JP2015119884A - Fire truck with ladder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fire truck with a ladder, even when there are obstacles such as a wire, a power pole, and a wire gauze, capable of recognizing such obstacles and guiding a water discharge part at the tip of the ladder to a fire breakout place.SOLUTION: The fire truck with a ladder includes: an antenna for receiving a positioning signal from a GPS satellite and a quasi-zenith satellite; a camera for photographing a fire breakout site; a laser scanner for outputting distance and azimuth information to a peripheral planimetric feature; a gyro sensor; a telescopic ladder part including a water discharge part at a tip for discharging water to a fire place; an antenna provided at the water discharge part for receiving the positioning signal from the GPS satellite and the quasi-zenith satellite; a gyro sensor; and a control terminal. The control terminal guides the water discharge part to the fire place for discharging water, on the basis of three-dimensional point group coordinates generated at the fire site.

Description

  The present invention relates to a ladder-equipped fire truck (hereinafter referred to as a “ladder car”) that performs water discharge work at a fire site. In particular, the present invention relates to a ladder car in which the tip of a ladder car automatically avoids these obstacles and performs a water discharge operation even when there are obstacles such as utility poles and electric wires in the vicinity of the water discharge destination.

  2. Description of the Related Art Conventionally, there has been disclosed a ladder vehicle guidance support device that calculates an appropriate stop position possible range of a ladder car for a building where a fire has occurred and displays the position range to a fire engine operator (for example, a patent) Reference 1).

  A conventional guidance support apparatus for a ladder car includes a measuring unit that measures a direction and a distance from a target point of a ladder car tip, and a target that calculates a target position to be reached by the ladder car tip based on the direction and the distance measured by the measuring unit. The position calculating means, the appropriate range calculating means for calculating the stopping range of the ladder car from the target position calculated by the target position calculating means to reach the limit of the ladder car, and the appropriate range calculating means And display means for displaying the calculated stop range.

JP 11-319136 A JP 2007-218705 A

A conventional ladder car guidance support device is used in a building that requires a fire truck with a ladder for fire fighting activities in an area under the jurisdiction of a fire station or the like. A three-dimensional map around the building is prepared from the above, and the tip of the ladder car that extends is guided to the target position based on the three-dimensional map prepared in advance.
However, in reality, the building itself is tilted due to the earthquake that occurred immediately before the fire, the adjacent building is about to fall down, or an obstacle such as an electric wire hangs down near the target position. There are cases where In this case, the three-dimensional map prepared in advance is not useful, and the worker who is extinguishing the fire visually extends the tip of the ladder car while avoiding these obstacles, and the water discharge provided at the tip of the ladder car. Had to be guided to the target position. In addition, when the fire occurrence place is on a high floor, the ladder is started by visually extending the water discharge work, but there is a problem that the fire fighting work becomes difficult when the visibility is poor.

  The present invention has been made to solve such problems, and when the ladder is extended to move the water outlet at the tip of the ladder to the place where the fire occurred, obstacles such as electric wires, utility poles, and wire meshes are in the middle of the extension. An object of the present invention is to provide a ladder-equipped fire truck capable of guiding the ladder tip to a target position while recognizing and automatically avoiding these obstacles.

  A fire truck with a ladder according to the present invention includes a first antenna that receives a positioning signal from a GPS satellite or a quasi-zenith satellite, a camera that images a fire-occurring feature, and distance / orientation information of the feature. A laser scanner that outputs, a first gyro sensor that outputs the attitude angle of the vehicle, a telescopic ladder portion having a water discharge portion that discharges water toward the fire spot at the tip, and a GPS satellite or a satellite provided in the water discharge portion A fire truck with a ladder comprising a second antenna that receives a positioning signal from a quasi-zenith satellite, a second gyro sensor that outputs the attitude angle of the water discharge unit, and a control terminal, wherein the control terminal includes: The position of the fire-fighting vehicle with a ladder calculated from the positioning signals received by the first and second antennas, the position of the water discharge unit, and the vehicle output from the first and second gyro sensors. Based on the position of the fire location calculated from the attitude angle and the attitude angle of the water discharge portion, the distance / orientation information output by the laser scanner, and the captured image of the camera, the water discharge portion is set to the fire location. Guide and discharge water toward the fire spot.

  According to the ladder-equipped fire truck according to the present invention, the ladder tip can be guided to a predetermined position while automatically avoiding obstacles such as electric wires, utility poles, and wire mesh fences. Can be done automatically.

It is a figure explaining the structure of the ladder vehicle which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the ladder part control terminal of the ladder vehicle which concerns on Embodiment 1 of this invention. It is an example of the measurement flow which measures the position of the electric wire which concerns on Embodiment 1 of this invention.

Embodiment 1.
FIG. 1 is a diagram illustrating the configuration of a ladder-equipped fire truck 100 (hereinafter referred to as “ladder car 100”) according to Embodiment 1 of the present invention.
FIG. 1 shows the ladder 10 that has been folded in a ladder car 100 that has arrived around the building 90 that is a fire site, and the water is discharged from the water discharge unit 11 provided at the end of the ladder unit 10 toward the fire generation unit 93. It is the figure which is going to start.
In FIG. 1, there are a plurality of electric wires between the fire spot 93 of the building 90 and the ladder car, and these electric wires become obstacles, and in the view from the firefighters who operate the ladder car, the water discharge part 11 at the tip of the ladder part is shown. It is difficult to guide to the vicinity of the fire spot 93.

On a vehicle top plate (not shown) of the ladder car 100, a camera 1 that captures the surroundings, and a left-side laser capable of calculating the distance / azimuth to the object by receiving the reflected light of the laser light emitted toward the object The scanner 2a, the right laser scanner 2b, and the antenna 3a for receiving the positioning signal 310a of the GPS satellite 300, the positioning signal 310b from the quasi-zenith satellite 301, and the positioning reinforcement signal 310c are provided. A gyro 4 capable of measuring the attitude angle of the ladder car 100 is attached.
The camera 1, the left laser scanner 2a, and the right laser scanner 2b are installed on a rotating pedestal and can be rotated. By the operation of a control terminal 5 of a ladder car 100 described later, the imaging direction of the camera 1 and the directivity of the laser scanners 2a and 2b. Direction is controlled.

The ladder car 100 is provided with an extendable ladder unit 10. A water discharge portion 11 having a water discharge port 11 a is provided at the tip of the ladder portion 10. The direction and amount of water discharge are controlled by operating the control terminal 5.
The ladder portion 10 is configured to be refracted by a bent portion 10a in the middle of the ladder. Obstacles such as utility poles, electric wires, and fences, which are difficult to avoid with a ladder that only stretches in the straight direction, can be avoided by the refraction structure and can be approached to the target position.

The water discharge unit 11 includes an antenna 3b that receives the positioning signal 310a of the GPS satellite 300, the positioning signal 310b from the quasi-zenith satellite 301, and the positioning reinforcement signal 310c, and a gyro 4b that outputs the attitude of the water discharge unit.
The control terminal 5 is connected to each of the camera 1, the laser scanners 2 a and 2 b, the antennas 3 a and 3 b, and the gyro 4. Images acquired by each configuration of the camera 1, the laser scanners 2a and 2b, the antennas 3a and 3b, and the gyro 4 and distance information to surrounding structures are input to the control terminal 5 and used for guidance control of the ladder unit 10. .
The fireman controls the movement of the ladder unit 10 by operating the control terminal 5 to fix the water discharge unit 11 at a desired position, and then starts water discharge toward the fire place.

FIG. 2 is a diagram illustrating a configuration of the control terminal 5 of the ladder car 100.
The control terminal 5 includes an acquisition data storage unit 70, a measurement data storage unit 71, a position / orientation determination unit 56, a three-dimensional point group generation unit 57, and a water discharge unit movement route calculation unit 62.

  The acquired data storage unit 70 receives the camera image 51 captured by the camera 1, the positioning data a52 received from the GPS satellite or the quasi-zenith satellite received by the antenna 3a provided in the ladder car 100, and the antenna 3b provided in the water discharge unit. Positioning data b53 from GPS satellites or quasi-zenith satellites, distances to surrounding structures acquired by the left and right laser scanners 2a, 2b, distance azimuth points 54 indicating azimuth, and attitude angles acquired by the gyro 4a of the ladder car 100 55a is a storage device that stores the posture angle 55b acquired by the gyro 4b of the water discharger 11.

The position / orientation locating unit 56 calculates the position / orientation angle 201 of the ladder car 100 from the positioning data a52 and the attitude angle 55a, stores the result in the measurement data storage unit 71 as the vehicle position / orientation 59, and also generates a three-dimensional point cloud generation unit 57. Output to.
Further, the position / orientation locating unit 56 calculates the position and posture angle of the water discharge unit 11 from the positioning data b53 and the posture angle 55b of the water discharge unit 11 and stores them in the measurement data storage unit 71 as the water discharge unit position / posture 58.

The three-dimensional point group generation unit 57 includes distance azimuth point groups 54 of surrounding features acquired by the left laser scanner 2a or the right laser scanner 2b close to the fire site and the position and orientation angle of the ladder car 100 as a reference, and the ladder car 100. The three-dimensional point group coordinates 60 of the surrounding features are calculated using the vehicle position / posture 59 and stored in the three-dimensional point group 60 of the measurement data storage unit 71.
The three-dimensional point group generation unit 57 is a feature projected on the camera image 51 based on the three-dimensional point group 60 projected on the camera image 51, and the firefighter inputs an input unit (not shown) of the control terminal 5. 3) is calculated, and the result is stored as the feature position 61. Here, the technique in which the three-dimensional point group generation unit 57 calculates the three-dimensional coordinates of the feature projected on the camera image 51 is disclosed in, for example, Patent Document 2 and the like, and the description thereof is omitted.

Here, a measurement flow in which the three-dimensional point cloud generation unit 57 measures the position of the electric wire in the feature will be described.
FIG. 3 is an example of a measurement flow for measuring the position of the electric wire according to the present embodiment.
In FIG. 3, the three-dimensional point group generation unit 57 extracts the vehicle position and orientation 59 from the measurement data storage unit 71 (S11).
Next, the position and orientation of the camera 1 are calculated (S12). The position and orientation of the camera 1 is obtained by adding an offset value attached to the camera 1 to the vehicle position and orientation 59.
The three-dimensional point cloud generation unit 57 receives the camera image 51 output from the camera 1 and detects a utility pole from the camera image 51 (S13). The utility pole can be detected by processing such as pattern matching.
The three-dimensional point cloud generation unit 57 calculates the detected position of the utility pole as a recognition result (S14).
Based on the camera position and orientation and the result of the utility pole recognition process obtained in S14, an LOS (Line Of Sight) vector passing through two points of the lens center of the camera 1 and the utility pole on the camera image is calculated based on the camera 1 (S15). .
On the other hand, the three-dimensional point group generation unit 57 generates a three-dimensional point group using the distance direction point group 54 (S16).
The three-dimensional point group generation unit 57 projects and converts the generated three-dimensional point group onto the image plane of the camera 230 (S17), and extracts a point group corresponding to the position of the utility pole previously recognized from the three-dimensional point group ( S18).
Next, a three-dimensional point group corresponding space surface including two adjacent power poles is calculated (S19).
And the point group corresponding to an electric wire is extracted from the point group contained in a three-dimensional point group corresponding | compatible space surface, and the position 65 of an electric wire is calculated from the extracted point group (S20).

When the position of the electric wire 92 and the position of the fire spot 93 are recognized in this way, the water discharge part movement path calculation unit 62 determines the current position of the water discharge part 11, the position 65 of the electric wire, and the positional relationship of the fire point 93. Based on this, the movement route of the water discharge unit 11 is calculated.
First, the water discharge part movement path calculation part 62 determines whether or not the extended ladder part 10 hits the electric wire 92 when the ladder part 10 is linearly extended and the water discharge part 11 at the tip thereof is moved to the vicinity of the fire spot. judge.
This determination can be made, for example, based on whether or not the moving surface on which the ladder unit 10 moves and the wire position 65 intersect.
When moving the water discharge part 11 to the fire spot, the water discharge part 11 cannot be brought close to the fire spot 93 if the linearly extended ladder part 10 hits the electric wire 92. At this time, the water discharge unit movement route calculation unit 62 performs warning processing on the assumption that there is an obstacle, and alerts the firefighter.
On the other hand, when the ladder unit 10 does not hit the electric wire 92, it is determined that there is no obstacle, and a movement instruction is issued to the ladder driving unit 63 that controls the operation of the ladder unit 10. When the water discharge part 11 reaches a desired position, the water discharge part 11 starts water discharge.

When the water discharge part movement route calculation part 62 determines that the ladder part 10 is linearly extended and hits the electric wire 92, it examines a workaround. For example, it is examined whether or not it is possible to avoid contact with the electric wire 92 by further extending the ladder portion 10 and refracting it at the bent portion 10a.
The water discharge unit movement path calculation unit 62 determines that there is no obstacle when it can be confirmed by calculation that the ladder unit 10 does not hit the electric wire 92 by refracting the ladder unit 10, and the ladder drive that controls the operation of the ladder unit 10. A movement instruction is issued to the unit 63. When the water discharge part 11 reaches a desired position, the water discharge part 11 starts water discharge.
When the ladder unit 10 is also refracted and is in contact with the electric wire 92, the water discharge unit movement route calculation unit 62 performs a warning process, for example, a process of moving the stop position of the ladder car 100.

As described above, the ladder car according to the present embodiment includes the camera 1 that captures the surroundings, the laser scanners 2a and 2b that can calculate the distance / azimuth to the target, the positioning signal 310a of the GPS satellite 300, and the quasi-zenith satellite. The antenna 3a which receives the positioning signal 310b and the positioning reinforcement signal 310c from 301, the gyro 4 which outputs the attitude angle of a ladder car, and the control terminal 5 are provided. Further, the water discharge unit 11 at the tip of the ladder unit 10 of the ladder car outputs the positioning signal 310a of the GPS satellite 300, the positioning signal 310b from the quasi-zenith satellite 301, and the positioning reinforcement signal 310c, and the attitude of the water discharge unit. The gyro 4b is provided.
Thereby, the fireman can generate the three-dimensional map of the fire site on the spot by operating the control terminal 5 of the ladder car. And when there exists an obstacle, since the water discharge part 11 can be guide | induced to a fire location, avoiding an obstacle automatically, fire extinguishing activity can be performed quickly and effectively.

1 Camera, 2a, 2b Laser radar, 3a, 3b Quasi-zenith satellite receiving antenna, 4 Gyro, 5 Control terminal, 10 Ladder part, 10a Bending part, 11 Water discharge part, 51 Camera image, 52 GPS data a, 53 GPS data b, 54 Distance azimuth point group, 55 posture angle, 56 position and orientation locating unit, 57 three-dimensional point group generation unit (feature coordinate calculation unit), 58 water discharge unit position and posture, 59 vehicle position and posture, 60 three-dimensional point group coordinates , 61 Feature position, 62 Water discharge part movement route calculation part, 63 Ladder drive part, 70 Acquisition data storage part, 71 Measurement data storage part, 90 Building, 91 Utility pole, 92 Hanging electric wire, 93 Fire place, 100 Fire fighting with ladder Vehicle (ladder car), 95 feature coordinates, 300 GPS satellite, 301 quasi-zenith satellite, 310a, 310b positioning signal, 310c positioning reinforcement signal issue.

Claims (3)

A first antenna that receives a positioning signal from a GPS satellite or a quasi-zenith satellite, a camera that captures a fire-occurring feature, a laser scanner that outputs distance and azimuth information of the feature, and a vehicle attitude angle A first gyro sensor that outputs a signal, a telescopic ladder portion having a water discharge portion that discharges water toward the fire point, and a positioning signal received from a GPS satellite or a quasi-zenith satellite provided in the water discharge portion A ladder-equipped fire truck comprising a second antenna, a second gyro sensor that outputs a posture angle of the water discharge unit, and a control terminal;
The control terminal outputs the position of the fire truck with a ladder calculated from the positioning signals received by the first and second antennas, the position of the water discharge section, and the first and second gyro sensors. Based on the position of the fire location calculated from the attitude angle of the vehicle, the attitude angle of the water discharge section, the distance / orientation information output from the laser scanner, and the captured image of the camera, the water discharge section is A fire-fighting vehicle with a ladder, wherein the vehicle is guided to a spot and discharged toward the fire spot. The control terminal determines whether there is an obstacle between the fire spot and a fire-fighting vehicle with a ladder, and if there is an obstacle, guides the water discharge part to the fire spot by a route that avoids the obstacle. The ladder-equipped fire truck according to claim 1. The ladder-equipped fire truck according to claim 2, wherein the obstacle is any one of an electric wire, a utility pole, and a fence.

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