CN113813527A - Accurate fire fighting device and method for marine unmanned fire fighting truck - Google Patents
Accurate fire fighting device and method for marine unmanned fire fighting truck Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/07—Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles
- A62C3/10—Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles in ships
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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Abstract
The invention belongs to the technical field of fire fighting, and particularly relates to an accurate fire fighting device and method for a marine unmanned fire fighting truck. Compared with the prior art, in the fire extinguishing process, the thermal infrared imager is combined with the ultraviolet flame detector to detect the fire, so that the early fire can be quickly found; the binocular color CCD camera can be used for effectively monitoring a fire scene, accurately calculating the position coordinate of the central point of a fire source and providing a target point for a fire monitor; the azimuth angle of the fire monitor to be adjusted is calculated according to the position coordinates of the fire source central point and the fire monitor jet trajectory model, the azimuth of the fire monitor is automatically adjusted (remote control operation is supported, the remote control mode can be switched to when necessary, and the fire monitor is controlled to extinguish a fire by combining a field monitoring video), so that complicated manual operation is omitted; the fire extinguishing flow can be automatically started by a fire extinguishing system when the fire-fighting master control room is unattended, and the fire extinguishing flow can be participated in according to the field condition when the fire-fighting master control room is attended to by the unattended operation, so that the reliability of the system is improved.
Description
Technical Field
The invention belongs to the technical field of fire fighting, and particularly relates to an accurate fire fighting device and method for a marine unmanned fire fighting truck.
Background
With the gradual development of maritime trade in China, more and higher requirements are put forward on equipment used on large ships. The marine fire engine is used as a special fire-fighting vehicle for large ships, and the capability of the marine fire engine for carrying out task mission must be met, so that the quality characteristic and the intelligent level of vehicle equipment are improved, and support is provided for guaranteeing the fire-fighting safety of the large ships.
The fire fighting truck used by the existing large ship in China mainly has the following problems:
1. the fire source point can not be accurately positioned, and a fireman needs to continuously try to adjust the horizontal angle and the pitching angle of the gun head. This process is not only inefficient, but also results in a large waste of extinguishing agent, which may result in an insufficient amount of extinguishing agent.
2. The vehicle-mounted fire monitor is mostly operated manually. Firefighters need to participate in identification and aiming of a fire scene in the whole process, the workload is large, and casualties are easily caused if a fire condition is out of control or secondary explosion caused by a fire disaster occurs;
3. the fire truck does not access the ship-deck fire-fighting system, the information of the ship-deck fire-fighting system cannot be utilized, and the position of a fire disaster cannot be timely known during sudden fire disaster, so that the fire rescue time is delayed;
4. the existing marine fire engine is multi-purpose to a single-point fire scene, and if a plurality of fire source points fire simultaneously, corresponding counter measures are not provided;
5. the fire scene can not be effectively monitored, and the information of the fire scene can not be obtained in time.
The problems of low working efficiency, serious fire extinguishing agent waste, high labor intensity and complexity, incapability of tracking and monitoring field information and the like of the conventional marine fire engine are caused, and a new fire engine accurate fire-fighting method is needed to be designed to solve the problems.
Disclosure of Invention
In order to solve the problems, the invention provides an accurate fire fighting device and an accurate fire fighting method for a marine unmanned fire fighting vehicle.
The object of the invention is achieved in the following way: the utility model provides an accurate fire control unit of marine unmanned fire engine, includes the fire engine body, fire engine body top sets up the fire engine control box, and fire engine control box top sets up two mesh color CCD cameras, and fire engine body top sets up the fire gun, sets up thermal infrared imager and ultraviolet flame detection sensor on the fire gun respectively.
The thermal infrared imager and the ultraviolet flame detection sensor are symmetrically arranged on two sides of the transmitting end of the fire monitor.
The accurate fire fighting method for the marine unmanned fire fighting truck utilizes the accurate fire fighting device for the marine unmanned fire fighting truck to carry out accurate fire extinguishing, and comprises the following steps:
step 1: the fire fighting truck automatically patrols and starts an automatic fire detection mode, and the thermal infrared imager on the fire monitor rotates along with the fire monitor to detect the fire;
step 2: after finding a suspicious target, the infrared thermal imager automatically starts an ultraviolet flame detector to further confirm the fire;
and step 3: after the fire is confirmed, the binocular color CCD camera automatically turns to the fire position to monitor the fire scene, and transmits the scene image to a display screen of a fire-fighting master control room; if the ship-side fire fighting system monitors that a blind spot which cannot be detected by the vehicle-mounted thermal infrared imager and the ultraviolet flame detector is in a fire, an instruction can be sent out through the fire-fighting master control room to control the fire fighting truck to reach the position near a fire scene, and the binocular color CCD camera is also adjusted to monitor the fire scene;
and 4, step 4: the binocular color CCD camera calculates the central position coordinates of the fire sources and automatically transmits the central position coordinates of the fire sources to the fire-fighting master control room, and if a plurality of fire sources exist, the central position coordinates of the fire sources are simultaneously transmitted to the fire-fighting master control room;
and 5: the fire-fighting master control room carries out manual fire confirmation and informs the fire-fighting truck control box to carry out the next procedure, and if the manual confirmation is not carried out within the set time, the fire-fighting truck control box automatically carries out the next procedure;
step 6: the fire fighting truck automatically adjusts the distance from the fire source point according to the acquired position coordinates of the fire source point, and ensures that the fire source point is within the proper range of the fire monitor 5; if a plurality of fire source points fire at the same time, the fire fighting truck automatically adjusts the distance between the fire source points and the fire source points closest to the fire source points; if the fire-fighting master control room is attended by people, the position of the fire-fighting truck is automatically adjusted after the attended personnel selects a proper fire source point according to the situation of a fire scene;
and 7: automatically calculating the azimuth angle of the fire monitor to be adjusted according to the selected position coordinates of the fire source central point and the fire monitor jet trajectory model;
and 8: according to the calculated azimuth angle of the fire monitor, the control box of the fire truck automatically adjusts the azimuth of the fire monitor and opens the electromagnetic valve to extinguish the fire, so that remote control operation is supported, the control box can be switched to a remote control mode if necessary, and the fire monitor is controlled to extinguish the fire by combining with a field monitoring video;
and step 9: utilizing a color CCD camera to carry out real-time shooting on the jet flow of the fire monitor, identifying an emergent flow track to obtain a jet flow terminal point, comparing the jet flow terminal point with a fire source point, and automatically adjusting the jet angle of the fire monitor to enable a jet flow drop point to coincide with the fire source central point;
step 10: after the fire is extinguished, performing cross back-and-forth spraying near the fire source to reduce the temperature near the fire scene and prevent re-burning, and if other fire source points still exist, repeating the steps 6-9 to extinguish the fire;
compared with the prior art, in the fire extinguishing process, the thermal infrared imager is combined with the ultraviolet flame detector to detect the fire, so that the early fire can be quickly found; the binocular color CCD camera can be used for effectively monitoring a fire scene, accurately calculating the position coordinate of the central point of a fire source and providing a target point for a fire monitor; the azimuth angle of the fire monitor to be adjusted is calculated according to the position coordinates of the fire source central point and the fire monitor jet trajectory model, the azimuth of the fire monitor is automatically adjusted (remote control operation is supported, the remote control mode can be switched to when necessary, and the fire monitor is controlled to extinguish a fire by combining a field monitoring video), so that complicated manual operation is omitted; the fire extinguishing flow can be automatically started by the fire extinguishing system when the fire main control room is unattended, and the fire extinguishing flow can be participated in according to the field condition when the fire main control room is attended with the unattended operation, so that the reliability of the system is improved; the complexity and the multiplicity of ship fires are fully considered, and different emergency treatment measures can be started according to the number of fire source points; according to the error between the jet flow drop point and the fire source central point, the azimuth angle of the fire monitor can be automatically corrected, and a fire closed loop is realized; through inserting the fire engine into ship face fire extinguishing system, can make quick response when the blind spot that can not detect vehicle-mounted flame detection sensor conflagration breaks out. The invention realizes the positioning, the accurate extinguishing and the real-time tracking fire extinguishing of the large ship fire scene, improves the fire extinguishing operation efficiency, accelerates the fire extinguishing rescue speed and reduces the property loss.
Drawings
Fig. 1 is a front view of an accurate fire fighting device and method of a marine unmanned fire fighting vehicle.
Fig. 2 is a perspective view of an accurate fire fighting device and method for a marine unmanned fire fighting vehicle.
FIG. 3 is a control flow diagram of a precise fire protection system of the marine unmanned fire engine and the precise fire protection method.
Fig. 4 is a fire judgment flowchart of an accurate fire protection device and method for a marine unmanned fire engine.
FIG. 5 is a schematic diagram of the intelligent control of accurate positioning of the water jet drop point of the fire monitor of the accurate fire fighting device and method for the unmanned fire fighting vehicle for the ship.
Wherein, 1-fire engine body; 2-fire engine control box; 3-infrared thermal imaging system; 4-ultraviolet flame detection sensor; 5, fire monitor; 6-binocular color CCD camera.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
According to the attached drawings 1 to 2, the accurate fire fighting device of the marine unmanned fire fighting truck comprises a fire fighting truck body 1, a fire fighting truck control box 2 is arranged at the top of the fire fighting truck body 1, a binocular color CCD camera 6 is arranged at the top of the fire fighting truck control box 2, a fire monitor 5 is arranged at the top of the fire fighting truck body 1, and an infrared thermal imager 3 and an ultraviolet flame detection sensor 4 are arranged on the fire monitor 5 respectively.
The thermal infrared imager 3 and the ultraviolet flame detection sensor 4 are symmetrically arranged on two sides of the transmitting end of the fire monitor 5.
The accurate fire fighting method for the marine unmanned fire fighting truck utilizes the accurate fire fighting device for the marine unmanned fire fighting truck to carry out accurate fire extinguishing, and comprises the following steps:
step 1: the fire fighting truck automatically patrols and starts an automatic fire detection mode, and the thermal infrared imager 3 on the fire monitor rotates along with the fire monitor 5 to detect the fire;
step 2: after finding a suspicious target, the thermal infrared imager 3 automatically starts the ultraviolet flame detector 4 to further confirm the fire;
and step 3: after the fire is confirmed, the binocular color CCD camera 6 automatically turns to the fire position to monitor the fire scene, and transmits the scene image to a display screen of a fire-fighting master control room; if the ship surface fire fighting system monitors that a blind spot which cannot be detected by the vehicle-mounted thermal infrared imager 3 and the ultraviolet flame detector 4 has a fire, an instruction can be sent out through the fire-fighting master control room to control the fire fighting truck to reach the vicinity of a fire scene, and the binocular color CCD camera 6 is also adjusted to monitor the fire scene;
and 4, step 4: the binocular color CCD camera 6 calculates the central position coordinates of the fire sources and automatically transmits the central position coordinates of the fire sources to the fire-fighting master control room, and if a plurality of fire sources exist, the central position coordinates of the fire sources are simultaneously transmitted to the fire-fighting master control room;
and 5: the fire-fighting master control room carries out manual fire confirmation and informs the fire-fighting truck control box 2 to carry out the next procedure, and if the manual confirmation is not carried out within the set time, the fire-fighting truck control box 2 automatically carries out the next procedure;
step 6: the fire fighting truck automatically adjusts the distance from the fire source point according to the acquired position coordinates of the fire source point, and ensures that the fire source point is within the proper range of the fire monitor 5; if a plurality of fire source points fire at the same time, the fire fighting truck automatically adjusts the distance between the fire source points and the fire source points closest to the fire source points; if the fire-fighting master control room is attended by people, the position of the fire-fighting truck is automatically adjusted after the attended personnel selects a proper fire source point according to the situation of a fire scene;
and 7: automatically calculating the azimuth angle of the fire monitor 5 to be adjusted according to the selected position coordinates of the fire source central point and the fire monitor jet trajectory model;
and 8: according to the calculated azimuth angle of the fire monitor 5, the fire truck control box 2 automatically adjusts the azimuth of the fire monitor 5 and opens the electromagnetic valve to extinguish fire to support remote control operation, and the fire monitor 5 can be switched to a remote control mode if necessary and controlled to extinguish fire by combining with a field monitoring video;
and step 9: utilizing a color CCD camera 6 to carry out real-time shooting on the water flow sprayed by the fire monitor 5, identifying an emergent flow track to obtain a jet flow terminal point, comparing the jet flow terminal point with a fire source point, and automatically adjusting the spraying angle of the fire monitor 5 to ensure that a jet flow falling point is superposed with the fire source central point;
step 10: after the fire is extinguished, performing cross back-and-forth spraying near the fire source to reduce the temperature near the fire scene and prevent re-burning, and if other fire source points still exist, repeating the steps 6-9 to extinguish the fire;
the working process of the invention is as follows: when the unmanned fire truck 1 for the ship is automatically patrolled on the ship surface, the thermal infrared imager 3 and the ultraviolet flame detector 4 which are fixed on the fire monitor 5 rotate along with the fire monitor 5, simultaneously, the surrounding environment is scanned, and a fire disaster judgment is carried out on a suspicious target (the judgment flow is shown in a figure 4), if the fire disaster is judged to occur, a fire disaster alarm is started;
after a fire alarm is given, the binocular color CCD camera 6 turns to a fire scene and transmits a fire scene image to a fire-fighting master control room, and meanwhile, a flame identification and positioning program is started to calculate the coordinates of the center position of a fire source;
when the fire-fighting master control room is attended by people, the attendees further confirm the fire and inform the fire-fighting truck control box 2 to execute an automatic fire-fighting program (the fire-fighting process is shown in figure 5); if a plurality of fire source points exist at the same time, the fire extinguishing sequence is selected by the attendant according to the field condition;
when the fire fighting truck is unattended, the control box 2 of the fire fighting truck automatically processes and controls the fire monitor to extinguish the fire (the fire extinguishing flow is shown in figure 5); if a plurality of fire source points exist at the same time, the fire fighting truck control box 2 extinguishes fire from near to far in sequence according to the position of the central point of the fire source;
considering that the ship surface environment is complex, the fire of the fire truck cannot be found in time due to reasons such as object shielding and vehicle-mounted fire detection sensor visual angle blind spots, the fire information detected by the ship surface fire-fighting system is fully utilized, and the fire truck is controlled by the fire-fighting master control room operating personnel to rush to the fire scene for fire extinguishing (the fire extinguishing process is shown in figure 5).
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (3)
1. The utility model provides an accurate fire control unit of marine unmanned fire engine, includes fire engine body (1), its characterized in that, fire engine body (1) top sets up fire engine control box (2), and fire engine control box (2) top sets up two mesh color CCD cameras (6), and fire engine body (1) top sets up fire monitor (5), sets up thermal infrared imager (3) and ultraviolet flame detection sensor (4) on fire monitor (5) respectively.
2. The accurate fire fighting device of the unmanned marine fire engine as defined in claim, wherein the thermal infrared imager (3) and the ultraviolet flame detection sensor (4) are symmetrically disposed at both sides of the transmitting end of the fire monitor (5).
3. An accurate fire fighting method for a marine unmanned fire fighting vehicle, which is characterized in that the accurate fire fighting device for the marine unmanned fire fighting vehicle of any one of claims 1-2 is used for accurate fire extinguishing, and comprises the following steps:
step 1: the fire fighting truck automatically patrols and starts an automatic fire detection mode, and the thermal infrared imager (3) on the fire monitor rotates along with the fire monitor (5) to detect the fire;
step 2: after finding a suspicious target, the thermal infrared imager (3) automatically starts the ultraviolet flame detector (4) to further confirm the fire;
and step 3: after the fire is confirmed, the binocular color CCD camera (6) automatically turns to the fire position to monitor the fire scene, and transmits the scene image to a display screen of a fire-fighting master control room; if the ship fire fighting system monitors that a blind spot which cannot be detected by the vehicle-mounted thermal infrared imager (3) and the ultraviolet flame detector (4) has a fire, an instruction can be sent out through the fire-fighting master control room to control the fire fighting truck to reach the position near a fire scene, and the binocular color CCD camera (6) is also adjusted to monitor the fire scene;
and 4, step 4: the binocular color CCD camera (6) calculates the central position coordinates of the fire sources and automatically transmits the central position coordinates of the fire sources to the fire-fighting master control room, and if a plurality of fire sources exist, the central position coordinates of the fire sources are simultaneously transmitted to the fire-fighting master control room;
and 5: the fire-fighting master control room carries out manual fire confirmation and informs the fire-fighting truck control box (2) to carry out the next procedure, and if the manual confirmation is not carried out within the set time, the fire-fighting truck control box (2) automatically carries out the next procedure;
step 6: the fire fighting truck automatically adjusts the distance from the fire source point according to the acquired position coordinates of the fire source point, and ensures that the fire source point is within the proper range of the fire monitor (5); if a plurality of fire source points fire at the same time, the fire fighting truck automatically adjusts the distance between the fire source points and the fire source points closest to the fire source points; if the fire-fighting master control room is attended by people, the position of the fire-fighting truck is automatically adjusted after the attended personnel selects a proper fire source point according to the situation of a fire scene;
and 7: automatically calculating the azimuth angle of the fire monitor (5) to be adjusted according to the selected position coordinates of the fire source central point and the fire monitor jet trajectory model;
and 8: according to the calculated azimuth angle of the fire monitor (5), the fire truck control box (2) automatically adjusts the azimuth of the fire monitor (5) and opens the electromagnetic valve to extinguish the fire (supports remote control operation, can switch to a remote control mode if necessary, and controls the fire monitor (5) to extinguish the fire by combining with a field monitoring video);
and step 9: utilizing a color CCD camera (6) to carry out real-time shooting on the water flow sprayed by the fire water monitor (5), identifying an emergent flow track, obtaining a jet flow terminal point, comparing the jet flow terminal point with a fire source point, and automatically adjusting the spraying angle of the fire water monitor (5) to ensure that a jet flow drop point is superposed with the fire source central point;
step 10: and after the fire is extinguished, performing cross back-and-forth spraying near the fire source to reduce the temperature near the fire scene and prevent re-burning, and if other fire source points still exist, repeating the steps 6-9 to extinguish the fire.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115364401A (en) * | 2022-08-15 | 2022-11-22 | 山东瑞美油气装备技术创新中心有限公司 | Method and device for extinguishing fire |
| CN115591165A (en) * | 2022-08-23 | 2023-01-13 | 国网上海市电力公司（Cn） | Extremely early fire recognition system and recognition method for fire-fighting robot |
| CN115738149A (en) * | 2022-10-28 | 2023-03-07 | 国电南瑞科技股份有限公司 | Fire monitor flame tracking method and device |
| CN116832380A (en) * | 2023-08-28 | 2023-10-03 | 中国矿业大学 | Fire extinguishing method of fire extinguishing system based on multi-fire-source point evaluation decision |
| CN117274021A (en) * | 2023-11-17 | 2023-12-22 | 青岛杰瑞自动化有限公司 | Flame control method and system based on Kalman filtering |
| CN118161813A (en) * | 2024-05-11 | 2024-06-11 | 徐州徐工道金特种机器人技术有限公司 | Fire control and extinguishment control method, device and system, fire control equipment and computer product |
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