the sum of the intensity threshold values of the flames, continuing to sort the recorded data by adopting a bubbling method, and acquiring an angle alpha 1 corresponding to the maximum point of the signal data; otherwise, continuously rotating and recording the signal data larger than the threshold value; and repeating the judgment until the rotation reaches the maximum angle, and finally resetting.
And secondly, reversely scanning the water cannon head, recording a signal of the pyroelectric infrared sensor, and calculating a reverse positioning angle alpha 2.
The gun head rotates forwards from the initial reset angle, after the forward rotation positioning angle alpha 1 is found, the gun head rotates reversely, and signal data larger than a threshold value are recorded while rotating; when the signal is lower than the threshold value, analyzing the recorded data, if the sum of the recorded data is larger than the sum of the intensity threshold values of the flames, continuing to sort the recorded data by adopting a bubbling method, and acquiring an angle alpha 2 corresponding to the maximum point of the signal data; otherwise, continuously rotating and recording the signal data larger than the threshold value; and repeating the judgment until the rotation reaches the minimum angle, and finally resetting.
And thirdly, calculating the positioning angle beta of the water cannon head after obtaining the forward rotation positioning angle alpha 1 and the reverse rotation positioning angle alpha 2. And averaging the forward rotation positioning angle alpha 1 and the reverse rotation positioning angle alpha 2 to obtain an algorithm positioning angle beta, and finishing horizontal positioning.
β=（α1+α2）/2。
Compared with the prior art, the horizontal positioning algorithm of the automatic tracking and positioning jet flow fire extinguishing device has the following beneficial effects.
1. The horizontal positioning errors caused by manufacturing errors and assembly errors of mechanical parts of the product and differences of individual infrared sensors are directly offset through an algorithm, and the mechanical parts of different production batches do not need to be calibrated out of a factory repeatedly.
2. The horizontal positioning errors caused by the problems of large flame and small flame and the problems of far flame and near flame position from the water monitor in the actual fire scene are directly counteracted through an algorithm, and complicated program classification is not needed for calibration, such as once for far calibration, once for near calibration, once for large flame calibration and once for small flame calibration. Thereby improving the stability of the procedure.
3. The factory water test calibration work of a large amount of manufacturers is reduced, the manual calibration cost is reduced, and therefore the product competitiveness is improved.
Drawings
FIG. 1 is a schematic diagram of a horizontal positioning algorithm of an automatic tracking and positioning jet fire extinguishing device.
Fig. 2 is a flow chart of forward scanning action of the water cannon head.
Fig. 3 is a flow chart of the reverse scanning action of the water cannon head.
FIG. 4 is a flow chart of a water cannon head horizontal positioning algorithm.
Detailed Description
In order to facilitate understanding of the invention for those skilled in the art, the invention will be described in one step with reference to the accompanying drawings.
Referring to fig. 1-4, a horizontal positioning algorithm for an automatic tracking and positioning jet fire extinguishing device includes the following steps.
Firstly, the water cannon head rotates forwards to scan, the pyroelectric infrared sensor signals are recorded, and the forward rotation positioning angle alpha 1 is calculated.
The gun head rotates forwards from the initial reset angle, and signal data larger than a threshold value are recorded while rotating; when the signal is lower than the threshold value, analyzing the recorded data, if the sum of the recorded data is larger than the sum of the intensity threshold values of the flames, continuing to sort the recorded data by adopting a bubbling method, and acquiring an angle alpha 1 corresponding to the maximum point of the signal data; otherwise, continuously rotating and recording the signal data larger than the threshold value; and repeating the judgment until the rotation reaches the maximum angle, and finally resetting.
And secondly, reversely scanning the water cannon head, recording a signal of the pyroelectric infrared sensor, and calculating a reverse positioning angle alpha 2.
The gun head rotates forwards from the initial reset angle, after the forward rotation positioning angle alpha 1 is found, the gun head rotates reversely, and signal data larger than a threshold value are recorded while rotating; when the signal is lower than the threshold value, analyzing the recorded data, if the sum of the recorded data is larger than the sum of the intensity threshold values of the flames, continuing to sort the recorded data by adopting a bubbling method, and acquiring an angle alpha 2 corresponding to the maximum point of the signal data; otherwise, continuously rotating and recording the signal data larger than the threshold value; and repeating the judgment until the rotation reaches the minimum angle, and finally resetting.
And thirdly, calculating the positioning angle beta of the water cannon head after obtaining the forward rotation positioning angle alpha 1 and the reverse rotation positioning angle alpha 2. And averaging the forward rotation positioning angle alpha 1 and the reverse rotation positioning angle alpha 2 to obtain an algorithm positioning angle beta, and finishing horizontal positioning.
β=（α1+α2）/2
The foregoing detailed description is given for the purpose of illustration and description, and it will be understood by those skilled in the art that various changes, additions and substitutions may be made therein without departing from the spirit of the invention or exceeding the scope of the claims.
Claims (1)
1. A horizontal positioning algorithm suitable for an automatic tracking and positioning jet fire extinguishing device is characterized by comprising the following steps:
the method comprises the steps that firstly, a water cannon head is scanned in a forward rotation mode, signals of a pyroelectric infrared sensor are recorded, a forward rotation positioning angle alpha 1 is calculated, the cannon head rotates in the forward direction from an initial reset angle, and signal data larger than a threshold value are recorded while rotating; when the signal is lower than the threshold value, analyzing the recorded data, if the sum of the recorded data is larger than the sum of the intensity threshold values of the flames, continuing to sort the recorded data by adopting a bubbling method, and acquiring an angle alpha 1 corresponding to the maximum point of the signal data; otherwise, continuously rotating and recording the signal data larger than the threshold value; repeatedly judging until the rotation reaches the maximum angle, and finally resetting;
secondly, reversely scanning the water cannon head, recording a signal of the pyroelectric infrared sensor, calculating a reverse rotation positioning angle alpha 2, positively rotating the cannon head from an initial reset angle, searching the positive rotation positioning angle alpha 1, reversely rotating, and recording signal data larger than a threshold value while rotating; when the signal is lower than the threshold value, analyzing the recorded data, if the sum of the recorded data is larger than the sum of the intensity threshold values of the flames, continuing to sort the recorded data by adopting a bubbling method, and acquiring an angle alpha 2 corresponding to the maximum point of the signal data; otherwise, continuously rotating and recording the signal data larger than the threshold value; repeatedly judging until the rotation reaches the minimum angle, and finally resetting;
and thirdly, after a forward rotation positioning angle alpha 1 and a reverse rotation positioning angle alpha 2 are obtained, calculating a positioning angle beta of a water cannon head, averaging the forward rotation positioning angle alpha 1 and the reverse rotation positioning angle alpha 2 to obtain an algorithm positioning angle beta, and finishing horizontal positioning, wherein beta = (alpha 1+ alpha 2)/2.
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| CN115105779A (en) * | 2022-06-09 | 2022-09-27 | 北京南瑞怡和环保科技有限公司 | Device and method for positioning fire source of turbofan cannon based on flame detector |
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- 2020-01-14 CN CN202010036158.XA patent/CN111084953B/en active Active
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| WO2002018016A1 (en) * | 2000-08-29 | 2002-03-07 | The University Of Sheffield | Explosion suppression system |
| WO2005044387A1 (en) * | 2003-11-10 | 2005-05-19 | Wagner Alarm- Und Sicherungssysteme Gmbh | Device for preventing and extinguishing fires |
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| US20160354626A1 (en) * | 2013-07-19 | 2016-12-08 | Firestrike Industries Llc | Automatic fire targeting and extinguishing apparatus and method |
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