CN115887984B - Control method for puncturing mechanism, storage medium and controller - Google Patents
Control method for puncturing mechanism, storage medium and controller Download PDFInfo
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- CN115887984B CN115887984B CN202211666568.8A CN202211666568A CN115887984B CN 115887984 B CN115887984 B CN 115887984B CN 202211666568 A CN202211666568 A CN 202211666568A CN 115887984 B CN115887984 B CN 115887984B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 117
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- 238000004080 punching Methods 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The embodiment of the application provides a control method for a puncturing mechanism, the puncturing mechanism, a storage medium and a controller. The method comprises the following steps: the puncture mechanism comprises a monitoring module, a puncture head provided with a puncture head sliding rail hole, a puncture needle, a mounting seat sliding rail hole, a movable pipe and a first mounting seat provided with the mounting seat sliding rail hole, wherein the movable pipe penetrates through the mounting seat sliding rail hole and the puncture head sliding rail hole and is in clearance fit with the hole so as to realize left and right sliding, the puncture head is fixedly connected with the puncture needle, the image acquisition equipment is fixed on the movable pipe through the first mounting seat, the monitoring module comprises the image acquisition equipment, and the control method comprises the following steps of: under the condition that the puncture mechanism is controlled to execute the puncture action and complete at the position to be rescued, the first mounting seat is controlled to move, so that the image acquisition equipment stretches out to the inside of the position to be rescued to acquire an internal image; and determining the position of the fire source in the position to be rescued according to the internal image. According to the real-time monitoring device, the image acquisition equipment is arranged on the puncture mechanism, so that the real-time monitoring of the position of the fire source in the closed space is realized.
Description
Technical Field
The application relates to the technical field of fire truck control, in particular to a control method for a puncture mechanism, the puncture mechanism, a fire truck, a storage medium and a controller.
Background
The puncture arm fire truck is emergency equipment which is suitable for the development of fire-fighting and rescue requirements in a closed space. The fire extinguishing agent directly acts on flames after penetrating through barriers such as an aircraft body skin, a glass curtain wall, a warehouse outer wall and the like through the puncture needle arranged on the puncture mechanism at the tail end of the arm support, so that the aim of high-efficiency fire extinguishment is fulfilled.
However, the fire scene environments of the fire accident places are different, particularly, the fire in the closed space is generated, and the fire situation of the internal fire scene environment is difficult to be observed from the outside by rescue workers. Therefore, even if the lancet is penetrated through the obstacle outer wall, since a rescuer in the external environment cannot accurately judge the internal ignition region, a proper spraying angle of the fire extinguishing agent cannot be found, and thus high-efficiency fire extinguishing cannot be implemented.
Disclosure of Invention
An object of an embodiment of the present application is to provide a control method for a lancing mechanism, a fire-fighting vehicle, a storage medium and a controller.
To achieve the above object, a first aspect of the present application provides a control method for a puncture mechanism, including:
the puncture mechanism comprises a monitoring module, a puncture head provided with a puncture head sliding rail hole, a puncture needle, a mounting seat sliding rail hole, a movable pipe and a first mounting seat provided with the mounting seat sliding rail hole, wherein the movable pipe penetrates through the mounting seat sliding rail hole and the puncture head sliding rail hole and is in clearance fit with the hole so as to realize left and right sliding, the puncture head is fixedly connected with the puncture needle, the image acquisition equipment is fixed on the movable pipe through the first mounting seat, the monitoring module comprises the image acquisition equipment, and the control method comprises the following steps of:
controlling a puncture mechanism to execute puncture action at the position to be rescued;
under the condition that the puncture action is determined to be completed, controlling the first mounting seat to move, so that the image acquisition equipment extends out of the position to be rescued to acquire an internal image of the position to be rescued;
and determining the position of the fire source in the position to be rescued according to the internal image.
In one embodiment, the head of the puncture needle is provided with a water hole, the puncture mechanism further comprises a water pipe, the water pipe is communicated with the inner cavity water pipe of the puncture needle, and the control method further comprises: after the fire source position in the position to be rescued is determined according to the internal image, the puncture mechanism is controlled according to the fire source position to execute fire extinguishing action, so that the fire extinguishing agent flows into the inner cavity water pipe of the puncture needle through the water pipe and flows out through the water hole, and the fire source position is extinguished.
In one embodiment, the two ends of the water pipe are respectively communicated with the water injection pipe and the inner cavity water pipe of the pricker, the water injection pipe is connected with the fire pump, the water injection pipe is used for conveying fire extinguishing agent under the action of the fire pump, and the control method further comprises: under the condition that the puncture action is determined to be completed, the fire pump is controlled to be started so as to control the fire extinguishing agent to flow into the puncture head sliding rail hole through the water injection pipe and the water passing pipe in sequence, so that puncture residues in the puncture head sliding rail hole are cleaned.
In one embodiment, the monitoring module further comprises a temperature sensor, the puncture mechanism further comprises an electromagnet connected with the movable pipe, an electromagnet mounting seat and a second mounting seat, the electromagnet is fixed on the second mounting seat through the electromagnet mounting seat, and the control method further comprises: after the image acquisition equipment extends out of the position to be rescued, receiving a temperature signal sent by a temperature sensor in real time so as to determine the temperature of the image acquisition equipment in real time; under the condition that the temperature of the image acquisition equipment is higher than a preset temperature threshold value, controlling the electromagnet to be powered off so as to control the movable pipe to slide to drive the first mounting seat to move, so that the image acquisition equipment is retracted into the puncture mechanism; the fire pump is controlled to start so as to control the fire extinguishing agent to flow into the sliding rail hole of the puncture head through the water injection pipe and the water pipe in sequence, so that the image acquisition equipment is cooled.
In one embodiment, the monitoring module further comprises a pressure sensor, and the control method further comprises: receiving a pressure signal sent by a pressure sensor in real time; determining the pressure change condition of the puncture mechanism when performing the puncture action according to the plurality of pressure signals; comparing the pressure change condition with a preset pressure characteristic curve to judge whether the puncture mechanism completes the puncture action.
In an embodiment, the monitoring module further includes temperature sensor, and piercing depth constructs still includes electro-magnet, electro-magnet mount pad, the second mount pad of being connected with movable tube, and the electro-magnet is fixed in the second mount pad through the electro-magnet mount pad, under the condition of confirming accomplishing the piercing depth action, controls first mount pad motion for image acquisition equipment stretches out to waiting for rescue position inside still includes: under the condition that the puncture action is determined to be completed, the electromagnet is controlled to be electrified so as to control the movable tube to slide to drive the first mounting seat to move, and the image acquisition equipment stretches out to the inside of the position to be rescued.
In one embodiment, the control method further comprises: acquiring a job instruction triggered by a user; and controlling the puncture mechanism to execute puncture action or fire extinguishing action according to the operation instruction.
A second aspect of the present application provides a controller configured to perform the control method for a lancing mechanism described above.
A third aspect of the present application provides a lancing mechanism comprising:
the puncture needle is provided with a puncture head sliding rail hole, a puncture needle, a mounting seat sliding rail hole, a movable pipe and a first mounting seat provided with the mounting seat sliding rail hole, wherein the movable pipe penetrates through the mounting seat sliding rail hole and the puncture head sliding rail hole and is in clearance fit with the hole so as to realize left-right sliding, and the puncture head is fixedly connected with the puncture needle;
the monitoring system comprises the image acquisition device and the controller configured to execute the control method for the puncture mechanism.
A fourth aspect of the present application provides a fire-fighting vehicle comprising the lancing mechanism described above.
In an embodiment of the present application, the fire-fighting vehicle further comprises a fire pump for controlling the flow of fire extinguishing agent into the piercing mechanism; and the central control equipment is used for triggering the operation instruction and sending the operation instruction to the controller.
A fifth aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform the control method for a lancing mechanism described above.
Through the technical scheme, the real-time monitoring of the position of the fire source in the closed space is realized. Through installing image acquisition equipment on piercing depth for after piercing depth accomplishes the piercing depth action, the rescue personnel can monitor the internal environment through control image acquisition equipment in the outside of waiting the rescue position, carries out the accurate judgement of fire source position, so that follow-up implementation high efficiency is put out a fire.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates an application environment schematic of a control method for a lancing mechanism according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a control method for a lancing mechanism according to an embodiment of the present application;
FIG. 3 schematically illustrates a block diagram of a lancing mechanism according to an embodiment of the present application;
FIG. 4 schematically illustrates a block diagram of a fire-fighting vehicle according to an embodiment of the present application;
fig. 5 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Reference numerals
1. Second mounting seat of electromagnet 2
3. Movable pipe of first sealing ring 4
5. The pricking pin 6 is provided with a water outlet
7. Cutting edge of puncture head 8
9. First mounting seat of camera 10
11. Second sealing ring of water pipe 12
13. Water injection pipe 14 connecting plate
15. Electromagnet mounting base 16 wire
17. Data line 18 water drainage groove
19. Mounting seat sliding rail hole 20 puncture head sliding rail hole
21. Temperature sensor 22 rubber curtain
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
The control method for the puncture mechanism can be applied to an application environment shown in fig. 1. Wherein 102 is a puncture mechanism and 104 is a position to be rescued. The puncture mechanism 102 performs a puncture action to penetrate through an obstacle outer wall of a position to be rescued, collects an internal image of the position to be rescued to find a fire source position, and sprays a fire extinguishing agent to the fire source position after finding the fire source position to extinguish the fire source position. The puncture mechanism 102 is equipped with an intelligent controller (not shown) to realize a puncture operation, a search for a fire source position, and a fire extinguishing operation.
Fig. 2 schematically shows a flow diagram of a control method for a lancing mechanism according to an embodiment of the present application. As shown in fig. 2, in an embodiment of the present application, there is provided a control method for a puncture mechanism, including the steps of:
step 201, controlling a puncture mechanism to execute puncture action at a position to be rescued.
Step 202, under the condition that the puncture action is determined to be completed, controlling the first mounting seat to move, so that the image acquisition equipment extends out of the position to be rescued, and acquiring an internal image of the position to be rescued.
And 203, determining the position of the fire source inside the position to be rescued according to the internal image.
The puncture arm fire truck is emergency equipment which is suitable for the development of fire-fighting and rescue requirements in a closed space. The puncture arm consists of an arm support and a puncture mechanism, and the puncture mechanism arranged at the tail end of the arm support can enable the puncture needle to penetrate through barrier outer walls of a fire accident place, such as an aircraft body skin, a glass curtain wall, a warehouse outer wall and the like, so that the fire extinguishing agent can directly act on an internal ignition position, and the aim of high-efficiency fire extinguishment is achieved. Specifically, in this technical scheme, puncture mechanism includes that monitoring module, be equipped with puncture head, pjncture needle, mount pad slide rail hole, movable tube and the first mount pad that is equipped with mount pad slide rail hole in puncture head slide rail hole. Wherein, the puncture head is equipped with puncture head slide rail hole and cutting edge, and the puncture head is the carbide material, and wearing and tearing that the perforation brought when can resist many times puncture obstacle outer wall, its head installation cutting edge, required power when can reduce implementation puncture. The puncture needle is fixedly connected with the puncture head and used for penetrating through an obstacle outer wall of a fire accident place. The monitoring module comprises image acquisition equipment, the image acquisition equipment can be a camera, and after the puncture mechanism penetrates through the obstacle outer wall, the internal fire scene environment can be monitored through the camera to accurately judge the ignition area, so that accurate and efficient fire extinguishment is realized. The first mount may be referred to as a camera mount for securing a camera to the movable tube. The movable tube passes through the mounting seat sliding rail hole and the puncture head sliding rail hole and is in clearance fit with the hole so as to realize left and right sliding, and meanwhile, the camera mounting seat drives the camera to slide left and right on the movable tube so as to realize extension and retraction of the camera.
The position to be rescued refers to the place where the accident happens, and in the technical scheme, the position to be rescued can refer to the place where the fire accident happens. The puncturing action may be an action of puncturing the target object to achieve a puncture effect. Specifically, the puncture mechanism is controlled to puncture the obstacle outer wall at the fire accident place until the obstacle outer wall is punctured, the camera mounting seat is controlled to slide on the movable pipe, so that the camera extends out of the puncture mechanism, the fire scene environment in the fire accident place is monitored in real time through the camera, and the ignition area is accurately judged.
According to the technical scheme, the camera is arranged on the puncture mechanism, so that after the puncture mechanism completes the puncture action, rescue workers can monitor the internal fire scene environment outside the fire accident place by controlling the extension of the camera, and the ignition area is accurately judged, so that efficient fire extinguishment can be implemented subsequently.
FIG. 2 is a flow chart of a control method for a lancing mechanism in one embodiment. It should be understood that, although the steps in the flowchart of fig. 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
In one embodiment, the lancing mechanism further includes a water conduit that can be used to deliver a fire suppressant. The head of the pricking pin is provided with a water punching hole, the water pipe is communicated with the inner cavity water pipe of the pricking pin, and the fire extinguishing agent can be sprayed to the ignition area after passing through the water punching hole. Specifically, the puncture mechanism is controlled to puncture the obstacle outer wall at the fire accident place until the obstacle outer wall is punctured, the camera mounting seat is controlled to slide on the movable pipe, so that the camera extends out of the puncture mechanism, the fire scene environment in the fire accident place is monitored in real time through the camera, and the ignition area is accurately judged. After the camera judges the ignition area, the puncture mechanism is controlled to spray the fire extinguishing agent to the ignition area for extinguishing fire. Specifically, the fire extinguishing agent flows into the inner cavity water pipe of the pricking pin through the water pipe and flows out through the water beating hole of the head part, and is sprayed to the ignition area to extinguish the fire in the ignition area.
In one embodiment, the puncture arm fire truck is provided with a fire pump, and a water supply pipe is arranged in the puncture arm and used for conveying fire extinguishing agent to the puncture mechanism under the action of the fire pump, wherein one end of the water supply pipe is connected with one end of a water injection pipe of the puncture mechanism, the other end of the water injection pipe is connected with a water pipe, and two ends of the water pipe are respectively communicated with the water injection pipe and an inner cavity water pipe of the puncture needle. Specifically, the puncture mechanism is controlled to puncture the obstacle outer wall until the obstacle outer wall is punctured, and the camera mounting seat is controlled to slide on the movable pipe so that the camera extends out of the puncture mechanism. In the process of puncturing the obstacle outer wall by the puncture mechanism, residues on the obstacle outer wall can be inevitably remained in the sliding rail holes of the puncture head, and the residues can influence the visual effect of the camera and also can cause the abrasion of the camera. Therefore, the inside of the slide rail hole needs to be cleaned after the puncture mechanism completes puncture. Specifically, after the camera stretches out, the fire pump is controlled to be started so as to convey the fire extinguishing agent through the water supply pipe, and the fire extinguishing agent sequentially flows into the water injection pipe and the water pipe and then flows into the sliding rail hole of the puncture head after passing through the water supply pipe so as to clean puncture residues in the sliding rail hole of the puncture head.
In one embodiment, the monitoring module further comprises a temperature sensor, which refers to a sensor capable of sensing temperature and converting it into a usable output signal. In this technical scheme, temperature sensor mountable is on the camera for the temperature of real-time supervision camera. The puncture mechanism also comprises an electromagnet connected with the movable tube, wherein the electromagnet is a device for generating electromagnetic by electrifying, and is manufactured according to the principle that an electrified coil generates an acoustic magnetic field. In this technical scheme, the electro-magnet is installed on the electro-magnet mount pad and is fixed in on the second mount pad of piercing depth, is the mount pad, is connected through motion axle and the connecting plate of being connected with movable tube simultaneously, can control the slip of movable tube in order to control the motion of camera through the power that gets of control electro-magnet and loses the electricity. Specifically, the puncture mechanism is controlled to puncture the obstacle outer wall at the fire accident place until the obstacle outer wall is punctured, the camera mounting seat is controlled to slide on the movable pipe, so that the camera extends out of the puncture mechanism, the fire scene environment in the fire accident place is monitored in real time through the camera, and the ignition area is accurately judged. Simultaneously, the temperature signal that sends through temperature sensor in real time carries out real-time supervision to the temperature of camera, when the temperature of monitoring the camera is higher than preset temperature threshold value, need retract the camera in order to cool down the camera in the puncture mechanism, prevent that the camera temperature from being too high and damaging. Specifically, through controlling the electro-magnet outage, make the movable tube slide and drive the camera mount pad and slide to make the camera retract to inside the piercing mechanism, control the fire pump simultaneously and start in order to carry fire extinguishing agent through the delivery pipe, fire extinguishing agent flows into behind water injection pipe, the water pipe in proper order behind the delivery pipe into in the piercing head slide rail hole, in order to cool down the camera.
Further, when the temperature of the camera is reduced through the fire extinguishing agent, the temperature of the camera is monitored in real time through a temperature signal sent by the temperature sensor, when the temperature of the camera is monitored to be lower than a preset temperature threshold value, the electromagnet is controlled to be electrified, the movable tube slides to drive the camera mounting seat to slide, the camera stretches out from the inside of the puncture mechanism, the internal fire scene environment of a fire accident place is monitored in real time through the camera, and the ignition area is accurately judged.
In one embodiment, the monitoring module further comprises a pressure sensor, which is a device or apparatus capable of sensing a pressure signal and converting the pressure signal into a usable output electrical signal according to a necessary law. In the technical scheme, the pressure sensor can be arranged on the puncture mechanism and used for monitoring the pressure value born by the puncture mechanism in real time and judging whether the puncture mechanism completes the puncture action or not through the pressure value. Specifically, a pressure characteristic curve can be set according to a large amount of historical data in a database, the pressure characteristic curve has a maximum value, and the pressure value carried in the pressure signal is compared with the pressure characteristic curve by receiving the pressure signal sent by the pressure sensor in real time. When the pressure value is judged to be the last maximum value, the puncture mechanism can be determined to have completed the puncture action. After the puncture action of the puncture mechanism is determined to be finished, the electromagnet is controlled to be electrified, the movable tube is made to slide to drive the camera mounting seat to slide, the camera extends out of the puncture mechanism, and the fire scene environment in the fire accident place is monitored in real time through the camera, so that the ignition area is accurately judged.
In one embodiment, the controller controls the lancing mechanism to perform a lancing action or a fire extinguishing action by receiving a user-triggered work command. Specifically, the controller receives a user trigger puncture instruction, controls the puncture mechanism to puncture the obstacle outer wall at the fire accident site until the obstacle outer wall is broken down, and controls the camera mounting seat to slide on the movable pipe, so that the camera extends out of the puncture mechanism, and the fire scene environment in the fire accident site is monitored in real time through the camera to accurately judge the ignition region. After the camera judges the ignition area, a fire extinguishing instruction triggered by a user is received, the fire pump is controlled to be started, the fire extinguishing agent is conveyed through the water supply pipe, flows into the water injection pipe, the water pipe and the inner cavity water pipe of the puncture needle in sequence after flowing into the water pipe, flows out through the water hole of the head part, and is sprayed to the ignition area to extinguish the fire in the ignition area.
In one embodiment, the controller receives a user trigger puncture command, controls the puncture mechanism to puncture the obstacle outer wall at the fire accident place, and controls the camera mounting seat to slide on the movable tube after the puncture mechanism has completed the puncture action, namely the obstacle outer wall is punctured by receiving the pressure signal sent by the pressure sensor in real time, so that the camera extends out of the puncture mechanism, and monitors the fire scene environment in the fire accident place in real time through the camera to accurately judge the ignition area. The fire pump is controlled to be started so as to convey the fire extinguishing agent through the water supply pipe, and the fire extinguishing agent flows into the water injection pipe and the water pipe in sequence after passing through the water supply pipe and flows into the sliding rail hole of the puncture head so as to clean puncture residues in the sliding rail hole of the puncture head. After the camera judges the ignition area, a fire extinguishing instruction triggered by a user is received, the fire pump is controlled to be started, the fire extinguishing agent is conveyed through the water supply pipe, flows into the water injection pipe, the water pipe and the inner cavity water pipe of the puncture needle in sequence after flowing into the water pipe, flows out through the water hole of the head part, and is sprayed to the ignition area to extinguish the fire in the ignition area. Meanwhile, after the camera stretches out, the temperature of the camera is monitored in real time through a temperature signal sent by the temperature sensor. When the temperature of the camera is monitored to be higher than a preset temperature threshold value, the electromagnet is controlled to be powered off, so that the movable pipe slides to drive the camera mounting seat to slide, the camera is retracted into the puncture mechanism, the fire pump is controlled to be started to convey fire extinguishing agent through the water supply pipe, and the fire extinguishing agent sequentially flows into the water injection pipe and the water pipe and then flows into the puncture head sliding rail hole after passing through the water supply pipe, so that the camera is cooled. After cooling, when the temperature of the camera is monitored to be lower than a preset temperature threshold value, the electromagnet is controlled to be electrified, the movable tube slides to drive the camera mounting seat to slide, the camera stretches out from the inside of the puncture mechanism, the fire scene environment in the fire accident place is continuously monitored in real time, and the ignition area is judged. And repeating the steps until the ignition areas are extinguished, and ending the operation.
According to the technical scheme, the camera is arranged on the puncture mechanism, so that after the puncture mechanism completes the puncture action, rescue workers can monitor the internal fire scene environment outside the fire accident place by controlling the extension of the camera, and the ignition area can be accurately judged. Meanwhile, the temperature of the camera is monitored in real time by the aid of the temperature sensor, when the temperature of the camera is too high, the camera can be rapidly controlled to retract and spray fire extinguishing agent to cool, and the problem that the camera is damaged due to too high temperature in the process of monitoring the fire scene environment is avoided.
The embodiment of the application provides a controller, wherein the processor is used for running a program, and the control method for a puncture mechanism is executed when the program runs.
In one embodiment, as shown in FIG. 3, a lancing mechanism 300 is provided, comprising:
the puncture needle comprises a puncture needle 7 provided with a puncture needle sliding rail hole 20, a puncture needle 5, a mounting seat sliding rail hole 19, a movable tube 4 and a first mounting seat 10 provided with the mounting seat sliding rail hole 19, wherein the movable tube 4 penetrates through the mounting seat sliding rail hole 19 and the puncture needle sliding rail hole 20 and is in clearance fit with the hole so as to realize left and right sliding, and the puncture needle 7 is fixedly connected with the puncture needle 5;
monitoring system 310 the monitoring system 310 comprises the image acquisition device 9 and the controller described above configured to perform a control method for the lancing mechanism.
In one embodiment, lancing mechanism 300 further includes:
electromagnet 1, second mount pad 2, first sealing washer 3, the hole 6 of taking a water of felting needle 5 head, cutting edge 8, water pipe 11, second sealing washer 12, water injection pipe 13, connecting plate 14, electromagnet mount pad 15, electric wire 16, data line 17, water drainage tank 18, temperature sensor 21, rubber curtain 22, electromagnet 1 is fixed in second mount pad 2 through electromagnet mount pad 15, connecting plate 14 connects electromagnet 1 and movable tube 4, electromagnet 1 and electric wire 16 fixed connection drive connecting plate 12 through getting electric power failure control movable tube 4 and slide about, data line 17 and temperature sensor 21 are connected with image acquisition equipment 9.
Embodiments of the present application provide a fire truck 400 that includes the lancing mechanism 300 described above.
In one embodiment, as shown in fig. 4, the fire-fighting vehicle 400 further includes:
a fire pump 410 for controlling the flow of fire extinguishing agent into the lancing mechanism 300;
the central control device 420 is configured to trigger a job instruction and send the job instruction to the controller.
In one embodiment, as shown in FIG. 4, the monitoring system 310 further comprises:
the automatic control switch 311 is configured to control the start and stop of the monitoring system 310 according to a control instruction issued by the main control module 312;
the control module 312 is a main control module of the monitoring system 310, and is configured to receive temperature signals and pressure signals sent by the temperature sensor and the pressure sensor, and issue control instructions according to the temperature signals and the pressure signals to control start and stop of the fire pump module 313 and the monitoring device control module 314;
the pump prevention control module 313 is used for controlling the start and stop of the fire pump according to the instruction issued by the control module 312.
The monitoring device control module 314 is configured to control the power supply and the power outage of the electromagnet according to the instruction issued by the control module 312.
The embodiment of the application provides a storage medium, on which a program is stored, which when executed by a processor, implements the control method for a lancing mechanism described above.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 5. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) which are connected through a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes an internal memory a03 and a nonvolatile storage medium a06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a06. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program is executed by the processor a01 to implement a control method for a lancing mechanism. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, or may be a key, a track ball or a touch pad arranged on a casing of the computer device, or may be an external keyboard, a touch pad or a mouse.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: controlling a puncture mechanism to execute puncture action at the position to be rescued; under the condition that the puncture action is determined to be completed, controlling the first mounting seat to move, so that the image acquisition equipment extends out of the position to be rescued to acquire an internal image of the position to be rescued; and determining the position of the fire source in the position to be rescued according to the internal image.
In one embodiment, the head of the puncture needle is provided with a water hole, the puncture mechanism further comprises a water pipe, the water pipe is communicated with the inner cavity water pipe of the puncture needle, and the control method further comprises: after the fire source position in the position to be rescued is determined according to the internal image, the puncture mechanism is controlled according to the fire source position to execute fire extinguishing action, so that the fire extinguishing agent flows into the inner cavity water pipe of the puncture needle through the water pipe and flows out through the water hole, and the fire source position is extinguished.
In one embodiment, the two ends of the water pipe are respectively communicated with the water injection pipe and the inner cavity water pipe of the pricker, the water injection pipe is connected with the fire pump, the water injection pipe is used for conveying fire extinguishing agent under the action of the fire pump, and the control method further comprises: under the condition that the puncture action is determined to be completed, the fire pump is controlled to be started so as to control the fire extinguishing agent to flow into the puncture head sliding rail hole through the water injection pipe and the water passing pipe in sequence, so that puncture residues in the puncture head sliding rail hole are cleaned.
In one embodiment, the monitoring module further comprises a temperature sensor, the lancing mechanism further comprises an electromagnet connected to the moveable tube, and the control method further comprises: after the image acquisition equipment extends out of the position to be rescued, receiving a temperature signal sent by a temperature sensor in real time so as to determine the temperature of the image acquisition equipment in real time; under the condition that the temperature of the image acquisition equipment is higher than a preset temperature threshold value, controlling the electromagnet to be powered off so as to control the movable pipe to slide to drive the first mounting seat to move, so that the image acquisition equipment is retracted into the puncture mechanism; the fire pump is controlled to start so as to control the fire extinguishing agent to flow into the sliding rail hole of the puncture head through the water injection pipe and the water pipe in sequence, so that the image acquisition equipment is cooled.
In one embodiment, the monitoring module further comprises a pressure sensor, and the control method further comprises: receiving a pressure signal sent by a pressure sensor in real time; determining the pressure change condition of the puncture mechanism when performing the puncture action according to the plurality of pressure signals; comparing the pressure change condition with a preset pressure characteristic curve to judge whether the puncture mechanism completes the puncture action.
In one embodiment, the monitoring module further comprises a temperature sensor, the puncture mechanism further comprises an electromagnet connected with the movable tube, and the first mounting seat is controlled to move under the condition that the puncture action is determined to be completed, so that the image acquisition device extends out to the inside of the position to be rescued and further comprises: under the condition that the puncture action is determined to be completed, the electromagnet is controlled to be electrified so as to control the movable tube to slide to drive the first mounting seat to move, and the image acquisition equipment stretches out to the inside of the position to be rescued.
In one embodiment, the control method further comprises: acquiring a job instruction triggered by a user; and controlling the puncture mechanism to execute puncture action or fire extinguishing action according to the operation instruction.
The present application also provides a computer program product adapted to perform, when executed on a data processing apparatus, an initialization of a control method for a lancing mechanism.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that 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 phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. The utility model provides a control method for puncture mechanism, its characterized in that, puncture mechanism includes monitoring module, puncture head, felting needle, mount pad slide rail hole, movable tube and the first mount pad that is equipped with mount pad slide rail hole that are equipped with puncture head slide rail hole, the movable tube passes mount pad slide rail hole and puncture head slide rail hole, with hole clearance fit in order to realize horizontal slip, puncture head with felting needle fixed connection, the felting needle head is equipped with the water hole, puncture mechanism still includes the water pipe, the water pipe with the inner chamber water pipe intercommunication of felting needle, the both ends of water pipe respectively with the water injection pipe with the inner chamber water pipe intercommunication of felting needle, the water injection pipe is connected with the fire pump, the water injection pipe is used for carrying extinguishing agent under the effect of fire pump, image acquisition equipment is fixed in through first mount pad the movable tube, the monitoring module includes image acquisition equipment and temperature sensor, puncture mechanism still includes with movable tube connected electro-magnet, electro-magnet mount pad, second mount pad, electro-magnet passes through the electro-magnet mounting seat the second mount pad is fixed in by the control method of controlling the second mount pad:
controlling the puncture mechanism to execute puncture action at the position to be rescued;
under the condition that the puncture action is determined to be completed, controlling the first mounting seat to move, so that the image acquisition equipment extends out of the position to be rescued to acquire an internal image of the position to be rescued;
determining the position of a fire source in the position to be rescued according to the internal image;
after the image acquisition equipment extends out of the position to be rescued, receiving a temperature signal sent by the temperature sensor in real time so as to determine the temperature of the image acquisition equipment in real time;
under the condition that the temperature of the image acquisition equipment is higher than a preset temperature threshold value, controlling the electromagnet to be powered off so as to control the movable pipe to slide to drive the first mounting seat to move, so that the image acquisition equipment is retracted into the puncture mechanism;
and controlling the fire pump to start so as to control the fire extinguishing agent to flow into the puncture head sliding rail hole through the water injection pipe and the water pipe in sequence, so as to cool the image acquisition equipment.
2. The control method for a lancing mechanism according to claim 1, wherein the control method further comprises:
after the fire source position in the position to be rescued is determined according to the internal image, the puncture mechanism is controlled to execute fire extinguishing action according to the fire source position, so that the fire extinguishing agent flows into the inner cavity water pipe of the puncture needle through the water pipe and flows out through the water spraying hole so as to extinguish the fire at the fire source position.
3. The control method for a lancing mechanism according to claim 2, wherein the control method further comprises:
under the condition that the puncture action is determined to be completed, the fire pump is controlled to be started so as to control the fire extinguishing agent to flow into the puncture head sliding rail hole through the water injection pipe and the water pipe in sequence, so as to clean puncture residues in the puncture head sliding rail hole.
4. The control method for a lancing mechanism according to claim 1, wherein the monitoring module further comprises a pressure sensor, the control method further comprising:
receiving a pressure signal sent by the pressure sensor in real time;
determining a pressure change condition of the puncture mechanism when the puncture action is executed according to a plurality of pressure signals;
and comparing the pressure change condition with a preset pressure characteristic curve to judge whether the puncture mechanism completes the puncture action.
5. The control method for a puncture mechanism according to claim 1, wherein the monitoring module further comprises a temperature sensor, the puncture mechanism further comprises an electromagnet connected with the movable tube, an electromagnet mount, a second mount, the electromagnet being fixed to the second mount through the electromagnet mount, the controlling the first mount to move in a case where it is determined that the puncture action is completed, so that the image collection apparatus protrudes into the position to be rescued further comprises:
under the condition that the puncture action is determined to be completed, the electromagnet is controlled to be electrified, so that the movable tube is controlled to slide to drive the first mounting seat to move, and the image acquisition equipment extends out of the position to be rescued.
6. The control method for a lancing mechanism according to claim 1, wherein the control method further comprises:
acquiring a job instruction triggered by a user;
and controlling the puncture mechanism to execute puncture action or fire extinguishing action according to the operation instruction.
7. A lancing mechanism, comprising:
the puncture needle comprises a puncture head provided with a puncture head sliding rail hole, a puncture needle, a mounting seat sliding rail hole, a movable pipe and a first mounting seat provided with a mounting seat sliding rail hole, wherein the movable pipe penetrates through the mounting seat sliding rail hole and the puncture head sliding rail hole and is in clearance fit with the hole so as to realize left and right sliding, and the puncture head is fixedly connected with the puncture needle;
a monitoring system comprising an image acquisition device and a controller configured to perform the control method for a lancing mechanism according to any one of claims 1 to 6.
8. A fire fighting vehicle comprising a piercing mechanism according to claim 7.
9. The fire fighting vehicle of claim 8, wherein the fire fighting vehicle further comprises:
a fire pump for controlling the flow of fire extinguishing agent into the piercing mechanism;
and the central control equipment is used for triggering the operation instruction and sending the operation instruction to the controller.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the control method for a lancing mechanism according to any one of claims 1 to 6.
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| CN202211666568.8A CN115887984B (en) | 2022-12-23 | 2022-12-23 | Control method for puncturing mechanism, storage medium and controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211666568.8A CN115887984B (en) | 2022-12-23 | 2022-12-23 | Control method for puncturing mechanism, storage medium and controller |
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| CN115887984B true CN115887984B (en) | 2024-01-05 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105288914A (en) * | 2015-12-02 | 2016-02-03 | 威海广泰空港设备股份有限公司 | Electric firefighting puncture spray gun |
| KR20220008986A (en) * | 2020-07-14 | 2022-01-24 | 장혜영 | Waterjet drill for fire suppression apparatus of electric automobile |
| CN115499623A (en) * | 2022-05-30 | 2022-12-20 | 张栋良 | Fire safety protection monitoring |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7533734B2 (en) * | 2005-03-15 | 2009-05-19 | Parker-Hannifin Corporation | Pneumatic puncture device for aircraft fire suppression systems |
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- 2022-12-23 CN CN202211666568.8A patent/CN115887984B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105288914A (en) * | 2015-12-02 | 2016-02-03 | 威海广泰空港设备股份有限公司 | Electric firefighting puncture spray gun |
| KR20220008986A (en) * | 2020-07-14 | 2022-01-24 | 장혜영 | Waterjet drill for fire suppression apparatus of electric automobile |
| CN115499623A (en) * | 2022-05-30 | 2022-12-20 | 张栋良 | Fire safety protection monitoring |
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| CN115887984A (en) | 2023-04-04 |
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