CN112190855A - Control method, device, equipment and storage medium for unmanned fire fighting ship - Google Patents
Control method, device, equipment and storage medium for unmanned fire fighting ship Download PDFInfo
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- CN112190855A CN112190855A CN202010969123.1A CN202010969123A CN112190855A CN 112190855 A CN112190855 A CN 112190855A CN 202010969123 A CN202010969123 A CN 202010969123A CN 112190855 A CN112190855 A CN 112190855A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C29/00—Fire-fighting vessels or like floating structures
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
Abstract
The application is applicable to the technical field of unmanned ships and provides a control method, a control device, control equipment and a storage medium for an unmanned fire fighting ship. A fire water monitor is arranged on the unmanned fire ship; the method comprises the following steps: acquiring a first position of the unmanned fire fighting ship in an absolute coordinate system; acquiring first azimuth information of a fire source relative to the unmanned fire fighting ship and the temperature of the fire source; and determining control parameters of the fire water monitor according to the first position, the first azimuth information and the temperature, wherein the control parameters comprise a rotation angle, a pitching angle and water flow. The method provided by the application constructs a self-closed loop unmanned fire-fighting working mode without manual operation and manual intervention, workers do not need to go to the scene, remote monitoring is implemented at the rear end to complete the handling of water fire-fighting accidents, and the harm to fire-fighting personnel in water fire-fighting work is greatly reduced.
Description
Technical Field
The application belongs to the technical field of unmanned ships, and particularly relates to a control method, device, equipment and storage medium for an unmanned fire fighting ship.
Background
Along with the development of the port and navigation career in China, the water fire fighting work is increasingly heavy.
In the traditional water fire fighting mode, fire extinguishment is usually based on manual operation of fire fighters. It needs the fire fighter to drive the ships and light a scene of a fire and corresponding fire control measure of pertinence adoption, leads to the fire fighter often to work under dangerous scene, and the life guarantee degree is low. Especially, when dangerous chemicals, oil products and other flammable and explosive substances exist in the scene of the incident, the life safety of the fire fighters is threatened greatly.
Disclosure of Invention
In view of this, the embodiments of the present application provide a control method, apparatus, device and storage medium for an unmanned fire fighting vessel, so as to solve the technical problem in the prior art that the life support degree of fire fighters in water fire fighting work is low.
In a first aspect, the embodiment of the application provides a control method for an unmanned fire fighting ship, wherein a fire fighting water monitor is arranged on the unmanned fire fighting ship;
the method comprises the following steps:
acquiring a first position of the unmanned fire fighting ship in an absolute coordinate system;
acquiring first azimuth information of a fire source relative to the unmanned fire fighting ship and the temperature of the fire source;
and determining control parameters of the fire water monitor according to the first position, the first azimuth information and the temperature, wherein the control parameters comprise a rotation angle, a pitching angle and water flow.
In one possible implementation manner of the first aspect, the unmanned fire-fighting vessel is provided with a radar and a fire source detection device;
acquiring first orientation information of a fire source relative to an unmanned fire fighting vessel, comprising:
acquiring the direction of a fire source relative to the unmanned fire fighting ship through fire source detection equipment;
acquiring point cloud data of the environment where the unmanned fire fighting ship is located through a radar;
and searching position coordinates matched with the direction from the point cloud data, and determining first direction information according to the position coordinates.
In one possible implementation manner of the first aspect, determining a control parameter of the fire monitor according to the first position, the first azimuth information, and the temperature includes:
determining a rotation angle according to the direction;
determining a second position of the fire source in the absolute coordinate system according to the first position and the first orientation information;
and determining a pitch angle according to the first position and the second position.
Determining water flow according to the temperature; wherein the water flow is positively correlated with the temperature.
In one possible implementation manner of the first aspect, after determining the control parameter of the fire water monitor according to the first position, the first position information and the temperature, the method further includes:
controlling the fire water monitor to spray water to the fire source according to the control parameters;
and during the period of controlling the fire water monitor to spray water to the fire source, adjusting the control parameters according to the second azimuth information of the fire source relative to the unmanned fire fighting ship at preset time intervals.
In one possible implementation manner of the first aspect, the adjusting the control parameter according to the second orientation information of the fire source relative to the unmanned fire fighting vessel includes:
acquiring a plurality of images of the fire source through fire source detection equipment;
determining a first region from the plurality of images; the first area is an area with the highest fire source temperature in the plurality of images;
determining second position information of the first area relative to the unmanned fire fighting vessel;
and adjusting the control parameters according to the second orientation information.
In one possible implementation manner of the first aspect, after the plurality of images of the fire source are acquired by the fire source detection device, the method further includes:
determining a center position of a fire source in each of the plurality of images;
and generating a central position variation trend of the fire source according to the plurality of central positions.
In one possible implementation manner of the first aspect, after determining the control parameter of the fire water monitor according to the first position, the first position information and the temperature, the method further includes:
acquiring a stability angle of the unmanned fire fighting ship;
and determining a stability maintenance strategy of the unmanned fire fighting ship according to the stability angle and the preset stability angle.
In a possible implementation manner of the first aspect, determining a stability maintenance strategy of the unmanned fire fighting vessel according to a stability angle and a preset stability angle includes:
starting a reverse thrust adjusting device under the condition that the difference value between the stability angle and the preset stability angle is greater than or equal to a first threshold value, wherein the reverse thrust adjusting device is used for offsetting the reverse thrust of the fire water monitor;
starting a power system of the unmanned fire fighting ship under the condition that the difference value between the stability angle and the preset stability angle is smaller than a first threshold value and larger than a second threshold value; wherein the first threshold is greater than the second threshold.
In a second aspect, the embodiment of the application provides a control device of an unmanned fire fighting ship, wherein a fire fighting water cannon is arranged on the unmanned fire fighting ship;
the device comprises:
the first acquisition module is used for acquiring a first position of the unmanned fire fighting ship in an absolute coordinate system;
the second acquisition module is used for acquiring first azimuth information of the fire source relative to the unmanned fire fighting ship and the temperature of the fire source;
and the determining module is used for determining control parameters of the fire water monitor according to the first position, the first azimuth information and the temperature, wherein the control parameters comprise a rotation angle, a pitching angle and water flow.
In a third aspect, an embodiment of the present application provides a control device for an unmanned fire fighting vessel, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the methods of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the steps of any one of the methods in the first aspect.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.
According to the control method of the unmanned fire fighting ship, the first position of the unmanned fire fighting ship in an absolute coordinate system, the first direction information of a fire source relative to the unmanned fire fighting ship and the temperature of the fire source are obtained. And then, determining the rotation angle, the pitching angle and the water flow of the fire water monitor according to the first position, the first azimuth information and the temperature of the fire source. And then, adjusting the water spraying direction of the fire water monitor according to the rotation angle and the pitching angle, and spraying water along the outside according to the water flow so as to extinguish the fire. The control method of the unmanned fire fighting vessel realizes automatic detection of the fire condition, determines the control parameters of the fire fighting monitor according to the fire condition, and can realize automatic adjustment of the water spraying direction and the water spraying quantity of the fire fighting monitor according to the control parameters. According to the method, a self-closed loop unmanned fire-fighting working mode without manual operation and manual intervention is established, workers can finish the treatment of water fire-fighting accidents without going to the site and implementing remote monitoring at the rear end, and the harm to fire-fighting personnel in water fire-fighting work is greatly reduced.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned fire fighting vessel according to an embodiment of the present application;
fig. 2 is a schematic application diagram of a control method of an unmanned fire fighting ship according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a servo control for a fire monitor according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a process for acquiring first orientation information according to an embodiment of the present application;
FIG. 5 is a schematic flow chart illustrating a process for determining control parameters for a fire monitor according to an embodiment of the present application;
fig. 6 is a schematic flow chart illustrating a control method of an unmanned fire fighting vessel according to another embodiment of the present application;
fig. 7 is a schematic flow chart illustrating a control method of an unmanned fire fighting vessel according to another embodiment of the present application;
FIG. 8 is a control schematic of a stability adjustment system provided in accordance with an embodiment of the present application;
fig. 9 is a schematic structural diagram of a control device of an unmanned fire fighting ship according to an embodiment of the present application;
fig. 10 is a hardware composition diagram of a control device of an unmanned fire fighting ship according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. It is worth mentioning that the specific embodiments listed below may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 1 is a schematic structural diagram of an unmanned fire fighting vessel according to an embodiment of the present application. As shown in fig. 1, the unmanned fire fighting vessel 10 is provided with a controller 11, a fire water monitor 15, a fire source detection device 12, a radar 13, and an inertial navigation module 14.
In this embodiment, the fire source detection device 12 may be disposed at a high point of the unmanned fire fighting vessel 10 for determining the orientation and temperature of the fire source. For example, the fire detection device 12 may be a thermal infrared fire detection device. The thermal infrared fire source detecting device may acquire the temperature of the fire source and a heat-induced image of the fire source and transmit the heat-induced image to the controller 11 of the unmanned fire fighting vessel.
In one scenario, the thermal infrared fire source detection equipment is installed at the high point of the bow of the unmanned fire fighting vessel.
In some embodiments, the fire monitor 15 may be referred to as a fire-fighting water jet device for spraying water to a fire source to achieve fire extinguishing.
Wherein, the rotation angle, the pitching angle and the water flow of the fire monitor 15 can be adjusted. For example, the rotation angle, the pitching angle and the water flow of the fire water monitor can be adjusted according to the fire condition so as to realize accurate and rapid fire extinguishing. For example, the fire may include a location of the fire source and a temperature of the fire source.
In some embodiments, the radar 13 is configured to acquire point cloud data of an environment in which the unmanned fire fighting vessel is located, and transmit the point cloud data to the controller 11. The controller 11 can determine the azimuth information of any object in the environment relative to the unmanned fire fighting ship based on the point cloud data sent by the radar 13.
The radar 13 may be, for example, a 3D laser radar. Three-dimensional coordinates of an object within a scanning range with respect to the 3D lidar may be acquired based on the 3D lidar.
In this embodiment, the inertial navigation module 14 may be used to obtain position information, a yaw angle, and the like of the unmanned fire fighting vessel 10.
When the fire monitor 15 sprays water, a large reverse thrust is formed on the hull of the unmanned fire fighting ship 10. In order to maintain the stability of the unmanned fire fighting vehicle 10, the unmanned fire fighting vehicle 10 may further include a thrust reverser 16.
Wherein the reverse thrust adjusting device 16 is used for counteracting the reverse thrust generated when the fire monitor 15 on the unmanned fire fighting ship 10 sprays water.
Illustratively, the thrust reverser 16 may be a mechanical structure mounted at the stern of the unmanned fire-fighting vessel 10.
For example, the thrust reverser 16 is an X-shaped mechanical mechanism that can be automatically opened and retracted. When the thrust reverser 16 is turned on, the thrust reverser 16 is unfolded into an X-shape and extends downward, submerged below the water surface. When the lowest end of the X-shaped mechanical structure touches the water bottom, the controller 11 receives a larger moment feedback, the controller 11 controls the X-shaped mechanical structure to stop extending downwards, and the reverse thrust adjusting device 16 supports the ship body to enter a working state. At the moment, the ship body is equivalent to a support point which can firmly abut against a hard surface arranged on a stern, so that the X-shaped mechanical structure can greatly compensate and offset the reverse thrust generated by a fire water monitor and the influence generated by the hydrodynamic force of water flow.
It should be understood that, in the present embodiment, the unmanned fire fighting vehicle 10 is further provided with a power supply system, a power system 17 and the like. This is not repeated herein.
Fig. 2 is a schematic flow chart of a control method of an unmanned fire fighting ship according to an embodiment of the present application. The method provided by the embodiment is applicable to the unmanned fire fighting ship in fig. 1, and the execution subject of the method provided by the embodiment is the controller in the embodiment of fig. 1. As shown in fig. 2, the method includes:
and S10, acquiring the first position of the unmanned fire fighting ship in an absolute coordinate system.
In this embodiment, the first position of the unmanned ship and the direction of the bow of the unmanned ship may be obtained based on an inertial navigation module installed on the unmanned fire fighting vessel.
Wherein the first position of the unmanned ship may be represented by coordinates. For example, the first position of the unmanned ship may be characterized as (x, y, z).
And S20, acquiring first orientation information of the fire source relative to the unmanned fire fighting ship and the temperature of the fire source.
In this embodiment, the first orientation information of the fire source relative to the unmanned ship may be orientation information of the fire source relative to a bow of the unmanned fire fighting ship.
For example, the first orientation information may include orientation information and distance information. The direction information may be direction information of the fire source with respect to the bow. The distance information may be distance information between the fire source and the bow of the unmanned ship.
In some embodiments, the controller may determine a horizontal rotation angle of the fire source relative to the unmanned fire fighting vessel based on the thermal infrared fire source detection device, and obtain point cloud data of an environment in which the unmanned fire fighting vessel is located based on the radar. And then, the controller determines a first position coordinate in the point cloud data as a position coordinate of the fire source, wherein the rotation angle of the object represented by the first position coordinate on the horizontal plane is matched with the horizontal rotation angle. And then, the controller determines first direction information according to the position coordinates of the fire source.
In still other embodiments, point cloud data of the environment in which the unmanned fire fighting vessel is located may be obtained based on radar. And then, the controller determines the position coordinate of the fire source according to the second position coordinate in the point cloud data, wherein the shape corresponding to the second position coordinate is matched with the shape of the fire source. And then, the controller determines first direction information according to the position coordinates of the fire source.
In this embodiment, acquiring the temperature of the fire source may refer to the controller receiving the temperature of the fire source sent by the infrared detection device.
And S30, determining control parameters of the fire water monitor according to the first position, the first azimuth information and the temperature, wherein the control parameters comprise a rotation angle, a pitch angle and a water flow.
The purpose of this step lies in, confirms the control parameter of fire water monitor according to first position, first orientation information and temperature to control the fire water monitor according to above-mentioned control parameter and spray water to the flame source, realize quick accurate putting out a fire.
Fig. 3 is a schematic diagram of a servo control of a fire monitor according to an embodiment of the present application. As shown in fig. 3, the fire source detecting device 12 acquires the temperature of the fire source and a heat induction image of the fire source at the time of occurrence of a fire, and transmits the temperature of the fire source and the heat induction image to the controller 11. The radar 13 acquires point cloud data of an environment where the unmanned fire fighting ship is located, and sends the point cloud data to the controller 11. The inertial navigation module 14 acquires a first position of the unmanned fire fighting vessel and sends the first position to the controller 11.
The controller 11 determines first direction information of the fire source relative to the unmanned fire fighting vessel according to the received point cloud data and the thermal induction image. Then, the controller 11 determines the control parameters of the fire monitor according to the first direction information, the first position and the temperature of the fire source. And then, the controller controls the fire water monitor to spray water to the fire source according to the control parameters. Further, under the condition that the fire condition changes, the controller can also acquire the first direction information, the first position and the temperature of the fire source in real time, and adaptively adjust the control parameters of the fire water monitor.
The controller 11 determines the control parameters of the fire monitor, which may be the rotation angle, the pitch angle, and the water flow rate of the fire monitor determined by the controller 11.
The rotation angle may refer to a rotation angle of the fire monitor on a horizontal plane with respect to an initial orientation. The pitch angle may refer to a rotation angle of the fire monitor in a vertical plane with respect to an initial orientation. The initial orientation may refer to a water spray orientation of the fire monitor when the fire monitor is not in operation.
In this embodiment, the controller may determine the rotation angle and the pitch angle of the fire monitor according to the first position and the first azimuth information.
For example, the controller may determine the location coordinates of the fire source at the second location in the absolute coordinate system based on the first orientation information and the first location. And then, the controller calculates and obtains the rotation angle of the unmanned fire fighting ship along the horizontal direction and the rotation angle of the unmanned fire fighting ship along the vertical plane according to the position coordinates of the second position and the position coordinates of the first position.
In this embodiment, the controller may determine the water flow based on the temperature of the fire source. Wherein the water flow is positively correlated with the temperature of the fire source. I.e., the higher the temperature of the fire source, the greater the flow of water.
According to the control method of the unmanned fire fighting ship, the controller obtains the first position of the unmanned fire fighting ship in the absolute coordinate system, the first direction information of the fire source relative to the unmanned fire fighting ship and the temperature of the fire source. And then, the controller determines the rotation angle, the pitching angle and the water flow of the fire water monitor according to the first position, the first azimuth information and the temperature of the fire source. And then, the controller adjusts the water spraying direction of the fire water monitor according to the rotation angle and the pitching angle, and sprays water outwards according to the water flow rate to extinguish fire. The control method of the unmanned fire fighting vessel realizes automatic detection of the fire condition, determines the control parameters of the fire fighting monitor according to the fire condition, and can realize automatic adjustment of the water spraying direction and the water spraying quantity of the fire fighting monitor according to the control parameters. According to the method, a self-closed loop unmanned fire-fighting working mode without manual operation and manual intervention is established, workers can finish the treatment of water fire-fighting accidents without going to the site and implementing remote monitoring at the rear end, and the harm to fire-fighting personnel in water fire-fighting work is greatly reduced.
Fig. 4 is a schematic flowchart of a process of acquiring first orientation information according to an embodiment of the present application. In this embodiment, unmanned fire-fighting vessel is provided with radar and fire source detection equipment. As shown in fig. 4, acquiring first orientation information of a fire source relative to an unmanned fire fighting ship includes:
s201, acquiring the direction of a fire source relative to the unmanned fire fighting ship through fire source detection equipment.
In this embodiment, the direction may be represented by a horizontal rotation angle of the fire source with respect to the bow of the unmanned fire fighting vessel.
Wherein, the fire source detection equipment is thermal infrared fire source detection equipment. The thermal infrared fire source detection equipment can be rotated on the horizontal plane in a counterclockwise or clockwise mode, and a plurality of thermal sensing images of the environment where the unmanned fire fighting vessel is located are obtained. And comparing the maximum values of the pixel values in the acquired multiple thermal induction images, and determining the corresponding horizontal rotation angle in the thermal induction image with the maximum pixel value as the horizontal rotation angle of the fire source relative to the unmanned fire fighting ship.
For example, the orientation of the fire source relative to the bow is ψ, with clockwise rotation being positive and counterclockwise rotation being negative. If psi is positive, the direction information of the fire source relative to the bow can be determined as that psi is rotated clockwise along the bow direction; if ψ is a negative value, it can be determined that the direction information of the fire source with respect to the bow is rotated counterclockwise in the direction of the bow by ψ.
S202, point cloud data of the environment where the unmanned fire fighting ship is located are obtained through a radar.
In this embodiment, the point cloud data includes position coordinates of a plurality of environment real objects in an environment where the unmanned fire fighting vessel is located.
And the position coordinates of each environment real object are position coordinates of a coordinate system based on radar. The absolute coordinate corresponding to each position coordinate can be obtained according to the conversion relation between the coordinate system of the radar and the absolute coordinate system.
S203, searching position coordinates matched with the direction from the point cloud data, and determining first direction information according to the position coordinates.
In this embodiment, the projection of the matched position coordinate on the horizontal plane and the included angle between the directions of the bow of the unmanned fire fighting vessel are matched with the horizontal rotation angle.
Illustratively, the absolute coordinates of a certain environmental real object may be expressed as (x)1，y1，z1) Then its projected point on the horizontal plane is (x)1，y1,0). Since the direction of the bow of the unmanned fire fighting ship is known, the direction can be determined according to the coordinates of the projection point and the direction of the bowAnd determining an included angle between the projection point and the direction of the bow.
In this embodiment, the environment object corresponding to the matched position coordinate is the fire source. After the matched position coordinates are obtained, the direction information of the fire source relative to the bow and the distance information between the fire source and the bow of the unmanned ship can be obtained through calculation according to the matched position coordinates.
For example, if the matched position coordinates are represented as P (x ', y ', z ') in the radar coordinate system, and the position coordinates of the bow in the radar coordinates are represented as O (0, 0, 0), the distance between the point P and the point O and the rotation angle of the point P with respect to O along the three coordinate axes XYZ in the radar coordinate system can be calculated to determine the first orientation information.
The thermal infrared fire source detection equipment can filter the interference of non-heat source targets by a thermal induction principle. In the embodiment, the position of the fire source detected by the thermal infrared fire source detection equipment is used as the first confidence coefficient information source, so that the accuracy of the first position information is guaranteed.
Fig. 5 is a schematic flow chart illustrating a process for determining control parameters of a fire monitor according to an embodiment of the present application. One possible implementation of step 30 in the embodiment of fig. 2 is described. As shown in fig. 5, determining the control parameters of the fire monitor according to the first position, the first azimuth information and the temperature includes:
and S301, determining the rotation angle according to the direction.
In the present embodiment, the direction refers to the horizontal rotation angle of the fire source relative to the bow in the embodiment of fig. 4.
In this embodiment, the rotation angle of the fire monitor may be represented by formula (1):
θ＝σ-σ0 (1)
wherein theta is the rotation angle of the fire water monitor, sigma is the horizontal rotation angle of the fire source relative to the bow, and sigma is0Is a known fixed value and is determined according to the angle difference between the fire water monitor and the fire source detector when the fire water monitor is initially installed.
S302, determining a second position of the fire source in the absolute coordinate system according to the first position and the first orientation information.
And S303, determining a pitching angle according to the first position and the second position.
In this embodiment, the first position and the second position may be projected to the polar coordinate system, respectively, to generate a third position corresponding to the first position and a fourth position corresponding to the second position.
Wherein, the polar coordinate system is a spherical polar coordinate. The spherical polar coordinates may be represented by (p,
θ) characterizes any point Q on the sphere.
Where ρ is the distance of point Q from the center of the sphere,
is the angle of the projection of point Q on the xy plane from the x-axis, and θ is the angle between point Q and the z-axis (angle from 0 ° to 180 °).
After the third position and the fourth position are obtained, the difference between θ in the third position and θ in the fourth position is determined as the pitch angle.
It should be understood that the x-axis, y-axis, and z-axis in this step are three coordinate axes of the absolute coordinate system, respectively.
S304, determining water flow according to the temperature; wherein the water flow is positively correlated with the temperature.
In this embodiment, the water flow rate is positively correlated with the temperature. Wherein the higher the temperature, the greater the water flow.
For example, the relationship between water flow and temperature can be represented by the following equation:
Q＝k1T2+k2T+k3 (2)
wherein Q is water flow, T is temperature, k1、k2And k3Are all preset coefficients.
In this embodiment, if the fire (the location information of the fire source and the temperature of the fire source) changes with the change of time, the control parameters of the fire monitor will also change accordingly. Specifically, first orientation information of a fire source relative to the unmanned fire fighting vessel and the temperature of the fire source can be acquired at preset time intervals; determining the current control parameters of the fire water monitor according to the currently obtained first azimuth information and the temperature of the fire source; until the fire is extinguished.
Wherein, the extinguishing of the fire may refer to: the difference between the temperature of the fire source and the ambient temperature does not exceed a preset value. For example, the preset value is 5 ℃.
Fig. 6 is a schematic flow chart of a control method of an unmanned fire fighting ship according to another embodiment of the present application. As shown in fig. 6, after determining the control parameter of the fire monitor according to the first position, the first azimuth information and the temperature, the method further comprises:
and S41, controlling the fire water monitor to spray water to the fire source according to the control parameters.
In this embodiment, according to control parameter control fire water monitor to the source of a fire water spray, can include: and adjusting the water spraying direction of the fire water monitor according to the rotation angle and the pitching angle in the control parameters, and controlling the water spraying quantity of the fire water monitor according to the water flow in the control parameters.
And S42, adjusting the control parameters according to the second azimuth information of the fire source relative to the unmanned fire fighting vessel at preset time intervals during the period of controlling the fire water monitor to spray water to the fire source.
The purpose of this embodiment is to realize the automatic investigation of the fire and to adjust the control parameters in real time according to the fire.
In this embodiment, the preset time may be a preset value.
In this embodiment, the composition of the second direction information may be the same as that of the first direction information in the embodiment of fig. 2. The second orientation information includes direction information and distance information.
In this embodiment, adjusting the control parameter according to the second azimuth information of the fire source relative to the unmanned fire fighting vessel may include the following steps:
step 1, acquiring a plurality of images of the fire source through the fire source detection equipment.
In this embodiment, acquiring a plurality of images of the fire source by the fire source detection device may refer to: rotating the fire detection device counterclockwise or clockwise in the horizontal plane, a plurality of images containing the fire are acquired.
Wherein the temperature of the corresponding fire source in the plurality of images containing the fire source increases.
In this embodiment, if the rotation direction of the fire source detection device on the horizontal plane is not consistent with the change direction of the central position of the fire source, the temperature corresponding to the fire source in the obtained multiple images will decrease. Therefore, in order to increase the temperature of the corresponding fire source in the plurality of images including the fire source, the rotation direction of the fire source detecting apparatus should be kept consistent with the direction of the change in the center position of the fire source.
For example, the fire detection device may first be rotated in a counterclockwise direction to acquire a plurality of images containing the fire; judging whether the temperature corresponding to the fire source in the plurality of images is increased; and if the temperature corresponding to the fire source in the plurality of images is increased, keeping the rotation direction of the fire source detection equipment unchanged, and storing the plurality of acquired images.
And if the temperature corresponding to the fire source in the plurality of images is reduced, rotating the fire source detection equipment again in the clockwise direction until enough images of the fire source are obtained.
Step 2, determining a first area according to the plurality of images; the first region is a region where the temperature of the fire source is highest among the plurality of images.
In this embodiment, the first region is a region having the highest temperature in the fire source. The first region may be determined by a numerical value corresponding to each pixel point in the plurality of images.
For example, the corresponding value of the pixel point may be the pixel value of the pixel point, or may be a value obtained by normalizing or otherwise processing the pixel value.
Illustratively, the first region is a region corresponding to a position where a pixel value is maximum in the plurality of images. The image can be partitioned according to the pixel value of each pixel point, and the region corresponding to the block where the maximum pixel value is located is determined as the first region. And 3, determining second azimuth information of the first area relative to the unmanned fire fighting ship.
And 4, adjusting the control parameters according to the second azimuth information.
In this embodiment, the adjusting of the control parameter according to the second orientation information may specifically include re-determining the rotation angle according to the direction information in the second orientation information, determining the position coordinate of the first area in the polar coordinate according to the second orientation information, and re-determining the pitch angle of the fire monitor according to the position coordinate.
According to the control method of the unmanned fire fighting ship, the plurality of images of the fire source are obtained within the preset time of spraying water to the fire source, and the most dangerous areas (namely the areas corresponding to the maximum pixel values in the plurality of images) in the fire source are determined according to the plurality of images. After the most dangerous area is determined, the water spraying direction of the fire water monitor is adjusted according to the position information of the most dangerous area, so that the fire water monitor can spray water in the most dangerous area, and quick and accurate fire extinguishing is realized.
In this embodiment, if the direction of change of the central position of the fire source is not consistent with the preset rotation direction of the fire source detection device, after rotating the fire source detection device in the preset direction for a period of time, an image including the fire source may not be obtained, or the temperature of the fire source in the image is continuously reduced. Therefore, in this embodiment, the direction of change of the center position of the fire source may be determined by the rotation direction of the fire source detecting device.
Specifically, after a plurality of images of the fire source are acquired by the fire source detection device, the central position of the fire source in each image of the plurality of images can be determined; and generating the central position variation trend of the fire source according to the plurality of central positions.
The central position of the fire source in each image may refer to the central position of each image.
Wherein, the central position variation trend of the fire source can be used for representing the spreading trend of the fire.
For example, after rotating the fire source detection device in a counterclockwise direction in the horizontal direction, a plurality of images containing the fire source are acquired. According to the rotation direction of the fire source detection equipment, the change direction of the center of the fire source is anticlockwise rotation relative to the unmanned fire fighting ship. The spreading direction of the central position of the fire source can be determined according to the current bow direction of the unmanned fire fighting ship.
Illustratively, the fire source detection device rotates in the horizontal direction in the counterclockwise direction, and the current bow direction of the unmanned fire fighting ship faces the south-east direction, so that the central position of the fire source can be determined to change towards the north.
In this embodiment, after the central position variation trend of the fire source is obtained, the variation trend may be reported to the base station of the unmanned fire fighting vessel, so that the personnel of the base station can take corresponding fire fighting measures in time according to the trend. For example, an unmanned fire fighting vessel is dispatched to the site to extinguish a fire, etc.
In this embodiment, after the trend of the change of the central position of the fire source is obtained, the control parameters of the fire monitor may be updated according to the changed central position of the fire source.
In this embodiment, after the fire monitor is controlled to spray water to the fire source, the dangerous area of the fire source and the variation trend of the central position of the fire source are obtained in time. Corresponding fire-fighting measures can be taken according to the change trend of the position of the dangerous area or the central position of the fire source. Such fire fighting measures include, but are not limited to: and updating control parameters of the fire water monitor, and/or increasing/reducing the number of unmanned fire ships and the like so as to realize quick and accurate fire extinguishing.
When the fire water monitor sprays water outwards, a large reverse thrust can be formed for unmanned fire fighting, and the unmanned fire fighting ship moves backwards or shakes. In order to maintain the position and stability of the unmanned fire fighting vessel, a corresponding stability maintenance strategy needs to be adopted according to the stability angle of the unmanned fire fighting vessel when the fire water monitor sprays water, and the embodiment shown in fig. 7 can be specifically referred to.
Fig. 7 is a flowchart illustrating a control method of an unmanned fire fighting ship according to another embodiment of the present application. As shown in fig. 7, after determining the control parameter of the fire monitor according to the first position, the first azimuth information and the temperature, the method further comprises:
and S51, obtaining the stability angle of the unmanned fire fighting ship.
In this embodiment, the stability angle of the unmanned fire fighting vessel may include a roll angle and a pitch angle of the unmanned fire fighting vessel in water.
In this embodiment, the roll angle and the pitch angle of the unmanned fire fighting vessel can be obtained based on the inertial navigation module arranged on the unmanned fire fighting vessel.
In this embodiment, the stability angle of the unmanned fire fighting vessel may also be an angle determined according to the roll angle and the pitch angle of the unmanned fire fighting vessel.
For example, the roll angle and pitch angle of the unmanned fire fighting vessel may be vector summed to determine a stability angle λ of the unmanned fire fighting vessel.
And S52, determining a stability maintenance strategy of the unmanned fire fighting ship according to the stability angle and the preset stability angle.
In this embodiment, the preset stability angle may be a threshold value of a preset stability angle. The preset stability angle is used for representing the maximum value of the stability angle when the ship body is in the normal attitude range.
The preset stability angle can comprise two angles of a preset rolling angle and a preset pitching angle, and can also comprise only one preset angle. The stability angle can be determined according to the composition of the stability angle.
Illustratively, the stationarity angle λ of the unmanned fire fighting vessel is an angle determined by vector summing the roll angle and pitch angle of the unmanned fire fighting vessel. Accordingly, the preset stable angle is a preset angle value lambda0。
In this embodiment, the stability maintenance strategy of the unmanned fire fighting vessel includes, but is not limited to, one or more of the following: and starting a power system of the unmanned fire fighting ship and a reverse thrust adjusting device of the unmanned fire fighting ship.
In one scenario, if the stability angle is smaller than or equal to the preset stability angle, the ship body of the unmanned fire fighting ship is represented to be in the normal attitude range, and a special stability maintenance strategy can be adopted for the unmanned fire fighting ship according to the situation that the stability angle is not required to be adopted.
In another scenario, if the stability angle is larger than the preset stability angle, the ship body of the unmanned fire fighting ship is represented to be out of the normal attitude range, and a special stability maintenance strategy needs to be adopted.
For example, a difference between the stability angle and a preset stability angle may be determined according to the stability angle and the preset stability angle; after the difference value is obtained, determining the stability maintenance strategy of the unmanned fire fighting ship according to the magnitude relation between the difference value and the reference threshold value.
Specifically, under the condition that the difference between the stability angle and the preset stability angle is greater than or equal to a first threshold value, a reverse thrust adjusting device is started, and the reverse thrust adjusting device is used for offsetting the reverse thrust of the fire water monitor.
Starting a power system of the unmanned fire fighting ship under the condition that the difference value between the stability angle and the preset stability angle is smaller than a first threshold value and larger than a second threshold value; wherein the first threshold is greater than the second threshold.
When the power system of the unmanned fire fighting ship is opened, active thrust can be generated along the direction of the bow of the ship so as to offset the counter thrust generated when the fire fighting water cannon works.
Wherein, the thrust reverser can provide a supporting point for the ship body so as to offset the thrust of the fire water monitor.
FIG. 8 is a control schematic diagram of a stability adjustment system according to an embodiment of the present application. As shown in fig. 8, the stability adjustment system of the unmanned fire fighting vessel includes an inertial navigation module 14, a controller 11, a reverse thrust adjustment device 16, and a power system 17.
After the fire monitor sprays water to the fire source, the inertial navigation module 14 acquires a stability angle of the unmanned fire fighting vessel and sends the stability angle to the controller 11. The controller 11 determines a corresponding stability maintenance strategy according to a difference value between the stability angle and a preset stability angle. The controller 11 controls the reverse thrust adjusting device 16 or the power system 17 to act based on the stability maintaining strategy so as to offset the reverse thrust generated by the outward water spraying of the fire water monitor, and therefore the unmanned fire fighting ship is in a normal posture range.
Wherein a difference between the stationarity angle and the preset stationarity angle may be represented as Δ λ, and the first threshold may be represented as Δ λ1The second threshold value may be expressed as Δ λ2。
If Δ λ2<Δλ<Δλ1I.e. the hull stability angle exceeds the second threshold but has not yet reached the first threshold. At the moment, the power system of the unmanned fire fighting ship can be startedThe active thrust generated by the power system is utilized to compensate the reverse thrust generated by the fire water monitor. And the engine revolution number of the power system can be specifically determined according to the magnitude of delta lambda, so that the magnitude of the generated active thrust can accurately compensate the reverse thrust of the fire monitor.
If Δ λ>Δλ1I.e. the angle stationarity of the stationarity exceeds the first threshold, indicating that the stationarity of the hull has been severely affected. At this time, the thrust reverser must be opened.
Illustratively, the reverse thrust adjustment device is an X-shaped mechanical structure capable of automatically releasing and retracting. When the thrust reverser 16 is turned on, the thrust reverser 16 is unfolded into an X-shape and extends downward, submerged below the water surface. When the lowest end of the X-shaped mechanical structure touches the water bottom, the controller 11 receives a larger moment feedback, the controller 11 controls the X-shaped mechanical structure to stop extending downwards, and the reverse thrust adjusting device 16 supports the ship body to enter a working state. At the moment, the ship body is equivalent to a support point which can firmly abut against a hard surface arranged on a stern, so that the X-shaped mechanical structure can greatly compensate and offset the reverse thrust generated by a fire water monitor and the influence generated by the hydrodynamic force of water flow.
It should be appreciated that there are size limitations due to the thrust reverser 16. The strategy of maintaining the stability of the ship body by opening the reverse thrust adjusting device can only be suitable for the water area with shallow water depth. For example, the water area is an offshore water area with a water depth of not more than 5 m.
The control method of unmanned fire fighting vessel that this application embodiment provided, based on unmanned ship's driving system, or the anti-thrust that produces when the anti-thrust adjusting device sprays water to fire water monitor has carried out effective compensation, can effectively solve the influence of the anti-thrust that produces in the fire water monitor working process to hull stability, keeps unmanned fire fighting vessel's stability, supports the fire water monitor to work under the high water flow, improves the efficiency and the success rate of putting out a fire.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Based on the control method of the unmanned fire fighting ship provided by the embodiment, the embodiment of the invention further provides an embodiment of a device for realizing the embodiment of the method.
Fig. 9 is a schematic structural diagram of a control device of an unmanned fire fighting ship according to an embodiment of the present application. In this embodiment, the unmanned fire-fighting ship is provided with a fire-fighting water monitor. As shown in fig. 9, the control device 60 of the unmanned fire fighting ship includes a first obtaining module 601, a second obtaining module 602, and a determining module 603. Wherein:
the first obtaining module 601 is configured to obtain a first position of the unmanned fire fighting vessel in an absolute coordinate system.
The second obtaining module 602 is configured to obtain first orientation information of the fire source relative to the unmanned fire fighting vessel and a temperature of the fire source.
The determining module 603 is configured to determine control parameters of the fire monitor according to the first position, the first azimuth information, and the temperature, where the control parameters include a rotation angle, a pitch angle, and a water flow rate.
The control device of the unmanned fire fighting ship provided by the embodiment of the application firstly acquires the first position of the unmanned fire fighting ship in an absolute coordinate system, the first direction information of a fire source relative to the unmanned fire fighting ship and the temperature of the fire source. And then, determining the rotation angle, the pitching angle and the water flow of the fire water monitor according to the first position, the first azimuth information and the temperature of the fire source. And then, adjusting the water spraying direction of the fire water monitor according to the rotation angle and the pitching angle, and spraying water along the outside according to the water flow so as to extinguish the fire. The control method of the unmanned fire fighting vessel realizes automatic detection of the fire condition, determines the control parameters of the fire fighting monitor according to the fire condition, and can realize automatic adjustment of the water spraying direction and the water spraying quantity of the fire fighting monitor according to the control parameters. According to the method, a self-closed loop unmanned fire-fighting working mode without manual operation and manual intervention is established, workers can finish the treatment of water fire-fighting accidents without going to the site and implementing remote monitoring at the rear end, and the harm to fire-fighting personnel in water fire-fighting work is greatly reduced.
Optionally, a radar and a fire source detection device are arranged on the unmanned fire fighting vessel. The second obtaining module 602 obtains first orientation information of the fire source relative to the unmanned fire fighting vessel, which may specifically include:
acquiring the direction of a fire source relative to the unmanned fire fighting ship through fire source detection equipment;
acquiring point cloud data of the environment where the unmanned fire fighting ship is located through a radar;
and determining first orientation information according to the position coordinates matched with the orientation in the point cloud data.
Optionally, the determining module 603 determines the control parameter of the fire water monitor according to the first position, the first azimuth information, and the temperature, and specifically may include:
determining a rotation angle according to the direction;
determining a second position of the fire source in the absolute coordinate system according to the first position and the first orientation information;
and determining a pitch angle according to the first position and the second position.
Determining water flow according to the temperature; wherein the water flow is positively correlated with the temperature.
In this embodiment, the control device 60 of the unmanned fire fighting vessel further comprises a parameter adjusting module, which is used for determining the control parameters of the fire fighting monitor according to the first position, the first orientation information and the temperature, and then is used for
Controlling the fire water monitor to spray water to the fire source according to the control parameters;
and during the period of controlling the fire water monitor to spray water to the fire source, adjusting the control parameters according to the second azimuth information of the fire source relative to the unmanned fire fighting ship at preset time intervals.
Optionally, the parameter adjusting module adjusts the control parameter according to the second azimuth information of the fire source relative to the unmanned fire fighting vessel, and specifically includes:
acquiring a plurality of images of the fire source through fire source detection equipment;
determining a first region from the plurality of images; the first area is an area with the highest fire source temperature in the plurality of images;
determining second position information of the first area relative to the unmanned fire fighting vessel;
and adjusting the control parameters according to the second azimuth information to obtain the adjusted control parameters.
Optionally, after the parameter adjusting module acquires the plurality of images of the fire source through the fire source detecting device, the parameter adjusting module is further specifically configured to:
determining a center position of a fire source in each of the plurality of images;
and generating a central position variation trend of the fire source according to the plurality of central positions.
In this embodiment, the control device 60 of the unmanned fire fighting vessel further comprises a stability maintaining module, which is used for determining the control parameters of the fire fighting monitor according to the first position, the first azimuth information and the temperature
Acquiring a stability angle of the unmanned fire fighting ship;
and determining a stability maintenance strategy of the unmanned fire fighting ship according to the stability angle and the preset stability angle.
Optionally, the stability maintaining module determines a stability maintaining strategy of the unmanned fire fighting ship according to the stability angle and the preset stability angle, and specifically includes:
starting a reverse thrust adjusting device under the condition that the difference value between the stability angle and the preset stability angle is greater than or equal to a first threshold value, wherein the reverse thrust adjusting device is used for offsetting the reverse thrust of the fire water monitor;
starting a power system of the unmanned fire fighting ship under the condition that the difference value between the stability angle and the preset stability angle is smaller than a first threshold value and larger than a second threshold value; wherein the first threshold is greater than the second threshold.
The control device of the unmanned fire fighting vessel provided in the embodiment shown in fig. 9 can be used for implementing the technical scheme in the above method embodiments, the implementation principle and technical effect are similar, and details are not repeated here.
Fig. 10 is a schematic diagram of a control device of an unmanned fire fighting vessel according to an embodiment of the present application. As shown in fig. 10, the control apparatus 70 of the unmanned fire fighting vessel includes: at least one processor 701, a memory 702, and a computer program stored in said memory 702 and executable on said processor 701. The mobile terminal further comprises a communication means 703, wherein the processor 701, the memory 702 and the communication means 703 are connected by a bus 704.
The processor 701, when executing the computer program, implements the steps in the above-described respective embodiments of the control method of the unmanned fire fighting vessel, for example, steps S10 to S30 in the embodiment shown in fig. 2. Alternatively, the processor 501, when executing the computer program, implements the functions of the modules/units in the above-described device embodiments, for example, the functions of the modules 601 to 603 shown in fig. 9.
Illustratively, a computer program may be partitioned into one or more modules/units that are stored in the memory 702 and executed by the processor 701 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the mobile terminal 70.
Those skilled in the art will appreciate that fig. 10 is merely an example of a control device for an unmanned fire fighting vessel and does not constitute a limitation of a control device for an unmanned fire fighting vessel, and may include more or fewer components than those shown, or some components in combination, or different components, such as input output devices, network access devices, buses, etc.
For example, the control device of the unmanned fire fighting vessel may be the controller in the embodiment of fig. 1.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an application specific integrated circuit (appkcanklockckfkckckknetedcutrcukt, ASKC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 702 may be an internal storage unit of the mobile terminal, or may be an external storage device of the mobile terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The memory 702 is used for storing the computer programs and other programs and data required by the mobile terminal. The memory 702 may also be used to temporarily store data that has been output or is to be output.
The bus may be an industry Standard architecture (KSA) bus, a peripheral Component interconnect (PCK) bus, or an Extended industry Standard architecture (EKSA) bus, among others. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A control method of an unmanned fire fighting ship is characterized in that a fire fighting water cannon is arranged on the unmanned fire fighting ship; the method comprises the following steps:
acquiring a first position of the unmanned fire fighting ship in an absolute coordinate system;
acquiring first azimuth information of a fire source relative to the unmanned fire fighting ship and the temperature of the fire source;
and determining control parameters of the fire water monitor according to the first position, the first azimuth information and the temperature, wherein the control parameters comprise a rotation angle, a pitching angle and a water flow.
2. The method for controlling an unmanned fire fighting vessel according to claim 1, wherein a radar and a fire source detecting device are provided on the unmanned fire fighting vessel;
the acquiring of the first orientation information of the fire source relative to the unmanned fire fighting vessel includes:
acquiring the direction of the fire source relative to the unmanned fire fighting ship through the fire source detection equipment;
acquiring point cloud data of the environment where the unmanned fire fighting ship is located through the radar;
and searching the position coordinates matched with the direction from the point cloud data, and determining the first direction information according to the position coordinates.
3. The method of controlling an unmanned fire fighting vessel, as set forth in claim 2, wherein the determining control parameters for the fire fighting monitor based on the first location, the first orientation information, and the temperature comprises:
determining the rotation angle according to the direction;
determining a second position of the fire source in an absolute coordinate system according to the first position and the first orientation information;
determining the pitch angle from the first position and the second position;
determining the water flow rate according to the temperature; wherein the water flow is positively correlated with the temperature.
4. The method of controlling an unmanned fire fighting vessel, as defined in claim 1, wherein after determining the control parameters for the fire monitor based on the first location, the first orientation information, and the temperature, the method further comprises:
controlling the fire water monitor to spray water to the fire source according to the control parameters;
and adjusting the control parameters according to second azimuth information of the fire source relative to the unmanned fire fighting vessel at preset time intervals during the period of controlling the fire water monitor to spray water to the fire source.
5. The method of controlling an unmanned fire fighting vessel of claim 4, wherein the adjusting the control parameters based on the second orientation information of the fire source relative to the unmanned fire fighting vessel comprises:
acquiring a plurality of images of the fire source through the fire source detection equipment;
determining a first region from the plurality of images; the first area is an area with the highest fire source temperature in the images;
determining second positional information of the first area relative to the unmanned fire fighting vessel;
and adjusting the control parameters according to the second azimuth information.
6. The method of controlling an unmanned fire fighting vessel according to claim 5, wherein after the plurality of images of the fire source are acquired by the fire source detecting device, the method further comprises:
determining a center position of a fire source in each of the plurality of images;
and generating the central position variation trend of the fire source according to the plurality of central positions.
7. The method of controlling an unmanned fire fighting vessel of any of claims 1-6, wherein after determining the control parameters for the fire monitor based on the first location, the first orientation information, and the temperature, the method further comprises:
acquiring a stability angle of the unmanned fire fighting ship;
and determining a stability maintenance strategy of the unmanned fire fighting ship according to the stability angle and a preset stability angle.
8. The method for controlling the unmanned fire fighting ship according to claim 7, wherein the determining the stability maintenance strategy of the unmanned fire fighting ship according to the stability angle and the preset stability angle comprises:
starting a reverse thrust adjusting device under the condition that the difference value between the stability angle and a preset stability angle is larger than or equal to a first threshold value, wherein the reverse thrust adjusting device is used for offsetting the reverse thrust of the fire water monitor;
starting a power system of the unmanned fire fighting ship under the condition that the difference value between the stability angle and a preset stability angle is smaller than a first threshold value and larger than a second threshold value; wherein the first threshold is greater than the second threshold.
9. A control device of an unmanned fire fighting vessel comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method according to any one of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| CN108578943A (en) * | 2018-05-23 | 2018-09-28 | 漳州妹族工业设计有限公司 | A kind of flatbed fire boat with function of auto-lift |
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| CN110639144A (en) * | 2019-09-20 | 2020-01-03 | 武汉理工大学 | Fire control unmanned ship squirt controlling means based on flame image dynamic identification |
| CN110683006A (en) * | 2019-09-29 | 2020-01-14 | 武汉理工大学 | Ship fire-fighting system based on unmanned ship |
| CN211158303U (en) * | 2019-11-07 | 2020-08-04 | 南京工程学院 | Autonomous fire truck system based on S L AM and CV data fusion |
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| CN114887252A (en) * | 2022-04-20 | 2022-08-12 | 江南造船(集团)有限责任公司 | Ship injection device and using method thereof |
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