KR100828081B1 - Liquid jet type special vehicle for suppressing demonstration and automatic control method of liquid jet - Google Patents

Abstract

A vehicle with a water monitor and a method for automatically controlling water jet of the same are provided to hit targets in the distance accurately by compensating discharge pressure and discharge distance of water based on distance information and image information. A vehicle with a water monitor(2) comprises a water tank(1), a water supply pipe(3), a rotation drive module(10), a centrifugal pump(5), a telemeter(11), two cameras(12a,12b), and a control unit(14). The water monitor is mounted on the vehicle and supplied with water through the water supply pipe. The rotation drive module rotates the water monitor. The centrifugal pump discharges the water in the tank to the water supply pipe. The telemeter and the cameras are mounted on the rotation drive module to obtain distance information and image information. The control unit calculates water pressure and angle of the water monitor based on the distance information output by the telemeter. The control unit compensates position and angle of the water monitor, and water based on the distance information and image information output by the cameras.

Description

LIQUID JET TYPE SPECIAL VEHICLE FOR SUPPRESSING DEMONSTRATION AND AUTOMATIC CONTROL METHOD OF LIQUID JET}

The present invention relates to a liquid injection type special vehicle used for suppression and dissolution of protesters, and more specifically, to automatically compensate the discharge pressure and the discharge distance of the demonstration suppression liquid by using the image information and the measurement distance information. At the same time, the present invention relates to a liquid spray type demonstration and a liquid spray control method of the demonstration suppression differential, which enables to increase the hit rate and to automatically adjust the discharge pressure from a short distance to a long distance.

In general, demonstrators are used to extinguish and dismantle protesters or to extract main hats by firing tear gas on the protesters' grounds or by spraying water, tear fluid, tint or a mixture of these while having mobility by vehicles. It is a vehicle.

However, since the conventional liquid-jet demonstration suppressor is mainly used for short-range use, it is easily hit by the flame bottles thrown by the demonstrators, so that the vehicle is engulfed in flames or burned down, which causes expensive special vehicles to be damaged as well as national waste. .

In addition, the conventional liquid injection-type demonstration pressure difference is designed to control the pressure during the spraying of water, tear liquid or color tone liquid, so that it is difficult to carry out long distance spraying, and it is not possible to easily perform the injection control and the discharge pressure adjustment by distance from short distance to long distance. There is a problem, and since the distance between the protest vehicle and the protesters cannot be accurately determined and the injection pressure cannot be compensated according to the measured distance, the accuracy and the hit ratio are greatly reduced.

An object of the present invention is to automatically adjust the discharge pressure for each distance from the short distance to the far distance, and in particular to automatically compensate the discharge pressure and discharge distance by using the measured distance information and image information, and to increase the accuracy and hit rate The present invention provides a liquid spray type automatic control method for the liquid pressure type of the protest and the pressure difference.

It is an object of the present invention to increase the hit rate even at a long distance so that the demonstrators can be free from the flame bottles thrown by the demonstrators, thereby automatically controlling the liquid injection type of the liquid spray type demonstration suppressor and the demonstration suppressor to prevent expensive special vehicles from being easily damaged. In providing a method.

The present invention for achieving the above object,

A storage tank for dividing and storing the demonstration suppression liquid and water is installed, and at least one waterproofing gun is installed on the upper side of the vehicle, and the demonstration suppression liquid is supplied from the storage tank through the supply pipe and is rotated and driven by the rotary drive module. In the liquid injection type protest pressure difference comprising a configuration that is connected to the supply pipe to the demonstration stimulation liquid or water filled in the storage tank to the supply pipe;

One distance measurer and two video cameras are installed in the rotary drive module for rotating the tarpaulin, and the distance information and the image information for the adjustment direction of the tarpaulin are obtained, and the measured distance obtained from the distance measurer is provided. Based on the technical configuration, the controller calculates the discharge water pressure and the angle of the tarpaulin, and automatically compensates the position, angle, and the discharge water pressure of the tarpaulin through analysis applied to the image information obtained from the video camera. It features.

The present invention for achieving the above object,

In the liquid-jet demonstration suppression difference is provided in the upper side of the vehicle is provided with a tarpaulin that is at the same time being supplied with the demonstration suppression liquid from the storage tank through the supply pipe;

Providing a range finder and an image camera to the vehicle such that rotation driving in the same direction is controlled together with the tarp; Acquiring measured distance information between the demonstrators and the vehicle from the range finder; Calculating an angle of the discharge water pressure and the tarpaulin through the measured distance information; Acquiring image information captured by the image camera; Finding an error between the calculated value and the actual position by analyzing the calculated value calculated by the measured distance information to the image information; The method comprises the steps of automatically compensating the position, the angle and the discharge water pressure of the tarpaulin by the amount of error between the calculated value and the actual position.

The present invention not only can automatically adjust the discharge pressure for each distance from the short distance to the far distance, but also automatically compensates for the discharge pressure and the discharge distance for the demonstration suppression liquid using the distance information and the image information, so that accurate injection and hit ratio for the protesters can be achieved. There is a remarkable effect that can be increased and more effectively cope with the suppression or dissolution of protesters and the extraction of the main hat.

In addition, the hit rate can be increased at a long distance, freeing them from Molotov cocktails thrown by the demonstrators, and thus has an excellent effect of preventing expensive special vehicles from being easily damaged.

Referring to the drawings a preferred embodiment of the liquid-jet-type demonstration and the automatic control of the liquid injection of the demonstration pressure difference according to the present invention.

1 is a system diagram showing the liquid-injection type demonstration and suppression difference according to the present invention, Figure 2 is a conceptual diagram showing the main part configuration in the present invention.

As shown in FIGS. 1 and 2, the liquid jet-type demonstration suppression difference according to the present invention includes a storage tank 1 mounted on a vehicle, and the storage tank 1 has water or tear liquid, a coloring liquid, or a selective mixture thereof for suppressing the demonstration. (Hereinafter referred to as "protesters") is filled.

In this case, the storage tank (1) may be divided into a first tank (1a) and a second tank (1b) or may be equipped with two storage tanks, and divided into the demonstration suppression fluid and car body protection and cleaning water It is desirable to be able to.

At least one tarpaulin (2) is provided on the upper side of the vehicle for spraying the demonstration suppression liquid to the desired position of the protester, and the supply pipe (3) for supplying the demonstration suppression liquid in the storage tank (1) to the tarpaulin (2). This connection is configured, the supply pipe (3) is connected to the on-off valve (4) for the selective supply of the demonstration suppression liquid.

In addition, the supply pipe (3) is connected to the centrifugal pump (5) for discharging the demonstration pressure or the water filled in the storage tank (1), PTO (Power Take Off; 6) which is a power take-off device of the vehicle It is configured to be connected to the engine 7 of the vehicle via.

In addition, a self-spraying nozzle (8) is installed on the upper and lower parts of the vehicle, and a hose reel (9) connected to a water gun is installed on the side of the vehicle. It is done to be.

The tarpaulin (2) is installed to be rotated 360 degrees by the rotary drive module 10 is connected to each of the X-axis, Y-axis and Z-axis motor, the distance drive 11 in the rotary drive module 10 ) And two image cameras 12a and 12b are installed to obtain distance information and image information from the protesters with respect to the adjustment direction of the tarpaulin 2.

In this case, the installation of two video cameras is for obtaining the image information more accurately.

The vehicle is provided with a manual operation unit 13 for adjusting the rotational drive of the tarpaulin 2 or for the use of the self-spraying nozzle 8 and the hose reel 9, and the range finder 11 and the image cameras 12a and 12b. And a controller 14 for automatically controlling the position, angle, and water pressure of the tarpaulin 2, and a monitor 15 for outputting an image by the image cameras 12a and 12b.

The video cameras 12a and 12b are configured to exchange data with the controller 14 through serial communication such as RS-485, and the controller 14 is configured to automatically control focusing.

The monitor 15 displays the current distance information and the water pressure information together with the image output, and is preferably configured to input the demonstration suppression position by configuring the touch screen.

The range finder 11 preferably uses a laser range finder for accurate distance measurement.

Referring to Figures 1 to 4 the action of the liquid injection-type demonstration pressure difference according to the present invention having such a configuration as follows.

3 is a flowchart illustrating an automatic control method of the demonstration suppression difference according to the present invention, and FIG. 4 is an exemplary view shown to explain the calculation of the angle and the discharge water pressure of the tarpaulin in the present invention.

First, the manual operation unit 13 is operated to apply operating power to the range finder 11 and the image cameras 12a and 12b, and to adjust all the devices included in the vehicle to the ready state for operation.

While monitoring the demonstrators through the monitor 15, the protest positions of the demonstrators are input, and the manual operation unit 13 is operated to adjust the position of the tarpaulin 2 in the direction in which the demonstrators are herding.

At this time, when adjusting the position of the tarpaulin 2, the distance measuring device 11 and the image cameras 12a and 12b are also adjusted in the same direction.

Subsequently, when the measured actual distance information between the protesters and the vehicle is input to the controller 14 from the range finder 11, the controller 14 calculates the angle and the discharge water pressure of the tarpaulin 2 through the measured distance information.

At this time, the controller 14 calculates the horizontal distance Rm from the following parabolic equation of motion (see Equation 1) based on the measured distance L and the forming angle θm according to the measured distance as shown in FIG. 4. Calculate and numerically derive the angle (θ) for adjusting the tarpaulin (2) and the discharge water pressure (Vo) for the liquid injection of the demonstration suppression liquid.

[Equation 1]

R = Vo cosθ ㅧ (2Vo sinθ / g) = Vo ² sin2θ / g

Subsequently, the controller 14 acquires the image information of the protesters photographed from any one of the image cameras 12a or 12b, and applies image processing obtained by applying the calculated values of the angle and the discharge water pressure thus obtained to the image information obtained from the image camera. Analysis by (image processing) is performed to find an error between the calculated value and the actual position of the protesters.
In other words, the image processing superimposes the calculated values of the angle and the discharge water pressure derived on the image of the demonstrator image information obtained by the image camera 12a or 12b obtained by superimposing the liquid spray on the image information of the image information. It is to analyze whether it is close to or beyond the demonstrators, and by using the image of the image information to find the error between the calculated value and the actual position to be able to perform the liquid spray on the demonstrators more accurately.

After the analysis of the image processing described above, the controller 14 automatically compensates in real time by controlling the position and angle of the tarpaulin 2 as well as the discharge water pressure by the amount of error between the calculated value and the actual position. Will be removed.

At this time, the position and angle are performed by controlling (variing) the tarpaulin 2, and the discharge water pressure is performed by controlling (variing) the rotational speed RPM of the centrifugal pump 5.

On the other hand, with the automatic compensation of the position and angle of the tarpaulin (2) as well as the automatic compensation of the discharge water pressure by the centrifugal pump (5) can be accurately injected to the protesters through the tarpaulin (2).

Therefore, the present invention can not only automatically adjust the discharge pressure for each distance from the short distance to the distance in the demonstration suppression difference, but also by automatically compensating and discharging the discharge pressure and the discharge distance for the demonstration suppression liquid using the distance information and the image information It will be able to increase the accuracy of jetting and hitting the target, and to respond more effectively to the suppression or dissolution of protesters and the search for the main hat.

1 is a system diagram showing a liquid injection type protest pressure difference according to the present invention.

2 is a conceptual diagram showing a main portion of the present invention.

3 is a flowchart illustrating an automatic control method of the demonstration suppression difference according to the present invention.

Figure 4 is an exemplary view shown for explaining the calculation of the angle and the discharge water pressure of the tarpaulin in the present invention.

       Explanation of symbols on the main parts of the drawings

1: storage tank 2: tarpaulin

3: supply piping 4: on / off valve

5: centrifugal pump 6: PTO

7: engine 8: self-spraying nozzle

9: rotary reel 10: rotary drive module

11: distance measuring device 12a, 12b: video camera

13: manual operation unit 14: control unit

15: monitor

Claims (3)

A storage tank 1 for dividing and storing the demonstration suppression liquid and water is mounted, and at least one waterproofing cloth 2 is installed on the upper side of the vehicle, and the demonstration suppression liquid is discharged from the storage tank 1 through the supply pipe 3. In addition to being supplied with rotation is driven by the rotary drive module 10, the supply pipe (3) connected to the centrifugal pump (5) for discharging the demonstration pressure fluid or water filled in the storage tank (1) is installed In the liquid-injection demonstration suppression difference comprising; One distance measurer 11 and two image cameras 12a and 12b are installed in the rotary drive module 10 for rotating the tarpaulin 2, and the distance information on the adjustment direction of the tarpaulin 2 and The controller 14 is configured to acquire image information, and calculates the discharge water pressure and the angle of the tarpaulin 2 from the controller 14 through the measured distance information obtained from the distance measurer 11. Automatically compensates for the position and angle of the tarpaulin 2 and the discharge water pressure through analysis by image processing by superimposing the discharge water pressure and angle calculated on the image information with the protesters obtained from the image cameras 12a and 12b. Liquid-jet type demonstration and suppression difference, characterized in that configured to give. The method of claim 1, A liquid spray type pressure suppressor, characterized in that the self-spraying nozzle (8) is further installed on the upper and lower parts of the vehicle to receive water from the storage tank (1) and to be used to protect or clean the vehicle body from the flame bottle. In the liquid-jet demonstration suppression difference is provided in the upper side of the vehicle is provided with a tarpaulin that is at the same time being supplied with the demonstration suppression liquid from the storage tank through the supply pipe; Providing a range finder and an image camera to the vehicle such that rotation driving in the same direction is controlled together with the tarp; Acquiring measured distance information between the demonstrators and the vehicle from the range finder; Calculating an angle of the discharge water pressure and the tarpaulin through the measured distance information; Obtaining image information of protesters from the image camera; Finding the error between the calculated value and the actual position where the demonstrators are located through the analysis by image processing that shows the calculation calculated by the measured distance information superimposed on the image of the image information obtained from the image camera. Steps; And automatically injecting the demonstration suppression liquid by compensating the position, the angle, and the discharge water pressure of the tarpaulin by the amount of error between the calculated value and the actual position.

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