CN111973921B - Water cannon aiming device, fire water cannon and water cannon aiming method - Google Patents
Water cannon aiming device, fire water cannon and water cannon aiming method Download PDFInfo
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- CN111973921B CN111973921B CN202010838664.0A CN202010838664A CN111973921B CN 111973921 B CN111973921 B CN 111973921B CN 202010838664 A CN202010838664 A CN 202010838664A CN 111973921 B CN111973921 B CN 111973921B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 106
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- 241000876443 Varanus salvator Species 0.000 claims description 51
- 238000009434 installation Methods 0.000 claims description 40
- 238000005507 spraying Methods 0.000 claims description 9
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 2
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- 238000001514 detection method Methods 0.000 abstract description 25
- 238000010586 diagram Methods 0.000 description 8
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- 238000001931 thermography Methods 0.000 description 5
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010259 detection of temperature stimulus Effects 0.000 description 1
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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
- 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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Abstract
The embodiment of the application provides a water cannon aiming device, a fire water cannon and a water cannon aiming method, wherein the water cannon aiming device comprises a processor, an acceleration sensor and a plurality of heat sensing parts, and the water cannon aiming device comprises: each heat sensing component is used for acquiring temperature data in a preset area and sending the temperature data to the processor, wherein the temperature data comprises temperature information of each position point in the preset area; the acceleration sensor is used for acquiring the pitching angle of the aiming component and sending the pitching angle to the processor; the processor is used for determining the position of the fire point according to the pitching angle and the temperature data. According to the scheme of the embodiment of the application, the accuracy of fire point detection and positioning is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of fire safety, in particular to a water monitor aiming device, a fire water monitor and a water monitor aiming method.
Background
The fire can cause loss to people's life and property, when the conflagration takes place, the accurate control of locating the fire point to the disaster situation and the significance of fire fighting are put out a fire.
The existing fire water monitor device can judge whether a fire point exists in an observation range through an ultraviolet sensing technology, when the fire point exists, the specific position of the fire point is positioned through an infrared sensing technology, a water outlet is controlled to be aligned with the fire point, and water is jetted to extinguish fire at fixed points in real time. However, in the existing fire water monitor device, fire detection is performed by ultraviolet rays, fire location is performed by infrared rays, and both ultraviolet rays and infrared rays exist in an actual environment, so that the fire water monitor device is easily interfered by ambient light, and the fire detection and location are misjudged or cannot be accurately located.
Disclosure of Invention
The embodiment of the application provides a water monitor aiming device, a fire water monitor and a water monitor aiming method, so that the accuracy of fire point detection and positioning is improved.
In a first aspect, an embodiment of the present application provides a water cannon aiming apparatus, comprising a processor, an acceleration sensor, and a plurality of thermal sensing components, wherein:
each heat sensing component is used for acquiring temperature data in a preset area and sending the temperature data to the processor, wherein the temperature data comprises temperature information of each position point in the preset area;
the acceleration sensor is used for acquiring a pitch angle of the aiming part and sending the pitch angle to the processor;
the processor is used for determining the position of a fire point according to the pitching angle and the temperature data.
In one possible embodiment, the water monitor aiming device is disposed on a fire monitor, and the step of the processor determining the location of the fire point based on the pitch angle and each of the temperature data comprises:
determining a highest temperature point and M high temperature points according to the temperature data, wherein the temperature indicated by the temperature information of any high temperature point is greater than or equal to a first preset temperature, and M is an integer greater than or equal to 0;
controlling the fire water monitor to move until the position of the highest temperature point is located at the picture center point of a preset heat sensing part in the plurality of heat sensing parts, and acquiring a first pitching angle of the aiming part;
and determining the fire point in the highest temperature point and the M high temperature points according to the installation position of the aiming component and the first pitch angle, and determining the position of the fire point.
In one possible embodiment, the step of the processor determining the fire point among the maximum temperature point and the M high temperature points according to the installation position of the aiming part and the first pitch angle includes:
determining the distances between the maximum temperature point and the M high temperature points and the preset heat sensing component according to the installation position of the aiming component and the first pitch angle;
acquiring actual temperatures of the maximum temperature point and the M high temperature points according to distances between the maximum temperature point and the M high temperature points and the preset heat sensing component and temperature information of the maximum temperature point and the M high temperature points;
and determining the fire point according to the maximum temperature point and the actual temperatures of the M high temperature points.
In a possible embodiment, for any first high temperature point of the M high temperature points, the processor determines the distance between the first high temperature point and the preset heat sensing part according to the installation position of the aiming part and the first pitch angle, and includes:
after the first pitching angle is obtained, controlling the fire water monitor to move until the position of the first high-temperature point is located at the picture center point of the preset heat sensing part;
acquiring a second pitching angle of the aiming component when the position of the first high-temperature point is positioned at the picture center point of the preset heat sensor component;
and determining the distance between the first high-temperature point and the preset heat sensing component according to the installation position of the aiming component and the second pitching angle.
In one possible embodiment, the step of the processor determining the fire point from the maximum temperature point and the actual temperatures of the M high temperature points comprises:
determining the highest temperature point and the point of highest actual temperature among the M high temperature points as the fire point; or,
and determining the point of which the actual temperature is greater than or equal to a second preset temperature from the maximum temperature point and the M high temperature points as the fire point.
In a possible embodiment, the aiming part is a gun head, or the aiming part is the preset heat sensing part.
In a possible implementation manner, the heat sensing component is a thermopile sensor, and the thermopile sensor is used for acquiring temperature data in a preset area and sending the temperature data to the processor; or,
the heat sensing component comprises a lens and a focal plane sensor, wherein the lens is used for collecting light rays in a preset area and sending the light rays to the focal plane sensor; the focal plane sensor is used for acquiring temperature data according to the light and sending the temperature data to the processor.
In one possible embodiment, the processor, after determining the location of the fire based on the pitch angle and the respective temperature data, is further configured to:
and controlling the fire water monitor to move until the position of the fire point is positioned at the picture central point of the preset heat sensing part.
In a possible implementation manner, the water cannon aiming apparatus further includes a visible light sensor, the visible light sensor is configured to acquire a video image and send the video image to the processor, and a shooting range of the visible light sensor includes a preset area corresponding to each of the heat sensing components.
In one possible implementation, after the processor determines the fire, the processor is further configured to:
determining a first location of the fire on the video image;
matching the video image, and determining a second position of the identified fire point on the video image;
confirming that the identification of the fire is successful when the first location and the second location are the same;
otherwise, confirming that the fire point is identified.
In one possible embodiment, the number of the heat sensing parts is 3, and the preset heat sensing part is a central heat sensing part among the 3 heat sensing parts.
In a second aspect, the present application provides a fire monitor, comprising a monitor component and a monitor aiming device according to any one of the first aspect, wherein:
the water cannon aiming device comprises a preset heat sensing part, a water outlet is formed in the water cannon part, and the picture center point of the preset heat sensing part is the same as the water outlet direction of the water outlet;
the water monitor aiming device is used for controlling the fire monitor to move until the position of a fire point is positioned at the central point of the picture of the preset heat sensing part, so that the direction of the water outlet points to the fire point;
the water cannon component is used for spraying water to the fire point after the direction of the water outlet points to the fire point.
In a possible embodiment, the system further comprises a manual control panel, wherein the manual control panel is used for:
and when the water cannon aiming device determines that the fire point fails, controlling the water cannon component to forbid the execution of water spraying operation.
In a third aspect, an embodiment of the present application provides a water cannon aiming method, which is applied to a water cannon aiming apparatus, where the water cannon aiming apparatus includes multiple heat sensing components, and the method includes:
acquiring temperature data in a preset area sent by each heat sensing component, wherein the temperature data comprises temperature information of each position point in the preset area;
acquiring a pitch angle of the aiming part;
and determining the position of the fire point according to the pitching angle and the temperature data.
In one possible embodiment, the water monitor aiming device is arranged on a fire water monitor; determining a location of a fire from the pitch angle and each of the temperature data, comprising:
determining a highest temperature point and M high temperature points according to the temperature data, wherein the temperature indicated by the temperature information of any high temperature point is greater than or equal to a first preset temperature, and M is an integer greater than or equal to 0;
controlling the fire water monitor to move until the position of the highest temperature point is located at the picture center point of a preset heat sensing part in the plurality of heat sensing parts, and acquiring a first pitching angle of the aiming part;
and determining the fire point in the highest temperature point and the M high temperature points according to the installation position of the aiming component and the first pitch angle, and determining the position of the fire point.
In one possible embodiment, determining the fire point among the maximum temperature point and the M high temperature points according to the installation position of the aiming part and the first pitch angle includes:
determining the distances between the maximum temperature point and the M high temperature points and the preset heat sensing component according to the installation position of the aiming component and the first pitch angle;
acquiring actual temperatures of the maximum temperature point and the M high temperature points according to distances between the maximum temperature point and the M high temperature points and the preset heat sensing component respectively and temperature information of the maximum temperature point and the M high temperature points;
and determining the fire point according to the actual temperatures of the maximum temperature point and the M high temperature points.
In a possible implementation, for any first high temperature point in the M high temperature points, determining a distance between the first high temperature point and the preset heat sensing part according to the installation position of the aiming part and the first pitch angle includes:
after the first pitching angle is obtained, controlling the fire water monitor to move until the position of the first high-temperature point is located at the picture center point of the preset heat sensing part;
acquiring a second pitching angle of the aiming component when the position of the first high-temperature point is positioned at the picture center point of the preset heat sensor component;
and determining the distance between the first high-temperature point and the preset heat sensing component according to the installation position of the aiming component and the second pitching angle.
In one possible embodiment, determining the fire point from the maximum temperature point and the actual temperatures of the M high temperature points comprises:
determining the highest temperature point and the point of highest actual temperature among the M high temperature points as the fire point; or,
and determining a point, of the maximum temperature point and the M high temperature points, at which the actual temperature is greater than or equal to a second preset temperature as the fire point.
In one possible embodiment, after determining the location of the fire from the pitch angle and the respective temperature data, the method further comprises:
and controlling the fire water monitor to move until the position of the fire point is positioned at the picture central point of the preset heat sensing part.
In one possible embodiment, the method further comprises:
acquiring a video image, and determining a first position of the fire point on the video image, wherein the shooting range of the video image comprises a preset area corresponding to each heat sensing component;
matching the video image, and determining a second position of an identified fire point on the video image, wherein the identified fire point is the fire point identified after the video image is matched;
confirming that the identification of the fire is successful when the first position and the second position are the same;
otherwise, confirming that the fire point is identified as failed.
The embodiment of the application provides a water cannon aiming device, a fire fighting water cannon and a water cannon aiming method, wherein the water cannon aiming device comprises a processor, an acceleration sensor and a plurality of heat sensing parts, temperature data in a preset area are obtained through the heat sensing parts, the temperature data are sent to the processor, a pitching angle of the aiming parts is obtained through the acceleration sensor, the pitching angle is sent to the processor, then the processor can determine the position of a fire point according to the pitching angle and the temperature data, and the fire point detection and positioning are achieved. Because the heat sensing component does not need to scan ultraviolet rays or infrared rays, but obtains the temperature information of each position point through thermal imaging, the influence of ambient light is small, and the fire point is positioned more accurately.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a fire monitor;
FIG. 2 is a schematic view of a water cannon sighting device provided by an embodiment of the present application;
FIG. 3 is a schematic view of a thermal sensing component according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a water cannon aiming apparatus according to yet another embodiment of the present application;
FIG. 5 is a schematic view of a coverage area of a heat sensing device according to an embodiment of the present application;
FIG. 6 is a schematic view of fire aiming provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of a fire review provided by an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a fire monitor according to an embodiment of the present application;
fig. 9 is a schematic flow chart of a water cannon aiming method provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Fig. 1 is a schematic view of a fire monitor, as shown in fig. 1, comprising a horizontal and vertical detection device 11, an ultraviolet fire detection device 12 and a water outlet 13, which cooperate to perform fire detection and subsequent fire extinguishing.
The ultraviolet fire detection device 12 can detect whether a fire exists in the field of view, but cannot detect the specific location of the fire. When the ultraviolet fire detection means 12 detects the presence of a fire in the field of view, the fire is positioned by the horizontal vertical detection means 11.
The horizontal-vertical detecting device 11 includes two infrared sensors in two directions. When a fire point is detected to exist in the visual field, the horizontal and vertical detection device 12 starts to perform horizontal scanning, the fire monitor horizontally rotates, and the vertical plane where the fire point is located is determined. Then the horizontal and vertical detection device 12 starts to perform vertical scanning, the fire monitor swings up and down, and the horizontal plane where the fire point is located is determined. Thus, the horizontal-vertical detection device 12 can determine the position of the fire.
After the position of the fire point is determined, the mechanical transmission device can be driven to align the water outlet 13 to the fire point, aim at a fire source, send out an alarm signal, link the electromagnetic valve, start the water pump and extinguish the fire. And automatically stopping water injection after fire extinguishing is finished. If the reignition exists, the device is restarted until the device is completely extinguished.
The above-mentioned fire water monitor solution has certain disadvantages. First, the fire monitor illustrated in fig. 1 is completed by the ultraviolet fire point detection device 12 and the horizontal and vertical detection device 11 when performing fire point location. The ultraviolet ray fire detection device 12 detects whether a fire exists in the field of view, and when the fire exists, the horizontal and vertical detection device 11 carries out scanning positioning through infrared rays. In the ambient light, certain ultraviolet rays and infrared rays exist, so the fire point detection and positioning scheme is extremely easily interfered by the ambient light, and the conditions of misjudgment or inaccurate fire point positioning are easy to occur. Secondly, when the horizontal and vertical detection device 11 performs fire point positioning, scanning positioning needs to be performed twice, and the response time is slow.
In order to solve the above problem, the embodiment of the present application provides a water cannon sighting device, need not to carry out the fire detection through ultraviolet ray and infrared ray, does not receive the influence of ambient light, and the location is more accurate, also need not to scan the location simultaneously, reduces response time.
The solution of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a schematic diagram of a water cannon aiming apparatus provided in an embodiment of the present application, and as shown in fig. 2, the water cannon aiming apparatus 20 includes a processor 21, an acceleration sensor 22, and a plurality of heat sensing components, where:
each heat sensing component is used for acquiring temperature data in a preset area and sending the temperature data to the processor 21, wherein the temperature data comprises temperature information of each position point in the preset area;
the acceleration sensor 22 is used for acquiring the pitch angle of the aiming part and sending the pitch angle to the processor 21;
the processor 21 is arranged to determine the location of the fire from the pitch angle and the respective temperature data.
Water cannon aiming devices are commonly provided on fire water cannons for determining the location of a fire point. The fire water monitor is provided with the monitor head, and after the position of the fire point is determined by the water monitor aiming device, the fire water monitor can be controlled to move, so that the monitor head is aligned to the position of the fire point to perform subsequent fire extinguishing.
In the embodiment of the present application, the heat sensing component may be a focal plane sensor, or may be a thermopile sensor. The thermal sensing component is a thermal imaging sensing instrument capable of acquiring temperature information of each position point in a field of view.
In fig. 2, a case where the number of the heat sensing parts is 3 is exemplified, as shown in fig. 2, including a heat sensing part 201, a heat sensing part 202, and a heat sensing part 203. The preset heat sensing component can be any one of a plurality of heat sensing components, and the corresponding view field ranges of different heat sensing components are different.
Preferably, the number of the heat sensing parts is 3, and the preset heat sensing part is a central heat sensing part among the plurality of heat sensing parts. For example, in fig. 2, 3 heat sensing parts are arranged in sequence, and the heat sensing part 202 is arranged between the heat sensing part 201 and the heat sensing part 203, and then the heat sensing part 202 can be used as a preset heat sensing part. It should be noted that the number of the heat sensing parts set to 3 is merely an example, and does not limit the specific number of the heat sensing parts.
Fig. 3 is a schematic diagram of a heat sensing component provided in an embodiment of the present application, as shown in fig. 3, taking 3 heat sensing components as an example, each of the heat sensing components includes a heat sensing component 201, a heat sensing component 202, and a heat sensing component 203, and in fig. 3, the heat sensing component 202 is located between the heat sensing component 201 and the heat sensing component 203. The three thermal sensing members have respective corresponding field ranges, and the area close to 180 degrees can be covered by the three thermal sensing members.
Each of the heat sensing elements may acquire temperature data within a predetermined area and send the temperature data to the processor 21, where different heat sensing elements correspond to different predetermined areas. As shown in fig. 3, the thermal sensing component 201 can acquire temperature data within a field of view range 31, the field of view range 31 being a preset region of the thermal sensing component 201, the thermal sensing component 202 can acquire temperature data within a field of view range 32, the field of view range 32 being a preset region of the thermal sensing component 202, the thermal sensing component 203 can acquire temperature data within a field of view range 33, and the field of view range 33 being a preset region of the thermal sensing component 203.
The temperature data acquired by the heat sensing component includes temperature information of each position point in the corresponding preset area, that is, the temperature of each position point is reflected in the corresponding temperature data. Since when there is a fire in an area, the temperature is usually higher than the surrounding, and the temperature tends to be higher the closer to the fire.
Meanwhile, in the process of acquiring the temperature data by the heat sensing part, the distances between each position point and the heat sensing part are different. When the actual temperatures of two location points are the same but the distances from the thermal sensing part are different, the temperature information of the two location points on the corresponding temperature data is also different.
In the embodiment of the present application, an acceleration sensor 22 is further provided, and the acceleration sensor 22 can acquire the pitch angle of the aiming part. The pitch angle reflects the orientation of the sighting part, e.g. the angle to the vertical, the horizontal, etc. Optionally, the aiming part can be a monitor head, and when the water monitor aiming device is arranged on a fire water monitor, the installation position of the monitor head is also determined after the installation of the fire water monitor is completed. The distance between each position point and the gun head can be calculated by combining the installation position and the pitching angle of the gun head, and further the distance between each position point and the heat sensing component is obtained. Optionally, the aiming component may also be a preset heat sensing component, and in this case, the aiming component is a part of the water cannon aiming device. After the fire water monitor is installed, the installation position of the preset heat sensing part is also determined, and the distance between each position point and the preset heat sensing part can be obtained by combining the installation position and the pitching angle of the preset heat sensing part.
Therefore, after acquiring the temperature data and the pitch angle of the sighting part, the processor 21 can acquire the actual temperature of each position point according to the temperature information of the position point on the temperature data and the pitch angle, and determine the position of the fire according to the actual temperature of each position point.
The water cannon aiming device comprises a processor, an acceleration sensor and a plurality of heat sensing parts, wherein temperature data in a preset area are obtained through the heat sensing parts, the temperature data are sent to the processor, the pitching angle of the aiming part is obtained through the acceleration sensor, the pitching angle is sent to the processor, then the processor can determine the position of a fire point according to the pitching angle and the temperature data, and the detection and the positioning of the fire point are achieved. Because the heat sensing component does not need to scan ultraviolet rays or infrared rays, but obtains the temperature information of each position point through thermal imaging, the influence of ambient light is small, and the fire point is more accurately positioned.
The following provides a detailed description of the embodiments of the present application.
Fig. 4 is a schematic structural diagram of a water cannon aiming apparatus according to another embodiment of the present application, and as shown in fig. 4, the water cannon aiming apparatus 40 includes a processor 41, an acceleration sensor 42, a visible light sensor 43, and a plurality of heat sensing components. In FIG. 4, 3 heat sensing parts are illustrated, namely a heat sensing part 401, a heat sensing part 402 and a heat sensing part 403.
The heat sensing component is fixed on the water cannon aiming apparatus 40 after it is positioned on the water cannon aiming apparatus 40. The thermal sensing component may acquire temperature data within a predetermined area.
Optionally, any one of the thermal sensing components may include a lens and a focal plane sensor, wherein the lens is configured to collect light in a preset region and send the light to the focal plane sensor. The focal plane sensor can obtain temperature data according to the acquired light and send the temperature data to the processor.
Optionally, any one of the heat sensing components may also be a thermopile sensor, and since the thermopile sensor itself carries a lens, when the heat sensing component is configured as the thermopile sensor, thermal imaging can be performed without separately configuring a lens. The thermopile sensor is used for acquiring temperature data in a preset area and sending the temperature data to the processor.
After acquiring the temperature data sent by each thermal sensing component, the processor 41 determines the highest temperature point according to the temperature information of each position point on the temperature data. The processor 41 can also determine the highest temperature point in each preset area, which is indicated by the temperature information of the highest temperature point to be higher than the temperatures indicated by the temperature information of the other points, by the temperature data transmitted from the plurality of heat sensing parts.
When the temperature of the highest temperature point is greater than or equal to a first preset temperature, the fire point in the area monitored by the water cannon aiming device can be considered to exist. The first preset temperature may be set as desired, for example, to 100 degrees celsius, 150 degrees celsius, 180 degrees celsius, or the like. The maximum temperature point and M high temperature points may be determined according to each temperature data, where the temperature indicated by the temperature information of any one of the M high temperature points is greater than or equal to the first preset temperature. The number of the high temperature points may be 0 or one or more, that is, M is greater than or equal to 0. Any one may be a fire point for points greater than or equal to the first preset temperature, i.e., the number of fire points may also be one or more.
After the highest temperature point is determined, the processor 41 controls the fire monitor to move until the position of the highest temperature point is located at the center point of the picture of the preset heat sensing component. The water cannon aiming apparatus 40 has already aimed the point of highest temperature at this time.
However, since the temperature information of each position point is related to the distance from the position point to the heat sensing member in addition to the actual temperature of the position point. Therefore, the highest temperature point determined directly from the temperature data is not necessarily the point at which the actual temperature is the highest, and is not necessarily the fire point. It is further desirable to determine the fire point based on the mounting position of the sighting part and the first pitch angle of the sighting part at that time. After the fire monitor drives the monitor aiming device 40 to move, the acceleration sensor 42 can obtain the first pitch angle of the aiming part. And acquiring the distances between the maximum temperature point and the M high temperature points and the preset heat sensing component according to the installation position of the aiming component and the first pitching angle.
After the distances between the maximum temperature point and the M high temperature points and the preset heat sensing part are obtained, the actual temperatures of the maximum temperature point and the M high temperature points can be determined according to the distances between the maximum temperature point and the M high temperature points and the preset heat sensing part and the temperature information of each point, and the fire point can be determined according to the actual temperatures of the maximum temperature point and the M high temperature points.
A process of acquiring the distances between the respective location points and the preset heat sensing part will be described with reference to fig. 5.
The aiming component can be a gun head or a preset heat sensing component. When the water monitor aiming device is arranged on the monitor head of the fire water monitor, the pitch angle of the monitor head is also the pitch angle of the preset heat sensing part. In fig. 5, only the case where the aiming component is a gun head is taken as an example for description, and the process of acquiring the distance between each position point and the preset heat sensing component when the aiming component is the preset heat sensing component is similar to this, and is not described here again.
Fig. 5 is a schematic view of a coverage area of a thermal sensing component according to an embodiment of the present application, as shown in fig. 5, where a shaded portion is a coverage area of a predetermined thermal sensing component, and an O point is an installation position of a cannon head. When the fire water monitor is installed, the installation position of the monitor head is also determined, namely, the distance of OO1 in FIG. 5 is determined, the installation position of the heat sensing part is also determined, and therefore, the relative positions of the heat sensing part and the monitor head are also determined. The height of the point O from the ground in fig. 5 is 6 meters, i.e., OO1 is 6 meters.
In fig. 5, the position of the heat sensing member is also illustrated as point O. In practice, there may be a certain difference between the installation position of the heat sensing component and the installation position of the gun head, but since the installation positions of the heat sensing component and the gun head are fixed, the difference between the installation position of the heat sensing component and the installation position of the gun head can be obtained after the installation is completed, corresponding conversion is performed, and the distance between each position and the heat sensing component can be obtained according to the distance between each position and the gun head.
The OC direction is a direction of a center line of the heat sensing part, that is, an orientation of the heat sensing part. AB is the ground. The distance between AB was S1 and the distance between O1B was S2. In fig. 5, the first pitch angle of the gun head may be the angle of the centre line to the vertical, such as angle O1OC in fig. 5. The height OO1 of the O point from the ground is combined to obtain the distance between the C point and the preset heat sensing component, i.e. the length of the OC. At this time, the length of OC is the distance between the highest temperature point and the preset heat sensing part.
If the temperature of the M high temperature points in the preset area exceeds the first preset temperature, the distances between the M high temperature points and the preset heat sensing part need to be acquired respectively. Aiming at any one first high-temperature point in the M high-temperature points, after the processor acquires the first pitching angle, the fire water monitor can be controlled to move until the first high-temperature point is located at the picture center point of the preset heat sensing part. After the fire water monitor moves, the pitching angle of the monitor head can be acquired through the acceleration sensor. At this time, when the first high-temperature point is located at the picture center point of the preset heat sensor component, the second pitch angle of the cannon head can be obtained, and then the distance between the first high-temperature point and the preset heat sensor component is determined according to the installation position of the cannon head and the second pitch angle.
For example, in fig. 5, point D is a first high temperature point, and after the fire water monitor moves, the point D may be controlled to be located at the center of the screen of the preset heat sensing component, and then a second pitch angle of the monitor head, that is, an angle DOO1 in fig. 5, is obtained, and the length of the OD, that is, the distance between the first high temperature point and the preset heat sensing component is obtained by combining the length of OO 1.
In the above-described embodiment, it is described how to acquire the distances between the respective position points and the preset heat sensing part. After the distances between the respective location points and the preset heat sensing part are acquired, the actual temperatures of the respective location points may be acquired in combination with the temperature information of the respective location points.
For example, the detection of temperature values by the heat sensing component is exponential with distance. When the temperature information at point a in fig. 5 indicates that the temperature at point a reaches 200 degrees, the temperature information at point B at the same temperature may indicate a temperature less than 100 degrees. Therefore, the actual temperature of each position point can be obtained from the exponential relationship between the detection of the temperature value by the heat sensing part with respect to the distance, and the temperature indicated by the temperature information.
After the actual temperatures of the maximum temperature point and the M high temperature points are obtained, a point at which the actual temperature is the highest among the maximum temperature point and the M high temperature points may be determined as a fire point; or,
and determining the point of the highest temperature point and the point of the M high temperature points, wherein the actual temperature of the point is greater than or equal to a second preset temperature, as the fire point.
After the fire point is determined, the fire water monitor can be controlled to move to the picture central point of the fire point at the preset heat sensing part, and the fire point is aimed. This process will be described below with reference to fig. 6.
Fig. 6 is a fire point aiming schematic diagram provided by an embodiment of the application, and as shown in fig. 6, a water cannon aiming apparatus includes a heat sensing component 201, a heat sensing component 202, and a heat sensing component 203, where the preset heat sensing component in fig. 6 is the heat sensing component 202, and the heat sensing component 202 is taken as an example of the preset heat sensing component for description.
In the upper part of fig. 6, the determined fire point is M point, and the highest temperature point is located at the center point of the screen of the heat sensing part 202 (the highest temperature point is not shown in fig. 6).
Since the fire point M is not the highest temperature point, the water cannon aiming apparatus needs to control the movement of the fire fighting water cannon to the center line of the heat sensing member 202 to be aligned with the fire point M, as illustrated in the lower part of fig. 6, at which time the water cannon aiming apparatus is considered to be aimed at the fire point.
When the water monitor aiming device is arranged on a fire water monitor, the direction of the water outlet can be consistent with the direction of the picture central point of the preset heat sensing component, so that when the picture central point of the preset heat sensing component aims at a fire point, the direction of the water outlet also aims at the fire point, and subsequent water spraying operation can be smoothly carried out.
Fig. 6 illustrates a case where the highest temperature point is not the fire point. If the highest temperature point is the fire point, when the highest temperature point is located at the picture center point of the preset heat sensing part, the preset heat sensing part also aims at the fire point, and the follow-up fire water monitor does not need to move.
Optionally, the water cannon aiming apparatus may also include a visible light sensor 43 and an alarm 44. The visible light sensor 43 is used for acquiring a video image and sending the video image to the processor, and the shooting range of the visible light sensor 43 comprises preset areas corresponding to the heat sensing components. The video images shot by the visible light sensor 43 can help the user to check the fire condition in the monitoring range in real time. Meanwhile, the fire point can be rechecked.
In particular, the processor may determine a first location of the fire on the video image. The processor then performs a matching process on the video images to determine a second location of the identified fire on the video images. The matching process may be performed in various ways, for example, by taking multiple pictures including flames, training a model, and inputting a video image into the model to obtain the position of the flames in the video image. The location of the flame may be a region, and points within this region may each be considered a second location to identify a fire.
And confirming that the fire point is successfully identified when the first position and the second position are the same, otherwise, confirming that the fire point is failed. For example, when the location of the flame is a region, if the first location of the fire is located within the region, the first location and the second location may be the same, and vice versa.
Fig. 7 is a schematic view of fire rechecking provided in the embodiment of the present application, and as shown in fig. 7, two situations of fire rechecking are illustrated. In the video image 71, the video image 71 is subjected to matching processing, a first region 712 in which flames are located is identified, and it can be considered that the identified fire point is located in the first region 712. Whereas in video image 71 the location of the fire identified by the water cannon aiming apparatus is location 713, at which point the fire identification is deemed to have failed.
In the video image 72, the video image 72 is subjected to matching processing, a second region 721 where flames are located is identified, and it can be considered that the identified fire is located in the second region 721. Whereas in the video image 72 the location of the fire determined by the water cannon aiming apparatus is location 722, location 722 being within the second region 721, the fire identification is considered successful.
When the fire point identification fails, the processor 41 may further send an alarm instruction to the alarm 44, and after receiving the alarm instruction from the processor 41, the alarm 44 sends an alarm according to the alarm instruction to indicate that the fire point identification fails. And manual confirmation prompts can be provided, so that an operator can confirm whether a fire point exists according to the video images and perform manual operation according to the field conditions.
Fig. 7 illustrates a video review mode for fire, and in practice, other video review modes may be included. For example, a video image may be sent by the processor to the client, the user manually determining whether the identified fire is accurate by viewing the video image, and then the user instructs the processor through the client. The processor may receive an acknowledgement instruction from the client sent by the user indicating success of the failed fire or failure to identify the fire. If the identification is successful, the subsequent water spraying operation can be carried out. If the recognition fails, the water spraying operation is stopped.
The water cannon sighting device provided by the embodiment of the application is arranged on a fire water cannon and comprises a processor, an acceleration sensor and a plurality of heat sensing parts, temperature data in a preset area are obtained through the heat sensing parts, the temperature data are sent to the processor, the pitching angle of the sighting parts is obtained through the acceleration sensor, the pitching angle is sent to the processor, then the processor can determine the position of a fire point according to the pitching angle and the temperature data, and the detection and the positioning of the fire point are realized. Because the heat sensing component does not need to scan ultraviolet rays or infrared rays, but obtains the temperature information of each position point through thermal imaging, the influence of ambient light is small, and the fire point is positioned more accurately. When the heat sensing component detects the fire, scanning is not needed, the efficiency of fire detection can be improved, and the noise of machine operation can be reduced. Meanwhile, after the fire point is determined, a video rechecking fire point position confirmation scheme is further arranged, misoperation of water spraying is greatly reduced, and fire extinguishing reliability is improved.
Fig. 8 is a schematic structural diagram of a fire monitor according to an embodiment of the present application, and as shown in fig. 8, includes a monitor part 82 and a monitor aiming device 83, where:
the water cannon aiming device 83 comprises a preset heat sensing part, a water outlet is formed in the water cannon part 82, and the picture center point of the preset heat sensing part is the same as the water outlet direction of the water outlet 84;
the water monitor aiming device 83 is used for controlling the fire water monitor to move until the position of a fire point is positioned at the central point of the picture of the preset heat sensing part, so that the direction of the water outlet 84 points to the fire point;
the water cannon section 82 is adapted to direct water spray operation at a fire point after the water outlet 84 is directed at the fire point.
Optionally, the fire monitor further comprises a manual control panel 81, the manual control panel 81 being adapted to control the monitor part 82 to inhibit the water spraying operation when the fire point is determined to have failed by the monitor aiming device.
Optionally, the fire monitor further comprises a power source 85, and the power source 85 is used for supplying power to all components of the fire monitor.
In the embodiment illustrated in fig. 8, the monitor aiming device 83 is mounted on the water outlet 84, and optionally, the monitor aiming device 83 may be mounted at other locations so long as it is ensured that when the monitor aiming device 83 is aimed at the fire point, the direction of the water outlet 84 is also aimed at the fire point.
The scheme for detecting and positioning the fire point by the water cannon aiming device 83 is detailed in the above embodiment, and is not described again here.
Fig. 9 is a schematic flowchart of a water cannon aiming method provided in an embodiment of the present application, where the method is applied to a water cannon aiming apparatus, where the water cannon aiming apparatus includes a plurality of heat sensing components, and as shown in fig. 9, the method includes:
s91, acquiring temperature data in a preset area sent by each heat sensing component, wherein the temperature data comprises temperature information of each position point in the preset area;
s92, acquiring the pitching angle of the aiming part;
and S93, determining the position of the fire point according to the pitch angle and the temperature data.
In one possible embodiment, the water monitor aiming device is arranged on a fire water monitor; determining a location of a fire from the pitch angle and each of the temperature data, comprising:
determining a highest temperature point and M high temperature points according to the temperature data, wherein the temperature indicated by the temperature information of any high temperature point is greater than or equal to a first preset temperature, and M is an integer greater than or equal to 0;
controlling the fire water monitor to move until the position of the highest temperature point is located at the picture center point of a preset heat sensing part in the plurality of heat sensing parts, and acquiring a first pitching angle of the aiming part;
and determining the fire point in the highest temperature point and the M high temperature points according to the installation position of the aiming component and the first pitch angle, and determining the position of the fire point.
In one possible embodiment, determining the fire point among the maximum temperature point and the M high temperature points according to the installation position of the aiming part and the first pitch angle includes:
determining the distances between the maximum temperature point and the M high temperature points and the preset heat sensing component according to the installation position of the aiming component and the first pitch angle;
acquiring actual temperatures of the maximum temperature point and the M high temperature points according to distances between the maximum temperature point and the M high temperature points and the preset heat sensing component respectively and temperature information of the maximum temperature point and the M high temperature points;
and determining the fire point according to the maximum temperature point and the actual temperatures of the M high temperature points.
In a possible implementation, for any first high temperature point in the M high temperature points, determining a distance between the first high temperature point and the preset heat sensing part according to the installation position of the aiming part and the first pitch angle includes:
after the first pitching angle is obtained, controlling the fire water monitor to move until the position of the first high-temperature point is located at the picture center point of the preset heat sensing part;
acquiring a second pitching angle of the aiming component when the position of the first high-temperature point is positioned at the picture center point of the preset heat sensor component;
and determining the distance between the first high-temperature point and the preset heat sensing component according to the installation position of the aiming component and the second pitching angle.
In one possible embodiment, determining the fire point from the maximum temperature point and the actual temperatures of the M high temperature points comprises:
determining the highest temperature point and the point of highest actual temperature among the M high temperature points as the fire point; or,
and determining a point, of the maximum temperature point and the M high temperature points, at which the actual temperature is greater than or equal to a second preset temperature as the fire point.
In one possible embodiment, after determining the location of the fire from the pitch angle and each of the temperature data, the method further comprises:
and controlling the fire water monitor to move until the position of the fire point is positioned at the picture central point of the preset heat sensing part.
In one possible embodiment, the method further comprises:
acquiring a video image, and determining a first position of the fire point on the video image, wherein the shooting range of the video image comprises a preset area corresponding to each heat sensing component;
matching the video images, and determining a second position of an identified fire point on the video images, wherein the identified fire point is the fire point identified after the video images are matched;
confirming that the identification of the fire is successful when the first location and the second location are the same;
otherwise, confirming that the fire point is identified as failed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.
Claims (18)
1. The utility model provides a water cannon sighting device, its characterized in that, water cannon sighting device sets up on the fire water cannon, water cannon sighting device includes treater, acceleration sensor and a plurality of heat sensing part, wherein:
each heat sensing component is used for acquiring temperature data in a preset area and sending the temperature data to the processor, wherein the temperature data comprises temperature information of each position point in the preset area;
the acceleration sensor is used for acquiring the pitch angle of the aiming part and sending the pitch angle to the processor;
the processor is used for determining a highest temperature point and M high temperature points according to the temperature data, the temperature indicated by the temperature information of any high temperature point is greater than or equal to a first preset temperature, and M is an integer greater than or equal to 0;
controlling the fire water monitor to move until the position of the highest temperature point is located at the picture center point of a preset heat sensing part in the plurality of heat sensing parts, and acquiring a first pitching angle of the aiming part;
acquiring actual temperatures of the highest temperature point and the M high temperature points according to the installation position of the aiming component, the first pitch angle and the second pitch angle of the aiming component; the second pitching angle is obtained when the position of any first high-temperature point in the M high-temperature points is located at the picture center point of the preset heat sensing part;
and determining a fire point according to the maximum temperature point and the actual temperatures of the M high temperature points, and determining the position of the fire point.
2. The apparatus of claim 1, wherein the processor obtaining the actual temperatures of the maximum temperature point and the M high temperature points based on the mounting position of the aiming member, the first pitch angle, and the second pitch angle of the aiming member comprises:
determining the distance between the maximum temperature point and the preset heat sensing component according to the installation position of the aiming component and the first pitching angle;
determining the distance between any first high-temperature point in the M high-temperature points and the preset heat sensing component according to the installation position of the aiming component and the second pitching angle of the aiming component;
and acquiring the actual temperatures of the maximum temperature point and the M high temperature points according to the distances between the maximum temperature point and the M high temperature points and the preset heat sensing component and the temperature information of the maximum temperature point and the M high temperature points.
3. The apparatus of claim 2, wherein the processor determines, for any first one of the M high temperature points, a distance between the first high temperature point and the preset heat sensing part according to the mounting position of the aiming part and the second pitch angle, comprising:
after the first pitching angle is obtained, controlling the fire water monitor to move until the position of the first high-temperature point is located at the picture center point of the preset heat sensing part;
acquiring a second pitching angle of the aiming component when the position of the first high-temperature point is positioned at the picture center point of the preset thermal sensor component;
and determining the distance between the first high-temperature point and the preset heat sensing component according to the installation position of the aiming component and the second pitching angle.
4. The apparatus of claim 2, wherein the step of the processor determining the fire point from the maximum temperature point and the actual temperatures of the M high temperature points comprises:
determining the highest temperature point and the point of highest actual temperature among the M high temperature points as the fire point; or,
and determining the point of which the actual temperature is greater than or equal to a second preset temperature from the maximum temperature point and the M high temperature points as the fire point.
5. The apparatus according to any one of claims 2-4, wherein the targeting element is a gun head or the targeting element is the pre-set thermal sensing element.
6. The device according to any one of claims 1-4, wherein the thermal sensing component is a thermopile sensor configured to acquire temperature data within a predetermined region and send the temperature data to the processor; or,
the heat sensing component comprises a lens and a focal plane sensor, wherein the lens is used for collecting light rays in a preset area and sending the light rays to the focal plane sensor; the focal plane sensor is used for acquiring temperature data according to the light and sending the temperature data to the processor.
7. The apparatus of any of claims 2-4, wherein the processor, after determining the location of the fire from the pitch angle and each of the temperature data, is further configured to:
and controlling the fire water monitor to move until the position of the fire point is positioned at the picture central point of the preset heat sensing part.
8. The device according to any one of claims 1-4, wherein the water cannon aiming device further comprises a visible light sensor, the visible light sensor is used for acquiring video images and sending the video images to the processor, and the shooting range of the visible light sensor comprises a preset area corresponding to each heat sensing component.
9. The apparatus of claim 8, wherein after the processor determines the fire, the processor is further configured to:
determining a first location of the fire on the video image;
matching the video image, and determining a second position of the identified fire point on the video image;
confirming that the identification of the fire is successful when the first position and the second position are the same;
otherwise, confirming that the fire point is identified.
10. The apparatus according to any one of claims 2 to 4, wherein the number of the heat sensing parts is 3, and the preset heat sensing part is a central heat sensing part among the 3 heat sensing parts.
11. A fire monitor, comprising a monitor part and a monitor aiming device according to any one of claims 1 to 10, wherein:
the water cannon aiming device comprises a preset heat sensing part, a water outlet is formed in the water cannon part, and the picture center point of the preset heat sensing part is the same as the water outlet direction of the water outlet;
the water monitor aiming device is used for controlling the fire monitor to move until the position of a fire point is positioned at the central point of the picture of the preset heat sensing part, so that the direction of the water outlet points to the fire point;
the water cannon component is used for spraying water to the fire point after the direction of the water outlet points to the fire point.
12. The fire monitor of claim 11, further comprising a manual control panel for:
and when the water cannon aiming device determines that the fire point fails, controlling the water cannon component to forbid the water spraying operation.
13. A water cannon aiming method is characterized by being applied to a water cannon aiming device, wherein the water cannon aiming device is arranged on a fire water cannon and comprises a plurality of heat sensing parts, and the method comprises the following steps:
acquiring temperature data in a preset area sent by each heat sensing component, wherein the temperature data comprises temperature information of each position point in the preset area;
acquiring a pitching angle of the aiming component;
determining a highest temperature point and M high temperature points according to the temperature data, wherein the temperature indicated by the temperature information of any high temperature point is greater than or equal to a first preset temperature, and M is an integer greater than or equal to 0;
controlling the fire water monitor to move until the position of the highest temperature point is located at the picture center point of a preset heat sensing part in the plurality of heat sensing parts, and acquiring a first pitching angle of the aiming part;
acquiring actual temperatures of the highest temperature point and the M high temperature points according to the installation position of the aiming component, the first pitch angle and the second pitch angle of the aiming component; the second pitching angle is obtained when the position of any first high-temperature point in the M high-temperature points is located at the picture center point of the preset heat sensing part;
and determining the fire point according to the maximum temperature point and the actual temperatures of the M high temperature points, and determining the position of the fire point.
14. The method of claim 13, wherein obtaining the actual temperatures of the maximum temperature point and the M high temperature points from the mounting location of the sighting component, the first pitch angle, and the second pitch angle of the sighting component comprises:
determining the distance between the highest temperature point and the preset heat sensing component according to the installation position of the aiming component and the first pitch angle;
determining the distance between any first high-temperature point in the M high-temperature points and the preset heat sensing part according to the installation position of the aiming part and the second pitching angle of the aiming part;
and acquiring the actual temperatures of the maximum temperature point and the M high temperature points according to the distances between the maximum temperature point and the M high temperature points and the preset heat sensing component and the temperature information of the maximum temperature point and the M high temperature points.
15. The method according to claim 14, wherein determining, for any first high temperature point of the M high temperature points, a distance between the first high temperature point and the preset heat sensing part according to the installation position of the aiming part and the first pitch angle comprises:
after the first pitching angle is obtained, controlling the fire water monitor to move until the position of the first high-temperature point is located at the picture center point of the preset heat sensing part;
acquiring a second pitching angle of the aiming component when the position of the first high-temperature point is positioned at the picture center point of the preset heat sensor component;
and determining the distance between the first high-temperature point and the preset heat sensing component according to the installation position of the aiming component and the second pitching angle.
16. The method of claim 14, wherein determining the fire point from the maximum temperature point and the actual temperatures of the M high temperature points comprises:
determining the highest temperature point and the point of highest actual temperature among the M high temperature points as the fire point; or,
and determining the point of which the actual temperature is greater than or equal to a second preset temperature from the maximum temperature point and the M high temperature points as the fire point.
17. The method of any of claims 13-16, wherein after determining the location of the fire from the pitch angle and each of the temperature data, the method further comprises:
and controlling the fire water monitor to move until the position of the fire point is positioned at the picture central point of the preset heat sensing part.
18. The method according to any one of claims 13-16, further comprising:
acquiring a video image, and determining a first position of the fire point on the video image, wherein the shooting range of the video image comprises a preset area corresponding to each heat sensing component;
matching the video image, and determining a second position of an identified fire point on the video image, wherein the identified fire point is the fire point identified after the video image is matched;
confirming that the identification of the fire is successful when the first location and the second location are the same;
otherwise, confirming that the fire point is identified.
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