CN112138304A - Multi-vehicle linkage fire extinguishing device and method - Google Patents
Multi-vehicle linkage fire extinguishing device and method Download PDFInfo
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- CN112138304A CN112138304A CN202011029600.2A CN202011029600A CN112138304A CN 112138304 A CN112138304 A CN 112138304A CN 202011029600 A CN202011029600 A CN 202011029600A CN 112138304 A CN112138304 A CN 112138304A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/07—Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles
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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 invention relates to a multi-vehicle linkage fire extinguishing device and method, and relates to the technical field of fire extinguishing. The device includes: a plurality of fire suppression carts; the fire extinguishing trolley is provided with a flame detection sub-device for detecting a flame signal, a fire extinguishing sub-device for extinguishing fire and a control device; the flame detection sub-device and the fire extinguishing sub-device are both connected with the control device; the control device is used for receiving the flame signal, then sending the flame position to other fire extinguishing trolleys, and determining a moving path from the fire extinguishing trolleys to the flame transmission position according to the flame transmission positions sent by the other fire extinguishing trolleys. When one of the fire extinguishing trolleys finds a fire source, the fire source is positioned and the flame position is sent to the cloud end, the rest fire extinguishing trolleys determine the moving paths of the rest fire extinguishing trolleys to the fire source position according to the fire source position, and the rest fire extinguishing trolleys are linked with the fire extinguishing trolleys finding the fire source to extinguish fire after moving to the fire source position; the invention adopts a plurality of fire extinguishing trolleys to carry out linkage fire extinguishing, thereby improving the fire extinguishing efficiency.
Description
Technical Field
The invention relates to the technical field of fire extinguishing, in particular to a multi-vehicle linkage fire extinguishing device and method.
Background
Urban population is proliferating and the probability of fire is increasing. Many times, the fire disaster originally can be suppressed, but most of the existing fire extinguishing methods, such as fire extinguishers held by firemen's hands to extinguish fire, fire extinguishers of fire-fighting trucks with high-pressure water guns and the like, need to be manually controlled, so that the fire extinguishment is untimely and the fire spread. The preparation work of the fire extinguishing methods is long, so that the fire situation is easy to be out of control, and the fire situation is out of control, which has great threat to the life safety of the firefighters. In a warehouse or the like, if fire is not extinguished in the first place, the best time to extinguish the fire is delayed, with extremely serious consequences.
The traditional monitoring and inspection mode is time-consuming and labor-consuming, and can not timely restrain fire. The existing intelligent fire extinguishing trolley technology uses a fire extinguishing trolley to patrol in a designated area, search for a fire source and automatically extinguish fire. But one fire extinguishing trolley has small moving range and limited fire extinguishing capacity, so that the fire extinguishing efficiency is low, the flexibility is low, and the fire extinguishing speed cannot catch up with the spread of fire.
Disclosure of Invention
The invention aims to provide a multi-vehicle linkage fire extinguishing device and method, which are used for carrying out linkage fire extinguishing by adopting a plurality of fire extinguishing trolleys, so that the fire extinguishing efficiency is improved.
In order to achieve the purpose, the invention provides the following scheme:
a multiple train linkage fire suppression device, comprising: a plurality of fire suppression carts; the fire extinguishing trolley is used for detecting a flame signal in a preset area and extinguishing fire;
the fire extinguishing trolley is provided with a flame detection sub-device, a fire extinguishing sub-device and a control device;
the flame detection sub-device and the fire extinguishing sub-device are both connected with the control device;
the flame detection sub-device is used for detecting a flame signal and transmitting the detected flame signal to the control device;
the control device is used for determining the flame position according to the flame signal after receiving the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to a cloud end;
the fire extinguishing sub-device is used for receiving the fire extinguishing instruction and then starting to extinguish the fire;
the control device of the ith fire extinguishing trolley is also used for receiving the transmission flame position transmitted by the cloud end except the ith fire extinguishing trolley and sent to the cloud end, determining a moving path from the ith fire extinguishing trolley to the transmission flame position by utilizing a genetic algorithm according to the transmission flame position, controlling the ith fire extinguishing trolley to move to the transmission flame position according to the moving path, and sending a fire extinguishing instruction to the fire extinguishing sub-device of the ith fire extinguishing trolley after the ith fire extinguishing trolley moves to the transmission flame position; i represents the serial number of the fire extinguishing trolley.
Optionally, the fire extinguishing trolley further comprises: the system comprises driving wheels, a steering engine and a servo motor; the driving wheels are arranged at the bottom of the fire extinguishing trolley;
the driving wheels are used for driving the fire extinguishing trolley to move;
the drive wheels comprise front wheels and rear wheels;
the steering engine is respectively connected with the control device and the front wheels; the steering engine is used for controlling the front wheels to drive the fire extinguishing trolley to steer according to the control signal of the control device;
the servo motor is respectively connected with the control device and the rear wheel; the servo motor is used for controlling the rear wheels to drive the fire extinguishing trolley to move according to the control signal of the control device.
Optionally, the fire extinguishing trolley further comprises: a power supply device;
the power supply device is connected with the control device and used for supplying power to the fire extinguishing trolley.
Optionally, the flame detection sub-assembly comprises a plurality of flame sensors; each flame sensor is connected with the control device.
Optionally, the control device specifically includes: the device comprises an analysis module and a driving module;
the analysis module is respectively connected with the flame detection sub-device, the fire extinguishing sub-device and the driving module;
the analysis module is used for determining the flame position according to the flame signal after receiving the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to a cloud end;
the analysis module of the ith fire extinguishing trolley is also used for receiving the transmission flame position transmitted by the cloud end except the ith fire extinguishing trolley and sent to the cloud end, determining a moving path from the ith fire extinguishing trolley to the transmission flame position by utilizing a genetic algorithm according to the transmission flame position, controlling a driving module of the ith fire extinguishing trolley according to the moving path, enabling the ith fire extinguishing trolley to move to the transmission flame position, and sending a fire extinguishing instruction to a fire extinguishing sub-device of the ith fire extinguishing trolley after the ith fire extinguishing trolley moves to the transmission flame position;
the driving module is also respectively connected with the steering engine and the servo motor;
and the driving module is used for receiving the control signal of the analysis module and then controlling the steering engine and the servo motor according to the control signal so that the ith fire extinguishing trolley moves to the flame transmission position.
Optionally, the driving module specifically includes: the device comprises a motor driving module and a steering engine driving module;
the motor driving module is connected with the servo motor;
the motor driving module is used for driving the servo motor according to the control signal;
the steering engine driving module is connected with the steering engine; and the steering engine driving module is used for controlling the steering engine according to the control signal.
Optionally, the ith analysis module of the fire extinguishing trolley specifically includes:
the first judgment submodule is used for judging whether a flame signal detected by the flame detection submodule of the ith fire extinguishing trolley is received or not to obtain a first judgment result;
the traveling information acquisition submodule is used for acquiring the traveling information of the ith fire extinguishing trolley when the first judgment result is yes; the traveling information of the ith fire extinguishing trolley comprises the distance information of the ith fire extinguishing trolley from the starting position to the time when the flame signal is received;
the flame position determining submodule is used for determining the position of the ith fire extinguishing trolley according to the traveling information and determining the position of the ith fire extinguishing trolley as the flame position;
the position sharing submodule is used for sending the flame position to a cloud end;
the second judgment submodule is used for judging whether the flame transmission position transmitted to the cloud end by the ith fire extinguishing trolley except the transmission flame position transmitted to the cloud end is received or not when the first judgment result is negative, so that a second judgment result is obtained;
a moving path determining submodule, configured to determine, according to the position of the transmission flame, a moving path from the ith fire extinguishing vehicle to the position of the transmission flame by using a genetic algorithm when the second determination result is yes;
the control moving submodule is used for controlling the ith fire extinguishing trolley to move to the flame transmission position according to the moving path;
and the return submodule is used for executing the first judgment submodule when the second judgment result is negative.
A multi-vehicle linkage fire extinguishing method is applied to the multi-vehicle linkage fire extinguishing device, and comprises the following steps:
the control device of the ith fire extinguishing trolley judges whether a flame signal detected by the flame detection sub-device of the ith fire extinguishing trolley is received or not to obtain a first judgment result;
if the first judgment result is yes, acquiring the traveling information of the ith fire extinguishing trolley; the traveling information of the ith fire extinguishing trolley comprises the distance information of the ith fire extinguishing trolley from the starting position to the time when the flame signal is received;
determining the position of the ith fire extinguishing trolley according to the traveling information, and determining the position of the ith fire extinguishing trolley as a flame position;
sending the flame position to a cloud;
if the first judgment result is negative, judging whether the transmission flame position transmitted by the cloud except the ith fire extinguishing trolley to the cloud is received or not to obtain a second judgment result;
if the second judgment result is yes, determining a moving path from the ith fire extinguishing trolley to the position of the transmission flame by utilizing a genetic algorithm according to the position of the transmission flame;
controlling the ith fire extinguishing trolley to move to the flame transmission position according to the moving path;
if the second judgment result is negative, returning to the step that the control device of the ith fire extinguishing trolley judges whether the flame signal detected by the flame detection sub-device of the ith fire extinguishing trolley is received or not to obtain a first judgment result.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a multi-vehicle linkage fire extinguishing device and a method. The device includes: a plurality of fire suppression carts; the fire extinguishing trolley is used for detecting a flame signal in a preset area and extinguishing fire; the fire extinguishing trolley is provided with a flame detection sub-device, a fire extinguishing sub-device and a control device; the flame detection sub-device and the fire extinguishing sub-device are both connected with the control device; the flame detection sub-device is used for detecting a flame signal and transmitting the detected flame signal to the control device; the control device is used for determining the flame position according to the flame signal after receiving the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to the cloud end; the fire extinguishing sub-device is used for receiving a fire extinguishing instruction and then starting to extinguish a fire; the control device of the ith fire extinguishing trolley is also used for receiving the transmission flame position transmitted by the cloud end except the transmission flame position transmitted to the cloud end by the ith fire extinguishing trolley, determining a moving path from the ith fire extinguishing trolley to the transmission flame position by utilizing a genetic algorithm according to the transmission flame position, controlling the ith fire extinguishing trolley to move to the transmission flame position according to the moving path, and transmitting a fire extinguishing instruction to the fire extinguishing sub-device of the ith fire extinguishing trolley after the ith fire extinguishing trolley moves to the transmission flame position; i represents the number of the fire-fighting carriage. The fire extinguishing trolleys are patrolled in respective preset areas, when one fire extinguishing trolley finds a fire source, the fire source is positioned, the flame position is sent to the cloud, the rest fire extinguishing trolleys determine the moving paths of the rest fire extinguishing trolleys to the fire source position according to the fire source position, and the rest fire extinguishing trolleys are linked with the fire extinguishing trolleys finding the fire source to extinguish fire after moving to the fire source position; the fire extinguishing trolley adopts a plurality of fire extinguishing trolleys for linkage fire extinguishing, improves the fire extinguishing efficiency, enlarges the patrol range, enhances the fire extinguishing capability and plays an extremely important role in preventing and controlling fire.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described 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 to obtain other drawings without inventive exercise.
Fig. 1 is a structural view of a multi-vehicle linkage fire extinguishing apparatus provided in an embodiment of the present invention;
FIG. 2 is a flow chart of the operation of the multi-vehicle linkage fire extinguishing apparatus according to the embodiment of the present invention; FIG. 2(a) is a schematic diagram of a fire extinguishing trolley collecting a flame signal; FIG. 2(b) is a schematic diagram of fire extinguishing command sent to the fire extinguishing sub-device; FIG. 2(c) is a schematic diagram of command transmission; FIG. 2(d) is a schematic diagram of planning an optimal movement path; FIG. 2(e) is a schematic diagram illustrating the sending of a travel command; FIG. 2(f) is a schematic diagram of multi-vehicle linkage fire suppression;
FIG. 3 is a flow chart of the operation of the fire fighting cart analysis module provided by the embodiment of the present invention;
fig. 4 is a flowchart of a multi-vehicle linkage fire extinguishing method according to an embodiment of the present invention.
Description of the symbols: 1. a flame detection sub-assembly; 2. a control device; 3. a fire extinguishing sub-device.
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.
The invention aims to provide a multi-vehicle linkage fire extinguishing device and method, which are used for carrying out linkage fire extinguishing by adopting a plurality of fire extinguishing trolleys, so that the fire extinguishing efficiency is improved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment provides a multi-vehicle linkage fire extinguishing apparatus, fig. 1 is a structural diagram of the multi-vehicle linkage fire extinguishing apparatus provided by the embodiment of the invention, referring to fig. 1, the multi-vehicle linkage fire extinguishing apparatus includes: a plurality of fire suppression carts; the fire extinguishing trolley is used for detecting flame signals in a preset area and extinguishing fire. The fire extinguishing trolley cruises in a preset designated area to search for a fire source and extinguish fire.
Each fire extinguishing trolley is provided with a flame detection sub-device 1, a fire extinguishing sub-device 3 and a control device 2.
The flame detection sub-device 1 and the fire extinguishing sub-device 3 are both connected with the control device 2.
The flame detection sub-device is used for detecting a flame signal and transmitting the detected flame signal to the control device. The flame detection sub-device detects a flame signal, and when the flame signal is detected, the position information of the flame signal is transmitted to the analysis module.
The flame detection sub-device is arranged at the top of the fire extinguishing trolley. The flame detection sub-assembly includes a plurality of flame sensors; each flame sensor is connected with the control device; a plurality of flame sensors are arranged around the top of the fire extinguishing trolley. The Flame Sensor is a Grove Flame Sensor which can be used for detecting a fire source or other light sources with the wavelength between 760nm and 1100 nm; the flame sensor detects the surrounding environment in real time and searches for flames, and is used for detecting and finding the surrounding fire conditions. The whole body of the fire extinguishing trolley is provided with a plurality of flame sensors in a surrounding mode, the flame sensors are limited in a certain detection range, when the fire extinguishing trolley detects a flame signal, the fire extinguishing trolley and the flame can be considered to be located at the same position, and the position information of the flame signal is transmitted to the analysis module and then the position information of the fire extinguishing trolley is transmitted to the analysis module.
The control device is used for determining the flame position according to the flame signal after receiving the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to the cloud.
The fire extinguishing sub-device is used for receiving the fire extinguishing instruction and then starting to extinguish the fire. The fire extinguishing sub-device comprises: the fan, the fan is used for putting out a fire to the flame. The fire extinguishing sub-device is installed beside a flame detection sub-device at the top of the fire extinguishing trolley, a Grove programmable fan module is selected, and the Grove programmable fan module can rotate at a high speed under the driving of a fire extinguishing instruction of the analysis module to extinguish a fire source.
The control device of the ith fire extinguishing trolley is also used for receiving the transmission flame position transmitted by the cloud end except the transmission flame position transmitted to the cloud end by the ith fire extinguishing trolley, determining a moving path from the ith fire extinguishing trolley to the transmission flame position by utilizing a genetic algorithm according to the transmission flame position, controlling the ith fire extinguishing trolley to move to the transmission flame position according to the moving path, and transmitting a fire extinguishing instruction to the fire extinguishing sub-device of the ith fire extinguishing trolley after the ith fire extinguishing trolley moves to the transmission flame position; i represents the number of the fire-fighting carriage.
The control device specifically includes: the device comprises an analysis module and a driving module.
The analysis module is respectively connected with the flame detection sub-device, the fire extinguishing sub-device and the driving module.
The analysis module is used for receiving the flame signal and then determining the flame position according to the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to the cloud. The analysis module adopts the FPGA development board, the model of FPGA development board is Spartan-7, development board self has thing networking encryption function, carries on ESP32 thing networking WIFI and bluetooth, can be in real time with self position sharing to the high in the clouds.
The analysis module of the ith dolly of putting out a fire still is used for receiving the transmission of high in the clouds except that the ith dolly of putting out a fire sends the transmission flame position in high in the clouds to utilize genetic algorithm to confirm the ith dolly of putting out a fire to the removal route of transmission flame position according to the transmission flame position, according to the drive module of the ith dolly of putting out a fire of removal route control, make the ith dolly of putting out a fire remove to the transmission flame position, and send the instruction of putting out a fire to the extinguishing subset device of the ith dolly of putting out a fire after the ith dolly of putting out a fire removes to the transmission flame position. The analysis module acquires the transmission flame positions of the rest fire extinguishing trolleys sent to the cloud end through the cloud end, and determines the optimal moving path of the ith fire extinguishing trolley moving to the transmission flame position according to the transmission flame positions by utilizing a genetic algorithm. In the embodiment, the genetic algorithm based on the grid map is adopted, a certain number of moving paths are obtained by utilizing the genetic algorithm based on the grid map under the preset conditions of artificially set probability, population quantity and the like, and an optimal moving path is selected from the moving paths; under the condition that the moving distance is small, namely the number of grids is small, all moving paths can be obtained, and at the moment, the optimal moving path is the shortest moving path; however, when the number of the grids is too large, all the actual possible moving paths cannot be obtained because of a large calculation amount, so that only the limiting conditions (preset limiting conditions) can be manually set to obtain the moving paths meeting the preset limiting conditions, and one shortest moving path is selected as the optimal moving path from the moving paths meeting the preset limiting conditions. The optimal movement path may not be the shortest movement path for all possible movement paths in the entire grid, but must be the shortest movement path under artificially set conditions (preset conditions).
The dolly of putting out a fire still includes: the system comprises driving wheels, a steering engine and a servo motor; the driving wheels are arranged at the bottom of the fire extinguishing trolley. The driving wheels are used for driving the fire extinguishing trolley to move.
The drive wheels include front wheels and rear wheels.
The steering engine is respectively connected with the control device and the front wheels; the steering engine is used for controlling the front wheels to drive the fire extinguishing trolley to steer according to the control signal of the control device.
The servo motor is respectively connected with the control device and the rear wheel; the servo motor is used for controlling the rear wheels to drive the fire extinguishing trolley to move according to the control signal of the control device. The servo motor is used for receiving the control signal of the motor driving module and providing power for the fire extinguishing trolley according to the control signal.
The driving module is also connected with the steering engine and the servo motor respectively.
And the driving module is used for controlling the steering engine and the servo motor according to the control signal after receiving the control signal of the analysis module, so that the ith fire extinguishing trolley moves to a flame transmission position. The driving module is used for executing the control signal of the analysis module, and under the control of the analysis module, the fire extinguishing trolleys are driven to move according to the moving path, so that each fire extinguishing trolley can reach the fire source position (flame position).
The driving module specifically comprises: the device comprises a motor driving module and a steering engine driving module.
The motor driving module is connected with the servo motor. The motor driving module is arranged on the rear wheel of the fire extinguishing trolley and used for receiving the control signal sent by the analysis module, driving the servo motor according to the control signal and controlling the fire extinguishing trolley to move forwards and backwards.
The steering engine driving module is connected with a steering engine; the steering engine driving module is used for controlling the steering engine to drive the fire extinguishing trolley to steer according to the control signal. The steering engine driving module is arranged on the front wheels of the fire extinguishing trolley and is used for controlling the steering of the fire extinguishing trolley.
The analysis module of the ith fire extinguishing trolley specifically comprises:
and the first judgment submodule is used for judging whether a flame signal detected by the flame detection submodule of the ith fire extinguishing trolley is received or not to obtain a first judgment result.
The traveling information acquisition submodule is used for acquiring the traveling information of the ith fire extinguishing trolley when the first judgment result is yes; the traveling information of the ith fire extinguishing trolley comprises the distance information of the ith fire extinguishing trolley from the departure to the time when the flame signal is received.
And the flame position determining submodule is used for determining the position of the ith fire extinguishing trolley according to the traveling information and determining the position of the ith fire extinguishing trolley as the flame position.
And the position sharing submodule is used for sending the flame position to the cloud.
And the second judgment submodule is used for judging whether the transmission flame position transmitted to the cloud side by the ith fire extinguishing trolley except the ith fire extinguishing trolley transmitted by the cloud side is received or not when the first judgment result is negative, so that a second judgment result is obtained.
And the moving path determining submodule is used for determining a moving path from the ith fire extinguishing trolley to the position of the transmission flame by utilizing a genetic algorithm according to the position of the transmission flame when the second judgment result is yes.
And the control moving submodule is used for controlling the ith fire extinguishing trolley to move to the flame transmission position according to the moving path.
And the return submodule is used for executing the first judgment submodule when the second judgment result is negative.
The dolly of putting out a fire still includes: and a power supply device.
The power supply device is connected with the control device and used for supplying power to the fire extinguishing trolley.
The initial positions of all fire extinguishing trolleys in the embodiment are the same.
The multi-vehicle linkage fire extinguishing device comprises 6 fire extinguishing trolleys, wherein the 6 fire extinguishing trolleys are used for detecting the surrounding environment in real time, searching flame by using a flame sensor, collecting flame signals and identifying the flame signals, so that the surrounding fire condition can be detected and found; patrol in the appointed area through 6 dollies of putting out a fire to realize the acquisition to environmental information. Fig. 2 is a working flow chart of the multi-vehicle linkage fire extinguishing apparatus provided by the embodiment of the invention, and referring to fig. 2, the working flow of 6 fire extinguishing trolleys is as follows:
all fire extinguishing trolleys start from the same initial position, and the real-time positions of the fire extinguishing trolleys are determined according to the self traveling information in patrol. Referring to fig. 2(a), after a fire extinguishing trolley of the 6 fire extinguishing trolleys collects a flame signal, the flame signal is transmitted to an analysis module of the fire extinguishing trolley.
The analysis module of the fire extinguishing vehicle immediately sends a fire extinguishing instruction to the fire extinguishing sub-device of the fire extinguishing vehicle, and the fire extinguishing sub-device of the fire extinguishing vehicle starts to extinguish fire, as shown in fig. 2 (b).
Meanwhile, the flame position, the fire extinguishing instruction and the traveling instruction are sent to the cloud end through the WIFI and the Bluetooth of the ESP32 Internet of things; the cloud transmits the location of the flame, the fire suppression instructions, and the travel instructions to each of the other fire suppression carts, as shown in fig. 2 (c).
The optimal moving path of the fire extinguishing trolleys to the flame position transmitted from the cloud end is determined by each of the other fire extinguishing trolleys according to the flame position transmitted from the cloud end by using a genetic algorithm, as shown in fig. 2(d), the distance between two fire extinguishing trolleys connected by the connecting line and the digital representation connecting line around the connecting line in fig. 2(d) is as follows: and (4) rice.
The other 5 fire-fighting trolleys' analysis modules send travel instructions to the driving module of the vehicle according to the optimal movement path, as shown in fig. 2 (e).
The other 5 fire extinguishing trolleys move to the fire source position according to the optimal moving path and surround the fire source, and the other 5 fire extinguishing trolleys send fire extinguishing instructions to the fire extinguishing sub-device of the vehicle to realize multi-vehicle linkage fire extinguishing, as shown in fig. 2 (f).
Referring to fig. 3, the working process of the analysis module of a fire fighting truck is as follows:
judging whether a flame signal of a flame sensor is acquired;
if the flame signal is acquired, determining the flame position according to the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device, and sending the flame position, the fire extinguishing instruction and the traveling instruction to the rest fire extinguishing trolleys through the cloud end; the advancing instruction is an instruction that the rest fire extinguishing trolleys move to the flame position;
the analysis modules of the rest fire extinguishing trolleys receive the flame position transmitted by the cloud end, the optimal moving path of the fire extinguishing trolley to the flame position transmitted by the cloud end is determined by utilizing a genetic algorithm according to the flame position transmitted by the cloud end, and the driving module of the fire extinguishing trolley is controlled according to the optimal moving path to enable the fire extinguishing trolley to move to the flame position;
the driving modules of the rest fire-fighting trolleys execute the traveling instruction according to the optimal moving path, and after the rest fire-fighting trolleys reach the destination of the optimal moving path, the analysis modules of the rest fire-fighting trolleys send fire-fighting instructions to the fire-fighting sub-devices, and the fire-fighting sub-devices of the rest fire-fighting trolleys execute the fire-fighting instructions;
if the flame signal is not acquired, waiting for receiving the flame transmission position, the fire extinguishing instruction and the advancing instruction transmitted by the rest fire extinguishing trolleys, and judging whether the flame transmission position, the fire extinguishing instruction and the advancing instruction of the rest fire extinguishing trolleys are received or not;
if the transmission flame positions, the fire extinguishing instructions and the traveling instructions of the rest fire extinguishing trolleys are received, determining the optimal moving path from the fire extinguishing trolley to the transmission flame positions by utilizing a genetic algorithm according to the transmission flame positions, executing the traveling instructions, and sending the fire extinguishing instructions to the fire extinguishing sub-device after the fire extinguishing sub-device reaches the destination of the optimal moving path, and executing the fire extinguishing instructions by the fire extinguishing sub-device;
if the flame transmission positions, the fire extinguishing instructions and the traveling instructions of the rest fire extinguishing trolleys are not received, waiting for receiving the flame transmission positions, the fire extinguishing instructions and the traveling instructions of the rest fire extinguishing trolleys, and returning to judge whether the flame signals of the flame sensors are acquired. In fig. 3, Y indicates yes and N indicates no.
The embodiment also provides a multi-vehicle linkage fire extinguishing method which is applied to the multi-vehicle linkage fire extinguishing device, and the execution main body of the multi-vehicle linkage fire extinguishing method is a control device. Fig. 4 is a flowchart of a multi-vehicle linkage fire extinguishing method according to an embodiment of the present invention. Referring to fig. 4, the multi-vehicle linkage fire extinguishing method includes:
102, if the first judgment result is yes, acquiring the traveling information of the ith fire extinguishing trolley; the traveling information of the ith fire extinguishing trolley comprises the distance information of the ith fire extinguishing trolley from the departure to the time when the flame signal is received.
And 103, determining the position of the ith fire extinguishing trolley according to the traveling information, and determining the position of the ith fire extinguishing trolley as the flame position.
And 104, sending the flame position to a cloud end.
And 105, if the first judgment result is negative, judging whether the transmission flame position transmitted to the cloud by the ith fire extinguishing trolley except the transmission flame position transmitted to the cloud by the cloud is received or not, and obtaining a second judgment result.
And 106, if the second judgment result is yes, determining a moving path from the ith fire extinguishing trolley to the position of the transmission flame by using a genetic algorithm according to the position of the transmission flame.
And step 107, controlling the ith fire extinguishing trolley to move to the flame transmission position according to the moving path.
And 108, if the second judgment result is negative, returning to 101, namely judging whether the control device of the ith fire extinguishing vehicle receives the flame signal detected by the flame detection sub-device of the ith fire extinguishing vehicle to obtain a first judgment result.
According to the intelligent cruise fire extinguishing vehicle, the flame signals in the environment are collected through the flame sensor of the intelligent cruise fire extinguishing vehicle and are processed through the FPGA development board, the fire extinguishing vehicle which finds a fire source immediately executes a fire extinguishing command, meanwhile, the fire source position is shared to the rest fire extinguishing vehicles through the WIFI module of the internet of things, the rest fire extinguishing vehicles plan the optimal moving path from the vehicle to the fire source position after receiving the fire source position, the rest fire extinguishing vehicles rapidly reach the fire source position according to the optimal moving path, the fire source is surrounded by the fire extinguishing vehicles and extinguishes, and therefore multi-vehicle linkage fire extinguishing is achieved. The invention integrates flow monitoring, multi-vehicle linkage and automatic fire extinguishing, can provide great help for fire fighters in fire extinguishing and disaster relief, can accurately find fire sources, has simple fire extinguishing operation, does not need to be operated by workers in a fire scene, has high fire extinguishing speed and high efficiency, and practically ensures the social and property safety.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A multi-vehicle linkage fire extinguishing device is characterized by comprising: a plurality of fire suppression carts; the fire extinguishing trolley is used for detecting a flame signal in a preset area and extinguishing fire;
the fire extinguishing trolley is provided with a flame detection sub-device, a fire extinguishing sub-device and a control device;
the flame detection sub-device and the fire extinguishing sub-device are both connected with the control device;
the flame detection sub-device is used for detecting a flame signal and transmitting the detected flame signal to the control device;
the control device is used for determining the flame position according to the flame signal after receiving the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to a cloud end;
the fire extinguishing sub-device is used for receiving the fire extinguishing instruction and then starting to extinguish the fire;
the control device of the ith fire extinguishing trolley is also used for receiving the transmission flame position transmitted by the cloud end except the ith fire extinguishing trolley and sent to the cloud end, determining a moving path from the ith fire extinguishing trolley to the transmission flame position by utilizing a genetic algorithm according to the transmission flame position, controlling the ith fire extinguishing trolley to move to the transmission flame position according to the moving path, and sending a fire extinguishing instruction to the fire extinguishing sub-device of the ith fire extinguishing trolley after the ith fire extinguishing trolley moves to the transmission flame position; i represents the serial number of the fire extinguishing trolley.
2. The multiple train linkage fire suppression apparatus according to claim 1, wherein the fire suppression cart further comprises: the system comprises driving wheels, a steering engine and a servo motor; the driving wheels are arranged at the bottom of the fire extinguishing trolley;
the driving wheels are used for driving the fire extinguishing trolley to move;
the drive wheels comprise front wheels and rear wheels;
the steering engine is respectively connected with the control device and the front wheels; the steering engine is used for controlling the front wheels to drive the fire extinguishing trolley to steer according to the control signal of the control device;
the servo motor is respectively connected with the control device and the rear wheel; the servo motor is used for controlling the rear wheels to drive the fire extinguishing trolley to move according to the control signal of the control device.
3. The multiple train linkage fire suppression apparatus according to claim 1, wherein the fire suppression cart further comprises: a power supply device;
the power supply device is connected with the control device and used for supplying power to the fire extinguishing trolley.
4. The multiple train linkage fire suppression apparatus according to claim 1, wherein said flame detection sub-apparatus comprises a plurality of flame sensors; each flame sensor is connected with the control device.
5. The multi-vehicle linkage fire extinguishing apparatus according to claim 2, wherein the control device specifically includes: the device comprises an analysis module and a driving module;
the analysis module is respectively connected with the flame detection sub-device, the fire extinguishing sub-device and the driving module;
the analysis module is used for determining the flame position according to the flame signal after receiving the flame signal, sending a fire extinguishing instruction to the fire extinguishing sub-device and sending the flame position to a cloud end;
the analysis module of the ith fire extinguishing trolley is also used for receiving the transmission flame position transmitted by the cloud end except the ith fire extinguishing trolley and sent to the cloud end, determining a moving path from the ith fire extinguishing trolley to the transmission flame position by utilizing a genetic algorithm according to the transmission flame position, controlling a driving module of the ith fire extinguishing trolley according to the moving path, enabling the ith fire extinguishing trolley to move to the transmission flame position, and sending a fire extinguishing instruction to a fire extinguishing sub-device of the ith fire extinguishing trolley after the ith fire extinguishing trolley moves to the transmission flame position;
the driving module is also respectively connected with the steering engine and the servo motor;
and the driving module is used for receiving the control signal of the analysis module and then controlling the steering engine and the servo motor according to the control signal so that the ith fire extinguishing trolley moves to the flame transmission position.
6. The multi-vehicle linkage fire extinguishing device according to claim 5, wherein the driving module specifically comprises: the device comprises a motor driving module and a steering engine driving module;
the motor driving module is connected with the servo motor;
the motor driving module is used for driving the servo motor according to the control signal;
the steering engine driving module is connected with the steering engine; and the steering engine driving module is used for controlling the steering engine according to the control signal.
7. The multi-vehicle linkage fire extinguishing apparatus according to claim 6, wherein the analysis module of the ith fire extinguishing vehicle specifically comprises:
the first judgment submodule is used for judging whether a flame signal detected by the flame detection submodule of the ith fire extinguishing trolley is received or not to obtain a first judgment result;
the traveling information acquisition submodule is used for acquiring the traveling information of the ith fire extinguishing trolley when the first judgment result is yes; the traveling information of the ith fire extinguishing trolley comprises the distance information of the ith fire extinguishing trolley from the starting position to the time when the flame signal is received;
the flame position determining submodule is used for determining the position of the ith fire extinguishing trolley according to the traveling information and determining the position of the ith fire extinguishing trolley as the flame position;
the position sharing submodule is used for sending the flame position to a cloud end;
the second judgment submodule is used for judging whether the flame transmission position transmitted to the cloud end by the ith fire extinguishing trolley except the transmission flame position transmitted to the cloud end is received or not when the first judgment result is negative, so that a second judgment result is obtained;
a moving path determining submodule, configured to determine, according to the position of the transmission flame, a moving path from the ith fire extinguishing vehicle to the position of the transmission flame by using a genetic algorithm when the second determination result is yes;
the control moving submodule is used for controlling the ith fire extinguishing trolley to move to the flame transmission position according to the moving path;
and the return submodule is used for executing the first judgment submodule when the second judgment result is negative.
8. A multi-vehicle linkage fire extinguishing method is applied to the multi-vehicle linkage fire extinguishing apparatus according to any one of claims 1 to 7, and comprises the following steps:
the control device of the ith fire extinguishing trolley judges whether a flame signal detected by the flame detection sub-device of the ith fire extinguishing trolley is received or not to obtain a first judgment result;
if the first judgment result is yes, acquiring the traveling information of the ith fire extinguishing trolley; the traveling information of the ith fire extinguishing trolley comprises the distance information of the ith fire extinguishing trolley from the starting position to the time when the flame signal is received;
determining the position of the ith fire extinguishing trolley according to the traveling information, and determining the position of the ith fire extinguishing trolley as a flame position;
sending the flame position to a cloud;
if the first judgment result is negative, judging whether the transmission flame position transmitted by the cloud except the ith fire extinguishing trolley to the cloud is received or not to obtain a second judgment result;
if the second judgment result is yes, determining a moving path from the ith fire extinguishing trolley to the position of the transmission flame by utilizing a genetic algorithm according to the position of the transmission flame;
controlling the ith fire extinguishing trolley to move to the flame transmission position according to the moving path;
if the second judgment result is negative, returning to the step that the control device of the ith fire extinguishing trolley judges whether the flame signal detected by the flame detection sub-device of the ith fire extinguishing trolley is received or not to obtain a first judgment result.
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| CN202011029600.2A CN112138304A (en) | 2020-09-27 | 2020-09-27 | Multi-vehicle linkage fire extinguishing device and method |
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Application publication date: 20201229 |