CN115364401A - Method and device for extinguishing fire - Google Patents
Method and device for extinguishing fire Download PDFInfo
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- CN115364401A CN115364401A CN202210976071.XA CN202210976071A CN115364401A CN 115364401 A CN115364401 A CN 115364401A CN 202210976071 A CN202210976071 A CN 202210976071A CN 115364401 A CN115364401 A CN 115364401A
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- 238000000034 method Methods 0.000 title claims abstract description 58
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 19
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- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 1
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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
- A62C3/06—Fire prevention, containment or extinguishing specially adapted for particular objects or places of highly inflammable material, e.g. light metals, petroleum products
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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
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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
- A62C37/46—Construction of the actuator
- A62C37/48—Thermally sensitive initiators
Abstract
The application discloses a method and a device for fire extinguishing, belongs to the technical field of fire fighting, and is used for accurate automatic fire extinguishing. The method comprises the following steps: detecting a region to be detected, and determining whether an ignition point occurs in the region to be detected; under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system; adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point; and starting the fire monitor to extinguish the fire at the ignition point.
Description
Technical Field
The application belongs to the technical field of fire fighting, and particularly relates to a method and a device for extinguishing a fire.
Background
In the process of oil and gas exploitation, fracturing construction is needed, a large-scale fracturing construction site usually adopts dozens of fracturing trucks as an operation unit to carry out high-load and high-strength continuous operation, various transmission parts run continuously under high load, and serious fire hazard exists.
The fire control measure of current fracturing job site is put out a fire and the manual work is tourd the condition of a fire for the fire extinguisher of placing usually, under the condition of artifical discovery condition of a fire, put out a fire through the fire extinguisher of placing, but, artifical tour not only has danger, and generally can discover only in the manual work when the condition of a fire is great, hardly discover the condition of a fire and in time put out a fire at the initial stage of a fire, and when the condition of a fire is great, advance through the fire extinguisher and put out a fire, can not control the condition of a fire effectively or put out a fire.
Disclosure of Invention
The embodiment of the application provides a method and a device for extinguishing a fire, which can solve the problem that the fire cannot be found timely and effectively controlled or the fire is extinguished.
In a first aspect, the present application provides a method of suppressing a fire, the method including: detecting a region to be detected, and determining whether an ignition point occurs in the region to be detected; under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system; adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point; and starting the fire monitor to extinguish the fire at the ignition point.
In a second aspect, embodiments of the present application provide an apparatus for extinguishing a fire, the apparatus comprising: the detection module is used for detecting a region to be detected and determining whether an ignition point occurs in the region to be detected; the determining module is used for determining a first coordinate of the ignition point in a preset first coordinate system under the condition that the ignition point is determined to appear in the area to be detected; the adjusting module is used for adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned to the ignition point; and the fire extinguishing module is used for starting the fire monitor to extinguish the fire of the ignition point.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, and when executed by the processor, the program or instructions implement the steps of the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the method according to the first aspect.
In the embodiment of the application, whether the area to be detected has a fire point or not is determined by detecting the area to be detected; under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system; adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point; start the fire gun is in order right the ignition is put out a fire, and this application embodiment combines together through condition detection, condition of a fire location, fire gun control, not only can be when the condition of a fire appears, and the condition of a fire is detected in time automatic, can also be according to the second coordinate of fire gun and the first coordinate of ignition, the angle of automatic adjustment fire gun to make the fire gun aim at the ignition, and put out a fire to the ignition, effective timely control condition of a fire, solved and can not discover the condition of a fire in time and control the condition of a fire effectively or the problem of putting out a fire.
Drawings
FIG. 1 is a schematic flow diagram of a method of suppressing a fire provided by an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a fire extinguishing apparatus provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/", and generally means that the former and latter related objects are in an "or" relationship.
The method and the device for extinguishing fire provided by the embodiment of the application are described in detail by the specific embodiment and the application scenario thereof with reference to the attached drawings.
FIG. 1 illustrates a method of extinguishing a fire, which may be performed by a fire control apparatus in a fracturing wellsite, provided by an embodiment of the present invention, the method comprising the steps of:
step 102: detecting a region to be detected, and determining whether an ignition point occurs in the region to be detected;
the fracturing construction is carried out in the oil and gas exploitation process, a dozen fracturing trucks are usually used as an operation unit to carry out high-load and high-strength continuous operation on a large fracturing construction site, various transmission parts run continuously under high load, and serious fire hazard exists, so that the region where the fracturing trucks are placed can be set as a region to be detected, the region to be detected can also comprise other regions, the region to be detected can be set by a manager in advance, and specific limitation is not carried out.
After determining the region to be detected, the region to be detected needs to be monitored in real time, whether an ignition point occurs in the region to be detected is detected, a detection positioning sensor group can be arranged at a well site to monitor the region to be detected, the detection positioning sensor group can be arranged at a higher position of the well site to realize the comprehensive monitoring of the region to be detected, one detection positioning sensor group can comprise one or more flame detectors, the flame detectors are used for detecting the fire in the region to be detected, the flame detectors can comprise wave band type flame detectors and/or image type flame detectors, the wave band type flame detectors are fire detection sensors outputting switching values, and comprise three-wave band or four-wave band point type flame detectors, and the like.
Like this, through setting up the flame detector in surveying the positioning sensor group, can treat the condition of a fire of detecting the region and survey, realize treating the condition of a fire control of detecting the region.
Step 104: and under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system.
Specifically, a camera may be preset in the detection and positioning sensor group, the camera may be a binocular camera for spatial positioning of the position of the fire point, and in the case that the fire point is detected by the flame detector in the detection and positioning sensor group, a first coordinate of the fire point in a preset first coordinate system may be determined by the camera, where the first coordinate system may be a preset spatial coordinate system with one camera as an origin.
Step 106: and adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned to the ignition point.
Specifically, in this application embodiment, after the first coordinate of the ignition point in the first coordinate system is determined, the second coordinate of the fire monitor in the well site in the first coordinate system can be determined through the camera, and at this time, the angle that the fire monitor needs to be adjusted can be judged through the first coordinate and the second coordinate, and the angle that needs to be adjusted can include the horizontal angle and/or the vertical angle of the fire monitor.
In the well site, the number of the fire monitor can be one or more, and when the fire is extinguished through the fire monitor, various manners are usually adopted, such as full coverage extinguishment, far-end coverage extinguishment or near-end coverage extinguishment, when the fire is extinguished in the area to be detected, all the fire monitors spray water to the fire, the far-end coverage extinguishment is that the water flow sprayed by the fire monitors is emitted in a parabolic manner to extinguish the fire because the fire monitors are in a lower position, consequently can select apart from the fire gun that the ignition is far away to carry out water spray fire extinguishing, promptly after a certain fracturing truck catches fire, compare the ignition to the distance of every fire gun, select apart from the fire gun far away to put out a fire to this ignition, the near-end covers puts out a fire and selects to carry out water spray fire extinguishing apart from the closer fire gun of ignition, promptly after a certain fracturing truck catches fire, compare this ignition to the distance of every fire gun, select apart from the fire gun that is close to put out a fire to this ignition.
Step 108: and starting the fire monitor to extinguish the fire at the fire point.
Specifically, the angle of the fire monitor is adjusted, after the fire monitor is aligned with a point, the fire monitor can be automatically started to spray water to cover the point of fire for fire extinguishing, certainly, the fire monitor can be alarmed when the point of fire is detected, for example, the worker in the instrument room is reminded by alarming after the fire occurs, the worker checks whether the fire occurs really according to a live image picture displayed in the instrument room or on the spot, the worker can start the fire monitor to extinguish the fire after determining that the fire exists, and the fire monitor can be started to extinguish the fire after determining that the fire exists or when the fire monitor extinguishes by spraying water, so that the fire monitor can be stopped from extinguishing the fire by manually adjusting the angle of the fire monitor, after the fire is extinguished, on the one hand, the fire monitor can be stopped from extinguishing the fire by pressing a key of the worker or operating a valve of the fire monitor on the spot, and on the other hand, the fire monitor stops spraying water after the flame detector does not detect the fire.
According to the method for extinguishing the fire, whether the area to be detected has an ignition point or not is determined by detecting the area to be detected; under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system; adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point; start the fire gun is in order right the point of catching fire puts out a fire, and this application embodiment combines together through condition of a fire detection, condition of a fire location, fire gun control, not only can be when the condition of a fire appears, and timely automatic detection condition of a fire can also be according to the second coordinate of fire gun and the first coordinate of the point of catching fire, the angle of automatic adjustment fire gun to make the fire gun aim at the point of catching fire, and put out a fire to the point of catching fire, effective timely control condition of a fire, the problem that can not discover the condition of a fire in time and control the condition of a fire effectively or put out a fire has been solved.
In one implementation, the adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system to align the fire monitor with the fire point includes:
determining a first horizontal angle and a first vertical angle of the fire monitor to be adjusted according to the first coordinate and the second coordinate; and adjusting the angle of the fire monitor according to the first horizontal angle and the first vertical angle.
Specifically, in the well site, horizontal and vertical angles of the fire monitor (barrel) may be preset, but a position of the well site where a fire occurs may be higher than the fire monitor or lower than the fire monitor, and a direction in which the fire point occurs may be different from a direction in which the fire monitor is aligned, and therefore, in the embodiment of the present invention, the angle of the fire monitor is adjusted according to the first horizontal angle and the first vertical angle to align the fire monitor with the fire point.
In a preset first coordinate system, after determining a first coordinate of the fire point and a second coordinate of the fire monitor, a space vector from the fire monitor to the fire point may be obtained, and the space vector may be decomposed to obtain a first horizontal angle and a first vertical angle, for example, in the first coordinate system, if the first coordinate of the fire point in the first coordinate system is the first coordinate system
If the second coordinate of the fire monitor is
The space coordinate of the ignition point relative to the fire monitor is
I.e., (x-x 1, y-y1, z-z 1), then the first horizontal angle α is α = arctan (x-x 1/y-y 1) and the first vertical angle β is β = arctan (z-z 1/(x-x 1/sin α)).
Therefore, a first horizontal angle and a first vertical angle of the fire monitor to be adjusted can be determined through the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system; and then the angle of the fire monitor is adjusted according to the first horizontal angle and the first vertical angle, so that the fire monitor can be aligned to a fire point, and the fire can be accurately extinguished.
In one implementation manner, the detecting the area to be detected and determining whether an ignition point occurs in the area to be detected includes:
detecting the region to be detected through a preset waveband type flame detector and an image type flame detector; if the fire is detected by the image type flame detector, determining that the area to be detected has a fire point; if pass through wave band type flame detector detects the condition of a fire, pass through image type flame detector does not detect the condition of a fire, then sends alarm information, alarm information is used for the suggestion staff to confirm whether the ignition point appears in the area of waiting to detect.
Specifically, the detection positioning sensor group provided by the embodiment of the application can comprise a wave band type flame detector and an image type flame detector so as to detect the region to be detected, and in order to solve the sensitivity difference of different detectors and eliminate the false alarm rate as much as possible, the application determines whether the region to be detected has a fire condition through the following strategies:
(1) If the image type flame detector outputs an image including an ignition point, whether the band type detector outputs a switching value for detecting the fire or not can be determined that the ignition point exists in the region to be detected.
(2) If the wave band type flame detector outputs the switching value for detecting the fire condition, and the image type flame detector does not output the image including the ignition point, alarm information is sent out, and the alarm information is used for prompting a worker to determine whether the ignition point appears in the area to be detected.
Therefore, the wave band type flame detector and the image type flame detector are combined to detect the region to be detected, and whether the region to be detected has an ignition point or not is determined according to different strategies when the wave band type flame detector and/or the image type flame detector give an alarm, so that the false fire alarm rate is reduced, and the accuracy of the ignition point detection is improved.
In one implementation, the determining a first coordinate of the ignition point in a preset first coordinate system includes:
determining the coordinates of first pixel points of the ignition points in a first image output by a preset image type flame detector;
converting the first pixel point coordinate into a second pixel point coordinate in a second image output by a preset camera through a preset image position conversion model;
determining a third coordinate corresponding to the ignition point in a second coordinate system corresponding to the camera according to the second pixel point coordinate;
and converting the third coordinate into the first coordinate in the first coordinate system through a preset coordinate conversion model.
Specifically, in a first image output by the image-type flame detector, a first pixel point coordinate corresponding to an ignition point is determined, the first pixel point coordinate can be converted into a second pixel point coordinate in a second image output by a preset camera through a preset image position conversion model, the camera and the image-type flame detector can be arranged in the same detection positioning sensor group, so that the pixel point coordinate in the first image can correspond to the pixel point coordinate in the second image, after the second pixel point coordinate is obtained, a third coordinate corresponding to the second pixel point coordinate can be determined in a second coordinate system corresponding to the camera according to the second pixel point coordinate, and if the first coordinate system is different from the second coordinate system, the third coordinate in the second coordinate system needs to be converted into the first coordinate in the first coordinate system through the preset coordinate conversion model.
In this way, the coordinates of the third pixel points can be converted into the coordinates of the second pixel points in the second image output by the preset camera through the preset image position conversion model; the third coordinate corresponding to the second pixel coordinate is converted into the first coordinate in the first coordinate system through the preset coordinate conversion model, mapping correspondence between the first image and the second image can be achieved, unification of the second coordinate system and the first coordinate system is achieved, and the first coordinate of the ignition point in the first coordinate system can be accurately determined.
In one implementation, before the determining the first coordinate of the fire point in the preset first coordinate system, the method further includes:
performing image matching on a first image output by a preset image type flame detector and a second image output by a preset camera to obtain an image position conversion model, wherein the image position conversion model is used for converting pixel point coordinates in the first image into pixel point coordinates in the second image; and determining the coordinate system conversion model according to the first coordinate system and a second coordinate system corresponding to the camera, wherein the coordinate system conversion model is used for converting the coordinates in the second coordinate system into the coordinates in the first coordinate system.
Specifically, before determining the first coordinate of the ignition point in the preset first coordinate system, in the same detection positioning sensor group, a third image output by the preset image type flame detector and a fourth image output by the camera may be obtained, and the third image and the fourth image may be subjected to image matching to obtain an image position conversion model, where the image position conversion model is used to represent a corresponding mapping relationship between the image output by the image type flame detector and the image output by the camera in a spatial position, and pixel point coordinates of the image output by the image type flame detector may be converted into pixel point coordinates on the image output by the camera through the image position conversion model.
The camera outputs space coordinates of a real object under the camera coordinate system, the camera coordinate system takes the optical center of a camera lens of a binocular camera as a coordinate origin, each camera corresponds to one coordinate system, namely the space coordinates measured by the cameras are relative coordinates, and the coordinate systems need to be unified when a plurality of cameras exist.
Therefore, for the second coordinate system corresponding to each camera, the second coordinate system corresponding to each camera needs to be converted into a unified first coordinate system, so as to complete the unification of the coordinate systems, and obtain a coordinate system conversion model of the second coordinate system relative to the first coordinate system, and then the coordinate system conversion model has a function of converting the coordinates in the second coordinate system into the coordinates in the first coordinate system.
In this way, the image position conversion model is obtained by matching the third image output by the image type flame detector and the fourth image output by the camera, the coordinate system conversion model is obtained by the first coordinate system and the second coordinate system corresponding to the camera, mapping correspondence between the image output by the image type flame detector and the image output by the camera can be realized, and unification between the second coordinate system and the first coordinate system is realized, so that the first coordinate of the ignition point in the first coordinate system is determined.
In one implementation, the image matching the third image output by the image-based flame detector and the fourth image output by the camera to obtain the image position conversion model includes:
acquiring a first feature point in the third image; acquiring a second feature point in the fourth image; and matching the first characteristic points and the second characteristic points to obtain the image position conversion model.
Specifically, the matching method of the third image and the fourth image may include the following steps:
(1) Extracting characteristic points: feature point extraction is respectively carried out on a third image output by the image type flame detector and a fourth image output by the camera, a first feature point in the third image and a second feature point in the fourth image are obtained, and feature point extraction can be carried out through feature point detection algorithm machines such as harris, sift, lift, orb and the like.
(2) Matching the characteristic points: after the feature points of the third image and the fourth image are obtained, matching of the first feature point and the second feature point may be performed, where a matching manner of the first feature point and the second feature point may include: feature point matching algorithms such as RANSAC, brute force matching, or FLANN.
(3) Calculating an image position conversion model, and selecting an appropriate conversion model, wherein the conversion model comprises the following steps: rigid body conversion, similarity conversion, affine conversion or projection conversion and the like, and obtaining an image position conversion model according to the feature matching result.
Thus, the first feature point in the third image is obtained; a second feature point in the fourth image; and matching the first characteristic points with the second characteristic points to obtain an image position conversion model, so that the coordinates of first pixel points in the first image can be converted into the coordinates of second pixel points in the second image.
In one implementation, after the adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system to align the fire monitor with the fire point, the method further comprises:
adjusting the angle of the fire monitor according to a preset compensation angle, wherein the compensation angle comprises a horizontal compensation angle and a vertical compensation angle.
Specifically, two motors are usually used in the fire monitor to respectively control the rotation of the horizontal direction and the vertical direction of the fire monitor (gun barrel), and the angle calibration of the horizontal direction and the vertical direction can be carried out on the premise that the water pressure of the fire monitor is basically constant (if the number of pulses of the stepping motor corresponding to 10 degrees in the horizontal direction of the fire monitor is measured through an angle ruler, the number of pulses of the stepping motor corresponding to 1 degree in the horizontal direction of the fire monitor is considered, and the calibration of the vertical direction can be carried out in the same way).
After the angle through first horizontal angle and first vertical angle adjustment fire gun, because receive the wind direction, wind speed, water pressure etc. factor influence makes first horizontal angle and first vertical angle probably have certain difference with the horizontal angle and the vertical angle that the real needs adjustment of fire gun, at this moment, if directly start the fire gun and put out a fire, then fire gun blowout water probably can not cover the ignition point, consequently, after the angle through first horizontal angle and first vertical angle adjustment fire gun, need adjust the fire gun again according to predetermined compensation angle, wherein, this compensation angle includes horizontal compensation angle and vertical compensation angle.
Like this, after the ignition is aimed at to the fire gun, according to the angle of predetermined compensation angular adjustment fire gun again, can make fire gun spun water accurately cover the ignition, solved because of receiving the environmental factor influence, still can't cover the problem of putting out a fire to the ignition through the water spray of first horizontal angle and first perpendicular angular adjustment fire gun back, improved the efficiency and the precision of putting out a fire.
In one implementation, before the adjusting the angle of the fire monitor according to the preset compensation angle, the method further includes:
determining a second horizontal angle and a second vertical angle corresponding to the fire monitor; adjusting the fire monitor through a preset third horizontal angle and a preset third vertical angle; calculating a first water spraying covering position of the fire monitor according to the third horizontal angle and the third vertical angle; starting the fire monitor, and adjusting the horizontal angle and the vertical angle of the fire monitor to enable the second water spraying covering position of the fire monitor to coincide with the first water spraying covering position, so as to obtain a fourth horizontal angle and a fourth vertical angle which are adjusted by the fire monitor; determining the horizontal compensation angle according to the fourth horizontal angle and the third horizontal angle; and determining the vertical compensation angle according to the fourth vertical angle and the third vertical angle.
Specifically, the compensation angle needs to be determined in advance, and therefore, an initial second horizontal angle and a second vertical angle of the fire monitor can be determined first, a set of third horizontal angle and third vertical angle can be given, according to the third horizontal angle and the third vertical angle, after the fire monitor is adjusted theoretically according to the third horizontal angle and the third vertical angle, a first water spraying covering position of the fire monitor is calculated, then the fire monitor is adjusted according to the third horizontal angle and the third vertical angle, water spraying of the fire monitor is started, the horizontal angle and the vertical angle of the fire monitor are continuously adjusted, so that the second water spraying covering position of the fire monitor coincides with the first water spraying covering position, at the moment, a fourth horizontal angle and a fourth vertical angle which are adjusted by the fire monitor are determined, a difference value between the fourth horizontal angle and the third horizontal angle can be calculated, the difference value is a horizontal compensation angle, and a difference value between the fourth horizontal angle and the third vertical angle can be calculated, and the difference value is a vertical compensation angle.
Like this, through predetermined horizontal compensation angle and vertical compensation angle, when adjusting the fire gun, can adjust the fire gun again through horizontal compensation angle and vertical compensation angle for the water spray of fire gun can cover the ignition, realizes putting out a fire to the ignition, has improved the water spray precision of fire gun, has improved fire extinguishing efficiency.
In one implementation, before adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system, the method further comprises:
acquiring an actual distance of the fire monitor relative to a position corresponding to an origin of the first coordinate system, and determining the second coordinate according to the actual distance; or acquiring a point cloud image or a depth image comprising a fire monitor through a preset camera, and determining the second coordinate according to the coordinate of the fire monitor in the point cloud image or the depth image; or determining the second coordinate of the fire monitor through a preset target recognition model.
Specifically, the following three ways are included for calculating the second coordinate of the fire monitor in the first coordinate system through the camera:
mode 1: and manually measuring the actual distance of the fire monitor relative to the position corresponding to the original point of the first coordinate system by a worker, and converting to obtain a second coordinate of the fire monitor in the first coordinate system.
Mode 2: a point cloud image or a depth map comprising the fire monitor can be acquired through a preset camera, and the second coordinate of the fire monitor is determined according to the coordinate of the fire monitor in the point cloud image or the depth map.
Mode 3: the method can acquire images of the fire monitor in advance to be labeled and trained to obtain a target recognition model of the fire monitor, utilizes images of a camera to carry out reasoning and recognition on the fire monitor, and obtains a second coordinate of the fire monitor in a first coordinate system through measurement of the camera.
Therefore, the second coordinate of the fire monitor is determined according to the actual distance by acquiring the actual distance of the fire monitor relative to the position corresponding to the original point of the first coordinate system; or acquiring a point cloud image or a depth image comprising the fire monitor through a preset camera, and determining a second coordinate of the fire monitor according to the coordinate of the fire monitor in the point cloud image or the depth image; or the second coordinate of the fire monitor is determined through a preset target identification model, and the second coordinate of the fire monitor in the first coordinate system can be accurately and quickly obtained.
It should be noted that, in the method for extinguishing a fire provided by the embodiment of the present application, the execution subject may be an apparatus for extinguishing a fire, or a control module in the apparatus for extinguishing a fire for executing the method for extinguishing a fire. The embodiment of the present application takes a method for performing fire extinguishing by using a fire extinguishing apparatus as an example, and the fire extinguishing apparatus provided by the embodiment of the present application is explained.
Fig. 2 is a schematic structural view of an apparatus for extinguishing a fire according to an embodiment of the present invention. As shown in fig. 2, the apparatus for suppressing a fire 200 includes: a detection module 210, a determination module 220, an adjustment module 230, and a fire suppression module 240.
The detection module 210 is configured to detect a region to be detected, and determine whether an ignition point occurs in the region to be detected; the determining module 220 is configured to determine a first coordinate of an ignition point in a preset first coordinate system when it is determined that the ignition point occurs in the area to be detected; the adjusting module 230 is configured to adjust an angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system, so that the fire monitor is aligned with the fire point; and the fire extinguishing module 240 is used for starting the fire monitor to extinguish the fire at the fire point.
In one implementation, the adjusting module 230 is configured to determine, according to the first coordinate and the second coordinate, a first horizontal angle and a first vertical angle that need to be adjusted by the fire monitor; and adjusting the angle of the fire monitor according to the first horizontal angle and the first vertical angle.
In one implementation, the detection module 210 is configured to detect the region to be detected through a preset waveband type flame detector and an image type flame detector; if the fire is detected by the image type flame detector, determining that the fire point appears in the region to be detected; if pass through wave band type flame detector detects the condition of a fire, pass through image type flame detector does not detect the condition of a fire, then sends alarm information, alarm information is used for the suggestion staff to confirm whether the ignition point appears in the area of waiting to detect.
In one implementation, the determining module 220 is configured to determine coordinates of a first pixel point of the ignition point in a first image output by a preset image-based flame detector; converting the first pixel point coordinate into a second pixel point coordinate in a second image output by a preset camera through a preset image position conversion model; determining a third coordinate corresponding to the ignition point in a second coordinate system corresponding to the camera according to the second pixel point coordinate; and converting the third coordinate into the first coordinate in the first coordinate system through a preset coordinate conversion model.
In an implementation manner, the determining module 220 is further configured to perform image matching on a third image output by the image-based flame detector and a fourth image output by the camera to obtain the image position conversion model, where the image position conversion model is configured to convert coordinates of pixel points in the image output by the image-based flame detector into coordinates of pixel points in the image output by the camera; and determining the coordinate system conversion model according to the first coordinate system and a second coordinate system corresponding to the camera, wherein the coordinate system conversion model is used for converting the coordinates in the second coordinate system into the coordinates in the first coordinate system.
In one implementation, the determining module 220 is configured to obtain a first feature point in the third image; acquiring a second feature point in the fourth image; and matching the first characteristic point and the second characteristic point to obtain the image position conversion model.
In one implementation, the adjusting module 230 is further configured to adjust an angle of the fire monitor according to a preset compensation angle, where the compensation angle includes a horizontal compensation angle and a vertical compensation angle.
In one implementation, the determining module 220 is further configured to determine a second horizontal angle and a second vertical angle corresponding to the fire monitor; adjusting the fire monitor through a preset third horizontal angle and a preset third vertical angle; calculating a first water spray covering position of the fire monitor according to the third horizontal angle and the third vertical angle; starting the fire monitor, and adjusting the horizontal angle and the vertical angle of the fire monitor to enable the second water spraying covering position of the fire monitor to coincide with the first water spraying covering position, so as to obtain a fourth horizontal angle and a fourth vertical angle which are adjusted by the fire monitor; determining the horizontal compensation angle according to the fourth horizontal angle and the third horizontal angle; and determining the vertical compensation angle according to the fourth vertical angle and the third vertical angle.
In an implementation manner, the determining module 220 is further configured to obtain an actual distance of the fire monitor relative to a position corresponding to an origin of the first coordinate system, and determine the second coordinate according to the actual distance; or acquiring a point cloud image or a depth image comprising a fire monitor through a preset camera, and determining the second coordinate according to the coordinate of the fire monitor in the point cloud image or the depth image; or determining the second coordinate of the fire monitor through a preset target recognition model.
The device for extinguishing a fire in the embodiment of the present application may be a device electronic apparatus, or may be a component in a terminal electronic apparatus, such as an integrated circuit, or a chip. The electronic device may be a terminal, or may be a device other than a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the Mobile electronic Device may be a Mobile phone, a tablet Computer, a notebook Computer, a palm Computer, a vehicle-mounted electronic Device, a Mobile Internet Device (MID), an Augmented Reality (AR)/Virtual Reality (VR) Device, a robot, a wearable Device, an Ultra-Mobile Personal Computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-Mobile electronic Device may also be a server, a Network Attached Storage (Network Attached Storage, a Personal Computer (NAS), a Television (TV), a teller machine (teller machine), a self-service machine, and the like, and embodiments of the present application are not limited in particular.
The device for extinguishing a fire in the embodiments of the present application may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
The device for extinguishing fire provided by the embodiment of the application can realize each process realized by the method embodiment of fig. 1, and is not described again for avoiding repetition.
Optionally, as shown in fig. 3, an embodiment of the present application further provides an electronic device 300, which includes a processor 301 and a memory 302, where the memory 302 stores a program or an instruction that is executable on the processor 301, and when the program or the instruction is executed by the processor 301, the program or the instruction implements: detecting a region to be detected, and determining whether an ignition point occurs in the region to be detected; under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system; adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point; and starting the fire monitor to extinguish the fire at the fire point.
In one implementation mode, a first horizontal angle and a first vertical angle which need to be adjusted by the fire monitor are determined according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system; and adjusting the angle of the fire monitor according to the first horizontal angle and the first vertical angle.
In one implementation mode, the region to be detected is detected through a preset wave band type flame detector and an image type flame detector; if the fire is detected by the image type flame detector, determining that the area to be detected has a fire point; if pass through wave band type flame detector detects the condition of a fire, pass through image type flame detector does not detect the condition of a fire, then sends alarm information, alarm information is used for the suggestion staff to confirm whether the ignition point appears in the area of waiting to detect.
In one implementation, determining coordinates of a first pixel point of the ignition point in a first image output by a preset image type flame detector; converting the first pixel point coordinate into a second pixel point coordinate in a second image output by a preset camera through a preset image position conversion model; determining a second coordinate corresponding to the ignition point in a second coordinate system corresponding to the camera according to the second pixel point coordinate; and converting the second coordinate into the first coordinate in the first coordinate system through a preset coordinate conversion model.
In one implementation, before the determining the first coordinate of the fire point in the preset first coordinate system, the method further includes: performing image matching on a third image output by the image type flame detector and a fourth image output by the camera to obtain an image position conversion model, wherein the image position conversion model is used for converting pixel point coordinates in the image output by the image type flame detector into pixel point coordinates in the image output by the camera; and determining the coordinate system conversion model according to the first coordinate system and a second coordinate system corresponding to the camera, wherein the coordinate system conversion model is used for converting the coordinates in the second coordinate system into the coordinates in the first coordinate system.
In one implementation, a first feature point in the third image is obtained; acquiring a second feature point in the fourth image; and matching the first characteristic point and the second characteristic point to obtain the image position conversion model.
In one implementation, after the adjusting the angle of the fire monitor according to the first coordinate and the preset second coordinate of the fire monitor in the first coordinate system to align the fire monitor with the fire point, the method further includes: adjusting the angle of the fire monitor according to a preset compensation angle, wherein the compensation angle comprises a horizontal compensation angle and a vertical compensation angle.
In one implementation, before the adjusting the angle of the fire monitor according to the preset compensation angle, the method further comprises: determining a second horizontal angle and a second vertical angle corresponding to the fire monitor; adjusting the fire monitor through a preset third horizontal angle and a preset third vertical angle; calculating a first water spray covering position of the fire monitor according to the third horizontal angle and the third vertical angle; starting the fire monitor, and adjusting the horizontal angle and the vertical angle of the fire monitor to enable the second water spraying covering position of the fire monitor to coincide with the first water spraying covering position, so as to obtain a fourth horizontal angle and a fourth vertical angle which are adjusted by the fire monitor; determining the horizontal compensation angle according to the fourth horizontal angle and the third horizontal angle; and determining the vertical compensation angle according to the fourth vertical angle and the third vertical angle.
In one implementation, before adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system, the method further includes: acquiring an actual distance of the fire monitor relative to a position corresponding to an origin of the first coordinate system, and determining the second coordinate according to the actual distance; or acquiring a point cloud image or a depth image comprising a fire monitor through a preset camera, and determining the second coordinate according to the coordinate of the fire monitor in the point cloud image or the depth image; or determining the second coordinate of the fire monitor through a preset target recognition model.
The specific implementation steps can be referred to the steps of the above embodiment of the method for extinguishing a fire, and the same technical effects can be achieved, and are not described herein again to avoid repetition.
It should be noted that the electronic device in the embodiment of the present application includes: a server, a terminal, or other device besides a terminal.
The above electronic device structure does not constitute a limitation of the electronic device, the electronic device may include more or less components than those shown in the drawings, or some components may be combined, or different component arrangements, for example, the input Unit may include a Graphics Processing Unit (GPU) and a microphone, and the display Unit may configure the display panel in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit includes at least one of a touch panel and other input devices. The touch panel is also referred to as a touch screen. Other input devices may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein.
The memory may be used to store software programs as well as various data. The memory may mainly include a first storage area storing a program or an instruction and a second storage area storing data, wherein the first storage area may store an operating system, an application program or an instruction (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory may include volatile memory or nonvolatile memory, or the memory may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM), a Static Random Access Memory (Static RAM, SRAM), a Dynamic Random Access Memory (Dynamic RAM, DRAM), a Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate SDRAM, ddr SDRAM), an Enhanced Synchronous SDRAM (ESDRAM), a Synchronous Link DRAM (SLDRAM), and a Direct Memory bus RAM (DRRAM).
A processor may include one or more processing units; optionally, the processor integrates an application processor, which mainly handles operations related to the operating system, user interface, application programs, etc., and a modem processor, which mainly handles wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor.
The embodiments of the present application further provide a readable storage medium, where a program or an instruction is stored, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the foregoing method for fire extinguishing, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a ROM, a RAM, a magnetic or optical disk, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of extinguishing a fire, comprising:
detecting a region to be detected, and determining whether an ignition point occurs in the region to be detected;
under the condition that the ignition point of the area to be detected is determined, determining a first coordinate of the ignition point in a preset first coordinate system;
adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point;
and starting the fire monitor to extinguish the fire at the fire point.
2. The method of claim 1, wherein adjusting the angle of the fire monitor to align the fire monitor with the fire point based on the first coordinate and a predetermined second coordinate of the fire monitor in the first coordinate system comprises:
determining a first horizontal angle and a first vertical angle of the fire monitor to be adjusted according to the first coordinate and the second coordinate;
and adjusting the angle of the fire monitor according to the first horizontal angle and the first vertical angle.
3. The method of claim 1, wherein the detecting the area to be detected and determining whether the area to be detected has a fire point comprises:
detecting the region to be detected through a preset waveband type flame detector and an image type flame detector;
if the fire is detected by the image type flame detector, determining that the fire point appears in the region to be detected;
if pass through wave band type flame detector detects the condition of a fire, pass through image type flame detector does not detect the condition of a fire, then sends alarm information, alarm information is used for the suggestion staff to confirm whether the ignition point appears in the area of waiting to detect.
4. The method of claim 1, wherein said determining a first coordinate of said fire point in a predetermined first coordinate system comprises:
determining the coordinates of a first pixel point of the ignition point in a first image output by a preset image type flame detector;
converting the first pixel point coordinate into a second pixel point coordinate in a second image output by a preset camera through a preset image position conversion model;
determining a third coordinate corresponding to the ignition point in a second coordinate system corresponding to the camera according to the second pixel point coordinate;
and converting the third coordinate into the first coordinate in the first coordinate system through a preset coordinate conversion model.
5. The method of claim 4, wherein prior to said determining the first coordinate of the fire point in the predetermined first coordinate system, the method further comprises:
performing image matching on a third image output by the image type flame detector and a fourth image output by the camera to obtain an image position conversion model, wherein the image position conversion model is used for converting pixel point coordinates in the image output by the image type flame detector into pixel point coordinates in the image output by the camera;
and determining the coordinate system conversion model according to the first coordinate system and a second coordinate system corresponding to the camera, wherein the coordinate system conversion model is used for converting the coordinates in the second coordinate system into the coordinates in the first coordinate system.
6. The method of claim 5, wherein the image matching of the third image output by the image-based flame detector and the fourth image output by the camera to obtain the image position transformation model comprises:
acquiring a first feature point in the third image;
acquiring a second feature point in the fourth image;
and matching the first characteristic points and the second characteristic points to obtain the image position conversion model.
7. The method of claim 1, wherein after said adjusting the angle of the fire monitor to align the fire monitor with the fire point according to the first coordinate and a predetermined second coordinate of the fire monitor in the first coordinate system, the method further comprises:
adjusting the angle of the fire monitor according to a preset compensation angle, wherein the compensation angle comprises a horizontal compensation angle and a vertical compensation angle.
8. The method of claim 7, wherein prior to the adjusting the angle of the fire monitor according to a preset compensation angle, the method further comprises:
determining a second horizontal angle and a second vertical angle corresponding to the fire monitor;
adjusting the fire monitor through a preset third horizontal angle and a preset third vertical angle;
calculating a first water spraying covering position of the fire monitor according to the third horizontal angle and the third vertical angle;
starting the fire monitor, and adjusting the horizontal angle and the vertical angle of the fire monitor to enable the second water spraying covering position of the fire monitor to coincide with the first water spraying covering position, so as to obtain a fourth horizontal angle and a fourth vertical angle which are adjusted by the fire monitor;
determining the horizontal compensation angle according to the fourth horizontal angle and the third horizontal angle;
and determining the vertical compensation angle according to the fourth vertical angle and the third vertical angle.
9. The method of claim 1, wherein prior to the adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system, the method further comprises:
acquiring an actual distance of the fire monitor relative to a position corresponding to an origin of the first coordinate system, and determining the second coordinate according to the actual distance; or
Acquiring a point cloud image or a depth image comprising a fire monitor through a preset camera, and determining the second coordinate according to the coordinate of the fire monitor in the point cloud image or the depth image; or
And determining the second coordinate of the fire monitor through a preset target recognition model.
10. An apparatus for extinguishing a fire, comprising:
the detection module is used for detecting a region to be detected and determining whether an ignition point occurs in the region to be detected;
the determining module is used for determining a first coordinate of the ignition point in a preset first coordinate system under the condition that the ignition point is determined to appear in the area to be detected;
the adjusting module is used for adjusting the angle of the fire monitor according to the first coordinate and a preset second coordinate of the fire monitor in the first coordinate system so as to enable the fire monitor to be aligned with the ignition point;
and the fire extinguishing module is used for starting the fire monitor to extinguish the fire of the ignition point.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210976071.XA CN115364401A (en) | 2022-08-15 | 2022-08-15 | Method and device for extinguishing fire |
| PCT/CN2022/119628 WO2024036687A1 (en) | 2022-08-15 | 2022-09-19 | Method and device for fire extinguishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210976071.XA CN115364401A (en) | 2022-08-15 | 2022-08-15 | Method and device for extinguishing fire |
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| CN115364401A true CN115364401A (en) | 2022-11-22 |
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| CN202210976071.XA Pending CN115364401A (en) | 2022-08-15 | 2022-08-15 | Method and device for extinguishing fire |
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| WO (1) | WO2024036687A1 (en) |
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