CN112138304A - Multi-vehicle linkage fire extinguishing device and method - Google Patents

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

A multi-vehicle linkage fire extinguishing device and method

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 technique

The population of cities has exploded, and the probability of fires has been increasing. In many cases, the fire could have been contained, but most of the existing fire extinguishing methods, such as firefighters holding fire extinguishers to put out fires, fire trucks high-pressure water guns to put out fires, etc., require human control, which causes the fire to be extinguished in time and the fire to spread. The preparation of these fire-fighting methods takes a long time, which is easy to cause the fire situation to get out of control, and the out-of-control fire situation also poses a huge threat to the safety of firefighters themselves. In densely populated areas such as warehouses, if the fire is not put out at the first time, the best time to put out the fire is delayed, and the consequences are extremely serious.

The traditional monitoring and inspection methods are not only time-consuming and labor-intensive, but also cannot contain the fire in time. The existing intelligent fire fighting trolley technology uses a fire fighting trolley to patrol the designated area, find the fire source, and automatically put out the fire. However, a fire-fighting trolley has a small range of activities and limited fire-extinguishing capacity, which makes fire-fighting efficiency and flexibility low, and the fire-fighting speed cannot keep up with the spread of the fire.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a multi-vehicle linkage fire-extinguishing device and method, which improves the fire-extinguishing efficiency by using a plurality of fire-extinguishing trolleys for linkage fire-extinguishing.

For achieving the above object, the present invention provides the following scheme:

A multi-vehicle linkage fire-extinguishing device, comprising: a plurality of fire-extinguishing trolleys; the fire-extinguishing trolleys are used to detect a flame signal in a preset area and put out the fire;

The fire extinguishing trolley is provided with a flame detection sub-device, a fire extinguishing sub-device and a control device;

Both the flame detection sub-device and the fire extinguishing sub-device are connected to the control device;

The flame detection sub-device is used to detect the flame signal, and transmit the detected flame signal to the control device;

The control device is configured to determine the flame position according to the flame signal after receiving the flame signal, send a fire extinguishing instruction to the fire extinguishing sub-device, and send the flame position to the cloud;

The fire-extinguishing sub-device is used to start fire-extinguishing after receiving the fire-extinguishing instruction;

The control device of the i-th fire-extinguishing trolley is further configured to receive the transmission flame position transmitted from the cloud except the i-th fire-extinguishing trolley sent to the cloud, and use genetic algorithm to determine the i-th flame position according to the transmission flame position The moving path of the fire extinguishing trolley to the transmission flame position, the i-th fire-extinguishing trolley is controlled to move to the transmission flame position according to the movement path, and the i-th fire-extinguishing trolley moves to the transmission flame position. After the flame is positioned, a fire extinguishing instruction is sent to the fire extinguishing sub-device of the i-th fire extinguishing trolley; i represents the serial number of the fire extinguishing trolley.

Optionally, the fire extinguishing trolley further includes: a driving wheel, a steering gear and a servo motor; the driving wheel is arranged at the bottom of the fire extinguishing trolley;

The driving wheel is used to drive the fire extinguishing trolley to move;

the drive wheels include front wheels and rear wheels;

The steering gear is respectively connected with the control device and the front wheel; the steering gear is used to control the front wheel to drive the fire extinguishing trolley to turn 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 wheel to drive the fire extinguishing trolley to move according to the control signal of the control device.

Optionally, the fire extinguishing trolley further includes: a power supply device;

The power supply device is connected to the control device, and the power supply device is used for supplying power to the fire extinguishing trolley.

Optionally, the flame detection sub-device includes a plurality of flame sensors; each of the flame sensors is connected to the control device.

Optionally, the control device specifically includes: an analysis module and a drive module;

The analysis module is respectively connected with the flame detection sub-device, the fire extinguishing sub-device and the drive module;

The analysis module is configured to determine the flame position according to the flame signal after receiving the flame signal, send a fire extinguishing instruction to the fire extinguishing sub-device, and send the flame position to the cloud;

The analysis module of the i-th fire-extinguishing trolley is further configured to receive the transmission flame position transmitted from the cloud except the i-th fire-extinguishing trolley sent to the cloud, and use genetic algorithm to determine the i-th fire flame position according to the transmission flame position a moving path of the fire-extinguishing trolley to the transmission flame position, control the drive module of the i-th fire-extinguishing trolley according to the moving path, so that the i-th fire-extinguishing trolley moves to the transfer flame position, and at the After the i-th fire-extinguishing trolley moves to the transmission flame position, it sends a fire-extinguishing instruction to the fire-extinguishing sub-device of the i-th fire-extinguishing trolley;

The driving module is also connected with the steering gear and the servo motor respectively;

The drive module is configured to control the steering gear and the servo motor according to the control signal after receiving the control signal from the analysis module, so that the i-th fire extinguishing trolley moves to the transmission flame position.

Optionally, the drive module specifically includes: a motor drive module and a steering gear drive module;

the motor drive module is connected to the servo motor;

The motor driving module is used for driving the servo motor according to the control signal;

The steering gear driving module is connected with the steering gear; the steering gear driving module is used for controlling the steering gear according to the control signal.

Optionally, the analysis module of the i-th fire extinguishing trolley specifically includes:

a first judgment sub-module for judging whether a flame signal detected by the flame detection sub-device of the i-th fire extinguishing trolley is received, and a first judgment result is obtained;

The travel information acquisition sub-module is used to obtain the travel information of the i-th fire-fighting trolley when the first judgment result is yes; The distance information from departure to the time of receiving the flame signal;

a flame position determination sub-module, configured to determine the position of the i-th fire-fighting trolley according to the travel information, and determine the position of the i-th fire-fighting trolley as the flame position;

A location sharing submodule for sending the flame location to the cloud;

The second judging sub-module is used for judging whether to receive the transmission flame position transmitted by the cloud except the i-th fire-extinguishing trolley sent to the cloud when the first judgment result is no, to obtain a second judgment result;

a movement path determination submodule, configured to determine the movement path of the i-th fire-extinguishing trolley to the transmission flame position by using a genetic algorithm according to the transmission flame position when the second judgment result is yes;

a control movement sub-module for controlling the i-th fire extinguishing trolley to move to the transmission flame position according to the movement path;

The returning sub-module is configured to execute the first judging sub-module when the second judging result is no.

A multi-vehicle linkage fire-extinguishing method is applied to the above-mentioned multi-vehicle linkage fire-extinguishing device, and the multi-vehicle linkage fire-extinguishing method comprises:

The control device of the i-th fire-fighting trolley judges whether the flame signal detected by the flame detection sub-device of the i-th fire-fighting trolley is received, and a first judgment result is obtained;

If the first judgment result is yes, then obtain the travel information of the i-th fire-fighting trolley; the travel information of the i-th fire-fighting trolley includes the travel information of the i-th fire-fighting trolley from starting to receiving the flame signal. route information;

Determine the position of the i-th fire-fighting trolley according to the travel information, and determine the position of the i-th fire-fighting trolley as the flame position;

sending the flame position to the cloud;

If the first judgment result is no, then judge whether to receive the transmission flame position transmitted by the cloud except the i-th fire extinguishing trolley sent to the cloud, and obtain a second judgment result;

If the second judgment result is yes, use a genetic algorithm to determine the movement path of the i-th fire extinguishing trolley to the transmission flame position according to the transmission flame position;

Controlling the i-th fire extinguishing trolley to move to the transmission flame position according to the moving path;

If the second judgment result is no, return to "The control device of the i-th fire-fighting trolley judges whether it has received the flame signal detected by the flame detection sub-device of the i-th fire-fighting trolley, and obtains the first judgment result" .

According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

The invention provides a multi-vehicle linkage fire extinguishing device and method. The device includes: a plurality of fire extinguishing trolleys; the fire extinguishing trolleys are used to detect flame signals in a preset area and put out the 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 to detect the flame signal and transmit the detected flame signal to the control device; the control device is used to determine the flame position according to the flame signal after receiving the flame signal, and send a fire extinguishing instruction to the fire extinguishing sub-device, And send the flame position to the cloud; the fire extinguishing sub-device is used to start fire extinguishing after receiving the fire extinguishing command; the control device of the i-th fire-fighting trolley is also used to receive the transmission flame position transmitted by the i-th fire-fighting trolley to the cloud, and According to the transmission flame position, the movement path of the i-th fire extinguishing trolley to the transmission flame position is determined by genetic algorithm, and the i-th fire-extinguishing trolley is controlled to move to the transmission flame position according to the movement path, and after the i-th fire-extinguishing trolley moves to the transmission flame position The fire extinguishing sub-device of the i-th fire-extinguishing trolley sends a fire-extinguishing instruction; i represents the serial number of the fire-extinguishing trolley. The multiple fire extinguishing trolleys of the present invention patrol in their respective preset areas. When one of the fire extinguishing trolleys finds the fire source, it locates the fire source and sends the flame position to the cloud, and the other fire extinguishing trolleys determine the remaining fire extinguishing trolleys according to the fire source position. After moving to the moving path of the fire source position, the other fire extinguishing trolleys move to the fire source position and link fire with the fire extinguishing trolley that found the fire source; the present invention adopts multiple fire extinguishing trolleys for linked fire extinguishing, which improves the fire extinguishing efficiency, expands the patrol range, and enhances the It plays an extremely important role in the prevention and control of fires.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

1 is a structural diagram of a multi-vehicle linkage fire extinguishing device provided by an embodiment of the present invention;

Fig. 2 is the working flow chart of the multi-vehicle linkage fire extinguishing device provided by the embodiment of the present invention; Fig. 2 (a) is the schematic diagram of the flame signal collected by the fire extinguishing trolley; Fig. 2 (b) is the schematic diagram of sending a fire extinguishing instruction to the fire extinguishing sub-device; Fig. Figure 2(c) is a schematic diagram of command transmission; Figure 2(d) is a schematic diagram of planning an optimal moving path; Figure 2(e) is a schematic diagram of sending a travel command; Figure 2(f) is a schematic diagram of multi-vehicle linkage fire extinguishing;

Fig. 3 is the working flow chart of the fire extinguishing trolley analysis module provided by the embodiment of the present invention;

FIG. 4 is a flowchart of a multi-vehicle linkage fire extinguishing method provided by an embodiment of the present invention.

Symbol description: 1. Flame detection sub-device; 2. Control device; 3. Fire extinguishing sub-device.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a multi-vehicle linkage fire-extinguishing device and method, which improves the fire-extinguishing efficiency by using a plurality of fire-extinguishing trolleys for linkage fire-extinguishing.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

This embodiment provides a multi-vehicle linkage fire extinguishing device. FIG. 1 is a structural diagram of the multi-vehicle linkage fire extinguishing device provided by the embodiment of the present invention. Referring to FIG. 1 , the multi-vehicle linkage fire extinguishing device includes: a plurality of fire extinguishing trolleys; It is used to detect the flame signal in the preset area and put out the fire. The fire-fighting trolley cruises in the preset designated area to find the fire source and put out the 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 .

Both the flame detection sub-device 1 and the fire extinguishing sub-device 3 are connected to the control device 2 .

The flame detection sub-device is used to detect the flame signal and transmit the detected flame signal to the control device. The flame detection sub-device detects the flame signal, and transmits the position information of the flame signal to the analysis module when the flame signal is detected.

The flame detection sub-device is installed on the top of the fire extinguishing trolley. The flame detection sub-device includes a plurality of flame sensors; each flame sensor is connected with the control device; and the plurality of flame sensors are arranged around the top of the fire extinguishing trolley. The flame sensor uses the Grove Flame Sensor flame sensor. The Grove Flame Sensor flame sensor can be used to detect fire sources or other light sources with wavelengths between 760nm and 1100nm; the flame sensor detects the surrounding environment in real time and searches for flames. fire. The fire extinguishing trolley is equipped with multiple flame sensors around it. The flame sensor has a certain detection range limit. When the fire extinguishing trolley detects a flame signal, it can be considered that the fire extinguishing trolley and the flame are in the same position, and the position information of the flame signal is transmitted to the analysis module. The position information of the trolley is transmitted to the analysis module.

The control device is used to determine the flame position according to the flame signal after receiving the flame signal, send a fire extinguishing instruction to the fire extinguishing sub-device, and send the flame position to the cloud.

The fire-extinguishing sub-device is used to start fire-fighting after receiving fire-fighting instructions. The fire extinguishing sub-device includes: a fan, and the fan is used to extinguish the flame. The fire extinguishing sub-device is installed next to the flame detection sub-device on the top of the fire extinguishing trolley. The Grove programmable fan module is selected, which can rotate at high speed under the drive of the fire extinguishing command from the analysis module to extinguish the fire source.

The control device of the i-th fire-fighting trolley is also used to receive the transmission flame position transmitted from the cloud except the i-th fire-fighting trolley sent to the cloud, and use the genetic algorithm to determine the moving path from the i-th fire-fighting trolley to the transmission flame position according to the transmission flame position , control the i-th fire-extinguishing trolley to move to the transmission flame position according to the movement path, and send a fire-extinguishing instruction to the fire-extinguishing sub-device of the i-th fire-extinguishing trolley after the i-th fire-extinguishing trolley moves to the transmission flame position; i represents the serial number of the fire-extinguishing trolley.

The control device specifically includes: an analysis module and a drive module.

The analysis module is respectively connected with the flame detection sub-device, the fire extinguishing sub-device and the drive module.

The analysis module is used to determine the flame position according to the flame signal after receiving the flame signal, send a fire extinguishing instruction to the fire extinguishing sub-device, and send the flame position to the cloud. The analysis module adopts FPGA development board, the model of FPGA development board is Spartan-7, the development board itself has the function of IoT encryption, equipped with ESP32 IoT WIFI and Bluetooth, and can share its own location to the cloud in real time.

The analysis module of the i-th fire-fighting trolley is also used to receive the transmission flame position transmitted from the cloud except the i-th fire-fighting trolley sent to the cloud, and use the genetic algorithm to determine the moving path from the i-th fire-fighting trolley to the transmission flame position according to the transmission flame position , control the drive module of the i-th fire extinguishing trolley according to the moving path, so that the i-th fire-extinguishing trolley moves to the transmission flame position, and sends the i-th fire-extinguishing trolley to the fire-extinguishing sub-device of the i-th fire-extinguishing trolley after the i-th fire-extinguishing trolley moves to the transmission flame position Fire extinguishing order. The analysis module obtains the transmission flame positions sent to the cloud by the rest of the fire extinguishing trolleys through the cloud, and uses the genetic algorithm to determine the optimal moving path of the i-th fire extinguishing trolley to the transmission flame position according to the transmission flame positions. In this embodiment, the genetic algorithm based on grid map is used, and the genetic algorithm based on grid map is used to obtain a certain number of moving paths under preset conditions such as artificially set probability and population number. Select an optimal moving path from the path; when the moving distance is small, that is, the number of grids is small, all moving paths can be obtained. At this time, the optimal moving path is the shortest moving path; but when the number of grids is too large , because of the large amount of computation, all the actual possible moving paths cannot be obtained, so only artificial constraints (preset constraints) can be set to obtain the movement paths that meet the preset constraints. Among the moving paths of , select a shortest moving path as the optimal moving path. For all feasible moving paths in the entire grid, the optimal moving path may not be the shortest moving path, but must be the shortest moving path under artificially set conditions (preset conditions).

The fire extinguishing trolley also includes: driving wheels, steering gear and servo motors; the driving wheels are arranged at the bottom of the fire extinguishing trolley. The driving wheels are used to drive the fire extinguishing trolley to move.

Drive wheels include front wheels and rear wheels.

The steering gear is respectively connected with the control device and the front wheel; the steering gear is used to control the front wheel to drive the fire extinguishing trolley to turn 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 to control the rear wheel to drive the fire extinguishing trolley to move according to the control signal of the control device. The servo motor is used to receive the control signal from the motor drive module and provide power for the fire extinguishing trolley according to the control signal.

The drive module is also connected with the steering gear and the servo motor respectively.

The drive module is used to control the steering gear and servo motor according to the control signal after receiving the control signal of the analysis module, so that the i-th fire extinguishing trolley moves to the transmission flame position. The drive module is used to execute the control signal of the analysis module. Under the control of the analysis module, the fire extinguishing trolley is driven to travel according to the moving path, so that each fire extinguishing trolley can reach the fire source position (flame position).

The drive module specifically includes: a motor drive module and a steering gear drive module.

The motor drive module is connected with the servo motor. The motor drive module is arranged on the rear wheel of the fire extinguishing trolley. The motor drive module is used to receive the control signal sent by the analysis module, and drive the servo motor according to the control signal to control the forward and backward of the fire extinguishing trolley.

The steering gear drive module is connected with the steering gear; the steering gear drive module is used to control the steering gear to drive the fire extinguishing trolley to turn according to the control signal. The steering gear driving module is arranged on the front wheel of the fire fighting trolley, and the steering gear driving module is used to control the steering of the fire fighting trolley.

The analysis module of the i-th fire extinguishing trolley specifically includes:

The first judgment sub-module is used for judging whether a flame signal detected by the flame detection sub-device of the i-th fire extinguishing trolley is received, and a first judgment result is obtained.

The travel information acquisition sub-module is used to obtain the travel information of the i-th fire-fighting trolley when the first judgment result is yes; the travel information of the i-th fire-fighting trolley includes the information of the i-th fire-fighting trolley from starting to receiving the flame signal. route information.

The flame position determination submodule is used for determining the position of the i-th fire extinguishing trolley according to the traveling information, and determining the position of the i-th fire-extinguishing trolley as the flame position.

The location sharing submodule is used to send the flame location to the cloud.

The second judging sub-module is used for judging whether to receive the transmission flame position transmitted by the cloud except the i-th fire extinguishing trolley sent to the cloud when the first judgment result is no, and obtain the second judgment result.

The movement path determination submodule is used for determining the movement path of the i-th fire extinguishing trolley to the transmission flame position by using the genetic algorithm according to the transmission flame position when the second judgment result is yes.

The control movement sub-module is used to control the i-th fire extinguishing trolley to move to the transmission flame position according to the movement path.

The returning sub-module is used for executing the first judging sub-module when the second judging result is no.

The fire fighting trolley also includes: a power supply device.

The power supply device is connected with the control device, and the power supply device is used for supplying power to the fire extinguishing trolley.

In this embodiment, all fire-fighting trolleys start from the same initial position.

The multi-vehicle linkage fire extinguishing device in this embodiment includes 6 fire extinguishing trolleys. The 6 fire extinguishing trolleys are used to detect the surrounding environment in real time, use the flame sensor to search for the flame, collect the flame signal, and identify the flame signal, so as to detect and discover the surrounding fire situation ; Patrol in the designated area by 6 fire-fighting trolleys to achieve the acquisition of environmental information. Fig. 2 is the working flow chart of the multi-vehicle linkage fire extinguishing device provided by the embodiment of the present invention, referring to Fig. 2, the working flow of 6 fire extinguishing trolleys is:

All fire-fighting trolleys start from the same initial position, and the fire-fighting trolley determines its real-time position according to its own travel information during patrol. Referring to Figure 2(a), after one of the 6 fire-extinguishing trolleys collects the flame signal, the flame signal is transmitted to the analysis module of the fire-extinguishing trolley.

The analysis module of the fire extinguishing cart immediately sends a fire extinguishing instruction to the fire extinguishing sub-device of the fire extinguishing cart, and the fire extinguishing sub-device of the fire extinguishing cart starts to extinguish the fire, as shown in Figure 2(b).

At the same time, the flame position, fire extinguishing instructions and travel instructions are sent to the cloud through ESP32 IoT WIFI and Bluetooth; the cloud transmits the flame position, fire extinguishing instructions and travel instructions to every other fire fighting trolley, as shown in Figure 2(c).

Each other fire-fighting trolley uses genetic algorithm to determine the optimal moving path from the fire-fighting trolley to the flame position transmitted in the cloud according to the flame position transmitted by the cloud, as shown in Figure 2(d). The connecting line and the numbers around the connecting line indicate the distance between the two fire extinguishing trolleys connected by the connecting line, unit: meters.

The analysis modules of the other five fire extinguishing trolleys send travel instructions to the driving module of the vehicle according to the optimal moving path, as shown in Figure 2(e).

The other five fire-fighting trolleys move to the fire source position according to the optimal moving path and surround the fire source. The other five fire-fighting trolleys send fire-fighting instructions to the fire-extinguishing sub-device of the vehicle to realize multi-vehicle linkage fire-fighting, as shown in Figure 2(f). Show.

Referring to Figure 3, the workflow of an analysis module of a fire extinguishing trolley is as follows:

Determine whether the flame signal of the flame sensor is collected;

If the flame signal is collected, the flame position is determined according to the flame signal, and the fire extinguishing instruction is sent to the fire extinguishing sub-device, and the flame position, fire extinguishing instruction and travel instruction are sent to the remaining fire extinguishing trolleys through the cloud; the traveling instruction is for the remaining fire extinguishing trolleys to move to the flame location instruction;

The analysis modules of the other fire extinguishing trolleys receive the flame position transmitted from the cloud, and use the genetic algorithm to determine the optimal movement path from the fire extinguishing trolley to the flame position transmitted by the cloud according to the flame position transmitted from the cloud, and control the driving module of the fire extinguishing trolley according to the optimal movement path. Move the fire extinguishing trolley to the flame position;

The drive modules of the remaining fire-fighting trolleys execute the travel instructions according to the optimal moving path, and after the remaining fire-extinguishing trolleys reach the destination of the optimal moving path, the analysis modules of the remaining fire-extinguishing trolleys send fire-extinguishing instructions to the fire-extinguishing sub-devices, and the fire-extinguishing sub-devices of the remaining fire-extinguishing trolleys The device executes fire extinguishing instructions;

If no flame signal is collected, wait for the transmission flame position, fire extinguishing instruction and travel instruction transmitted by the remaining fire extinguishing trolleys, and judge whether the transmission flame position, extinguishing instruction and traveling instruction of the remaining fire extinguishing trolleys are received;

If the transmission flame position, fire extinguishing instruction and travel instruction of the remaining fire extinguishing trolleys are received, the genetic algorithm is used to determine the optimal moving path of the fire extinguishing trolley to the transmission flame position according to the transmission flame position, and the traveling instruction is executed, and when the optimal moving path is reached After reaching the destination, send a fire extinguishing command to the fire extinguishing sub-device, and the fire extinguishing sub-device executes the fire extinguishing command;

If the transmission flame position, fire extinguishing instruction and travel instruction of the remaining fire extinguishing trolleys are not received, wait for the transmission flame position, extinguishing instruction and traveling instruction of the remaining fire extinguishing trolleys to be received, and return "judging whether the flame signal of the flame sensor is collected". In FIG. 3, Y indicates yes, and N indicates no.

This embodiment also provides a multi-vehicle linkage fire extinguishing method, which is applied to the above-mentioned multi-vehicle linkage fire extinguishing device, and the execution subject 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 provided by an embodiment of the present invention. Referring to Figure 4, the multi-vehicle linkage fire extinguishing method includes:

Step 101, 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, and a first judgment result is obtained.

Step 102, if the first judgment result is yes, then obtain the travel information of the i-th fire-fighting trolley; the travel information of the i-th fire-fighting trolley includes the distance information of the i-th fire-fighting trolley from starting to receiving the flame signal.

Step 103: Determine the location of the ith fire extinguishing trolley according to the traveling information, and determine the location of the ith fire extinguishing trolley as the flame position.

Step 104, sending the flame position to the cloud.

Step 105, if the first judgment result is no, then judge whether the transmission flame position transmitted by the cloud except the i-th fire extinguishing trolley sent to the cloud is received, and a second judgment result is obtained.

Step 106, if the second judgment result is yes, determine the movement path of the i-th fire extinguishing trolley to the transmission flame position by using the genetic algorithm according to the transmission flame position.

Step 107, control the i-th fire extinguishing trolley to move to the transmission flame position according to the moving path.

Step 108, if the second judgment result is no, then return to step 101 "The control device of the i-th fire extinguishing trolley judges whether it has received the flame signal detected by the flame detection sub-device of the ith fire-extinguishing trolley, and obtains the first judgment result".

The invention collects the flame signal in the environment through the flame sensor of the intelligent cruise fire extinguishing trolley, and the flame signal is processed by the FPGA development board. First, the fire extinguishing trolley that finds the fire source immediately executes the fire extinguishing command, and at the same time, the fire source location is shared with the Internet of Things WIFI module. The remaining fire-fighting trolleys, after receiving the fire source position, plan the optimal moving path from the vehicle to the fire source position, and the remaining fire-fighting trolleys quickly reach the fire source position according to the optimal moving path, and multiple fire-fighting trolleys surround the fire source. Carry out fire extinguishing, so as to realize multi-vehicle linkage fire extinguishing. The present invention integrates flow monitoring, multi-vehicle linkage and automatic fire extinguishing, which can provide great help to firefighters in fire fighting and disaster relief, and can accurately find the fire source. , high efficiency, and effectively ensure the safety of social property.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The principles and implementations of the present invention are described herein using specific examples. The descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; meanwhile, for those skilled in the art, according to the present invention There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present 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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