WO2015006915A1 - 适用于高层和超高层建筑火灾扑救的消防车 - Google Patents
适用于高层和超高层建筑火灾扑救的消防车 Download PDFInfo
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- WO2015006915A1 WO2015006915A1 PCT/CN2013/079451 CN2013079451W WO2015006915A1 WO 2015006915 A1 WO2015006915 A1 WO 2015006915A1 CN 2013079451 W CN2013079451 W CN 2013079451W WO 2015006915 A1 WO2015006915 A1 WO 2015006915A1
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- fire
- launch
- module
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- angle
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- 238000001514 detection method Methods 0.000 claims abstract description 38
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 44
- 238000012545 processing Methods 0.000 claims description 25
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- 230000005540 biological transmission Effects 0.000 abstract 2
- 239000003721 gunpowder Substances 0.000 description 9
- 230000003111 delayed effect Effects 0.000 description 7
- 238000005422 blasting Methods 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C8/00—Hand tools or accessories specially adapted for fire-fighting, e.g. tool boxes
- A62C8/005—Receptacles or other utensils for water carrying; Bombs filled with extinguishing agents
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
- F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
- F42B12/36—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information
- F42B12/46—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information for dispensing gases, vapours, powders or chemically-reactive substances
- F42B12/50—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information for dispensing gases, vapours, powders or chemically-reactive substances by dispersion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Definitions
- the invention relates to the field of fire protection, in particular to a fire-fighting vehicle suitable for high-rise and super high-rise building fire rescue. Background technique
- High-rise buildings Buildings with a height greater than 10 or more than 24 meters are called high-rise buildings. Buildings with a height of more than 100 meters are called super-tall buildings. High-rise and super-high-rise buildings have always been a problem in the fire protection field. Existing fire-fighting equipment at home and abroad is difficult to meet the fire-fighting requirements of high-rise buildings, especially super-high-rise buildings, due to limited fire-extinguishing, difficult to deploy, and expensive.
- High-rise, super high-rise building fires generally use high-rise fire trucks and ladder fire trucks.
- the world's highest fire truck is the Finnish Bolangtao fire truck, including: truck chassis, lifting device, electrical system.
- the fire truck lifts at a height of 101 meters and delivers water in low, medium and high areas. The water delivery height is only about 160 meters.
- the fire truck is about 8 meters wide, with a length of 17.1 3 meters and a driving height of 4 meters.
- the total mass is 60. 2 tons. It cannot be deployed quickly in many densely populated areas and narrow streets.
- the import price of the fire-fighting vehicle is as high as 22 million yuan, which is unaffordable in most cities in China. Currently, only a few cities such as Beijing, Shanghai and Hangzhou are equipped.
- the high-rise building fire-extinguishing system is designed for the rapid development of fire-fighting in high-rise buildings and super high-rise buildings in urban environments in China. It can be deployed quickly on ordinary roads in urban environments, with high efficiency, large-area or high-rise buildings.
- a special fire-fighting system for fires that uses firearms to fire targets.
- the accuracy of fire-fighting bombs determines the overall fire-fighting efficiency of fire-fighting systems in high-rise buildings.
- the existing method of solving the fire-fighting trajectory does not use the accurate method of ballistic solution.
- the firefighters realize the problem of low-level accuracy according to the visual judgment and actual experience of the fire on the scene, and “blind hair” to a specific area.
- the device In the high-rise, super high-rise building fire rescue, in order to complete the all-weather close-range target detection, some fire engines are equipped with a target (fire source) detection device. Since the device uses a fixed-focus camera as a scope, the device has a number of fields of view. Less, the magnification ratio cannot be adjusted according to the size of the target, and the shortcoming of image fusion of infrared and white light cannot be completed.
- fire extinguishing bombs In addition, in the prior art in which fire extinguishing bombs are used for fire rescue, fire extinguishing bombs generally adopt a central bursting method, and when fire extinguishing agents are sprayed, a large number of killing fragments are generated, which are destructive, and such fire extinguishing bombs are used. It is suitable for forests, oil tanks, etc., which are far away from densely populated areas. It is not suitable for fire fighting in high-rise and super high-rise buildings under urban environmental conditions. Summary of the invention
- the inventors of the present application have made the present invention in consideration of the above circumstances of the prior art.
- the main object of the present invention is to provide a fire truck suitable for high-rise and super high-rise building fire rescue, to solve the problem that the existing fire fighting equipment has limited fire extinguishing, difficult to deploy, and difficult to meet the needs of high-rise and super high-rise building fire rescue. .
- a fire truck suitable for high-rise and super high-rise building fire rescue including: a vehicle chassis (1), an accusation device (2), a control device (3), and an equipment cabin ( 4), a launching device (5), a projectile device (6), a fire extinguishing bomb (7), a turret control device (8), a photoelectric detecting device (9), wherein the accusation device (2), the control device (3) Placed in the copilot position of the cab of the vehicle chassis (1),
- the equipment compartment (4) is placed behind the cab and bolted to the vehicle chassis (1).
- the launching device (5) is placed on the vehicle chassis (1) and fixed by screws.
- the projecting device (6) is placed on the launching device (5) and fixed.
- the fire extinguisher (7) is placed in the projectile (6),
- the turret control device (8) is distributed on the vehicle chassis and the launching device for completing the car body leveling and controlling the launching device action.
- the photodetection device (9) is placed under the launcher (5) and screwed,
- the photoelectric detecting device (9) comprises: a mounting shell, a power supply, a zoom white light camera, an infrared camera, a laser range finder, and an integrated processing unit.
- the zoom white light camera is connected to the mounting shell by screws, and the infrared camera is connected to the mounting shell by screws.
- the laser range finder is connected to the mounting shell by screws, and the power supply interface of the zoom white light camera is connected with the power source through the wire, and the power supply interface of the infrared camera The power supply interface of the laser range finder is connected to the power source through a wire, and the data interface of the zoom white light camera is connected to the integrated processing unit through a wire, and the data interface of the infrared camera is connected to the integrated processing unit through a wire, the laser range finder The data interface is connected to the integrated processing unit via wires.
- the embodiment of the present invention has the following main advantages: by adjusting the fire-fighting projectile launching pitch angle and launching speed, and combining the rising section ballistic data to perform shooting element solving (fire-fighting project launch angle calculation), the rescue of high-rise and super high-rise building fires,
- the fire extinguishing height is high, the precision is high, the cost is low, and the reaction time is short.
- the GM chassis is adopted, which has the characteristics of quick maneuver deployment, and is suitable for fire extinguishing in high-rise buildings and super high-rise buildings in urban environments, and solves the problem that the current stage cannot be based on the target.
- the size is adjusted to enlarge the magnification, and the problem of image fusion of infrared and white light cannot be completed.
- FIG. 1 is a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention. Schematic diagram of the structure
- FIG. 2 is a schematic structural view of a cab of a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- FIG. 3 is a schematic structural view of an equipment bay of a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- FIG. 4 is a schematic structural view of a control device for a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- Figure 5 is a schematic view showing the structure of a projectile for a fire engine of a high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- FIG. 6 is a schematic structural view of a fire extinguisher suitable for a fire truck of a high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- FIG. 7 is a schematic structural view of a servo control device for a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- FIG. 8 is a schematic structural view of a photoelectric detecting device suitable for a fire truck of a high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- FIG. 9 is a schematic diagram of functional modules of an integrated processing unit of a photoelectric detecting device of a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- Figure 10 is a flow chart showing the operation of target detection (position detection) of a photoelectric detecting device of a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- Figure 11 is a schematic view of a fire extinguisher assembly and turret system of a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention
- Figure 12 is a flow chart showing the operation of a photoelectric detecting apparatus for a fire engine of a high-rise and super high-rise building fire rescue according to an embodiment of the present invention.
- 4-1 Generator set
- 4-2 Power supply and power rejection
- 4-3 Servo control device
- FIG. 1 is a schematic illustration of a fire truck suitable for use in high-rise and super high-rise building fire rescues in accordance with an embodiment of the present invention.
- a fire truck suitable for high-rise and super high-rise building fire rescue including: vehicle chassis 1, accusation (command control) equipment 2, control (launch control) equipment 3, equipment compartment 4, The transmitting device 5, the projecting device 6, the fire extinguishing bomb 7, the turret control device 8, and the photodetecting device 9.
- the accusation device 2, the control device 3 is placed in the co-pilot position of the cab of the vehicle chassis 1; the equipment compartment 4 is placed behind the cab and bolted to the chassis 1; the launching device 5 is placed in the chassis of the vehicle 1 is fixed by screws; the projecting device 6 is placed on the launching device 5 and fixed; the fire extinguishing ball 7 is placed in the projecting device 6; the turret control device 8 is distributed on the vehicle chassis and the launching device for completing the car body leveling and The action of the transmitting device is controlled; the photodetecting device 9 is placed under the launching device 5 and fixed by screws.
- the vehicle chassis 1 consists of a universal modified chassis and a sub-frame.
- the sub-frame can realize the functions of connecting the equipment room, the launching device and other related products with the chassis, and is a key component for the generalization and portability of the fire-fighting vehicle loading equipment.
- the accusation device 2 includes a display console 2-1, an information processor 2-2, and a communication device 2-3.
- the display console 2-1 can be made of sheet metal and installed in the co-pilot position.
- the display console 2-1 can be provided with a launching safety switch, a display, an operation button, an indicator light, a control handle, a panoramic camera, and the like.
- the information processor 2-2 is connected to the display console 2-1 and the communication device 2-3.
- Communication equipment 2-3 is used for communication between the operator and the fire alarm (119) command and control center.
- the information processor 2-2 includes functional modules such as an integrated management control module, a ballistic solution module, and a communication module.
- the control device 3 is composed of a control execution component 3-1 and a fire extinguisher simulator 3-2.
- the control execution component 3-1 switches the control command and outputs the control device to the transmitting device 5, which receives the command from the information processor and completes the fire control task of the fire extinguisher.
- the fire-fighting bomb simulator 3-2 can be used during the training phase of the fire-fighting vehicle to simulate the fire-fighting projectile signal and the fire-fighting projectile launch signal.
- the equipment compartment 4 is internally composed of generator set 4-1, power supply and distribution rejection 4-2, servo control unit 4-3, etc., and the communication antenna is externally installed.
- the generator set can be composed of a diesel engine, a generator, a body bracket and a battery.
- the total power supply is not small 7. 3kW.
- the diesel engine is the power source of the generator set, and the generator is an energy conversion device, which converts the mechanical energy outputted by the diesel engine into electric energy, and the battery provides a DC control power source for the generator set.
- the generator set has a separate fuel tank.
- the power supply and distribution equipment is fixedly installed on the right side of the equipment compartment. It mainly completes the switching operation of diesel generator sets and mains, display of electrical parameters, power distribution and protection functions.
- the transmitting device 5 is composed of a transmitting turret 5-1, a launching bracket 5-2, and a module assembling frame 5-3.
- the inner center of the structure of the transmitting turret 5-1 is taken by the cable.
- the launch bracket 5-2 is used to support the module assembly frame, with a quick loading module assembly frame 5-3 and orientation during launch.
- the mechanism not only realizes the locking and unlocking of the module assembly frame 5-3, but also cooperates with the legs on the module assembly frame 5-3 to determine the initial orientation.
- the projecting device 6 mainly includes a projecting cylinder, a power unit, a balance body, and the like. Put a fire extinguisher inside the projectile, Powerplant and balance body.
- the projectile adopts "limited space” balanced launch technology, featuring smokeless, matt, micro-sounding and recoilless.
- the fire extinguishing bomb 7 includes: a casing 7-4, a fuse 7-6, an igniter 7-3, a fire extinguishing agent 7_9, a main charge 7-10, a tail fin speed reducing section 7-1, a combustion chamber 7-8, a stopper plate 7 - 2, Piston 7-7, fairing 7-5.
- the housing 7-4, the empennage deceleration section 7-1 and the piston 7-7 may be of a lightweight metal material, the housing 7-4 is cylindrical, and the empennage deceleration section 7-1 is placed at the bottom of the housing 7-4 and The housing 7-4 is fixed by screws, the stopper plate 7-2 is placed above the tail speed reduction section 7-1, and the combustion chamber 7-8 is placed above the stopper plate 7-2 and screwed to the stopper plate 7-2.
- the combustion chamber 7-8 is fixed to the housing 7-4 by screws.
- the piston 7-7 is placed on the combustion chamber 7-8, the outer diameter of the piston 7_7 is matched with the inner diameter of the housing 7-4, the center of the piston 7-7 has a through hole, and the igniter 7-3 is placed at the piston 7-7.
- the through hole is screwed to the combustion chamber 7-8, and the main charge 7-10 is placed in the combustion chamber 7_8.
- Extinguishing agent 7-9 is placed in the cavity in the upper portion of piston 7-7 and fills the entire cavity, and fairing 7-5 is placed on top of housing 7-4 and pinned to housing 7-4, fairing 7-
- the surface of 5 has a spray hole, and the fuse 7-6 is placed on the fairing 7-5 and fixed by screws.
- the fuse 7-6 detects that the fire-fighting bomb is 5-10 meters away from the fire source, and transmits the ignition signal to the igniter 7-3.
- the igniter 7-3 ignites the main assembly in the combustion chamber 7-8.
- Medicine 7-10 the main charge 7-10 burns to generate high pressure, the high pressure pushes the piston 7-7 to move in the housing 7-4, and the fire extinguishing agent 7-9 is squeezed to connect the fairing 7-5 to the housing 7-4.
- the turret control device 8 is composed of a turret servo device and a vehicle body leveling device.
- the turret servo device includes a control computer, a servo control unit, an azimuth motor, a pitch motor, an azimuth readout component, a pitch readout component, an azimuth servo mechanism, a slewing bearing, and the like, and the control computer is equipped with a servo control module, and the orientation read Both the component and the orientation servo are meshed with the external teeth of the slewing bearing.
- the vehicle body leveling equipment is leveled by a servo electric cylinder, and the four servo electric cylinder supporting legs are respectively mounted on the sub-frame of the chassis of the car, and the servo electric cylinders of each supporting leg are driven by one motor.
- the leveling device can be manually removed without the information processor control.
- the leveling device consists of a leveling actuator, a leveling control component, a horizontal angle measuring component, and a leveling control module.
- Four of the power drivers and control computers are integrated in the leveling control machine, and the leveling control machine is rejected in the equipment control cabin.
- the horizontal angle measuring component uses a tilt sensor as the level detecting component of the leveling device.
- the level sensor feeds back the level of the car body during the leveling process of the fire truck.
- a horizontal sensor is the main level sensor, and the horizontal and vertical horizontality of the vehicle body is based on the reading of the horizontal sensor, and is mounted on the mounting surface of the chassis rotating trunnion beam; the other horizontal sensor is the auxiliary level sensor, and the front leveling is installed.
- the feedback head On the oil rainbow beam, during the leveling process, the feedback head The horizontal level of the direction can avoid the tilting of the front of the fire truck during the leveling process.
- FIG. 8 is a schematic illustration of a photodetection device 9 suitable for use in high-rise and super-tall building fire rescue fire trucks in accordance with an embodiment of the present invention.
- the photodetection device 9 includes: a mounting housing, a power source, a zoom white light camera, an infrared camera, a laser range finder, and an integrated processing unit.
- Figure 9 is a schematic illustration of the functional modules of an integrated processing unit for a photovoltaic device of a fire truck suitable for high-rise and super high-rise building fire rescue, in accordance with an embodiment of the present invention.
- the integrated processing unit includes a comprehensive scheduling module, a data storage module, a function self-test module, a zoom control module, a data compensation module, an image fusion module, an image comparison module, and an angle solving module.
- the zoom white light camera can adjust the focal length according to the distance and size of the fire source during the search process, and the position of the fire source can be determined accurately.
- the zoom white light camera is connected to the mounting shell by screws, and the infrared camera is connected to the mounting shell by screws.
- the laser range finder is connected to the mounting shell by screws, and the power supply interface of the zoom white light camera is connected with the power source through the wire, and the power supply interface of the infrared camera The power supply interface of the laser range finder is connected to the power source through a wire, and the data interface of the zoom white light camera is connected to the integrated processing unit through a wire, and the data interface of the infrared camera is connected to the integrated processing unit through a wire, the laser range finder The data interface is connected to the integrated processing unit via wires.
- FIG 10 is a flow chart showing the operation of the target detection (position detection) of the photoelectric detecting device 9 of a fire truck suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention.
- the photoelectric detection device performs target detection (fire source point aiming) mainly includes the following steps:
- First step (optional): White light axis, infrared axis and laser axis calibration
- the photodetecting device 9 may need to perform a white light optical axis, an infrared optical axis, and a laser optical axis calibration before use (for example, in the case where the photodetecting device 9 is not used for a long time, the current reference optical axis and the above three optical axes Inconsistent, ie, the calibration of the infrared optical axis, the laser optical axis and the white optical axis at maximum magnification (consistent calibration), adjusting the mounting axis of the zoom white light camera, infrared camera, laser rangefinder,
- the optical axes of the white optical axis, the infrared optical axis, and the laser optical axis at the maximum magnification are within ⁇ 20 ⁇ of the mounting housing reference surface, and it is considered that the above three optical axes satisfy the requirements of mutual consistency.
- the mounting brackets of the zoom white light camera, the infrared camera, and the laser range finder are respectively fixed on the mounting housing, and the
- Step 2 (optional): White light zoom optical axis deviation detection
- the photodetection device 9 may need to perform white light zoom optical axis deviation detection before use (for example, in the case where the photodetection device 9 is not used for a long time), that is, zoom adjustment from the lowest magnification to the highest magnification in turn, detecting the zoom
- the amount of deviation of the white light axis of the white light camera at different magnifications relative to the white light axis (reference optical axis) at the maximum magnification eg, the current optical axis is relative to the reference
- the deviation angle of the three directions of the optical axis), and the deviation amount is stored in the data storage module.
- Step 3 Power-on self-test and port configuration (device initialization)
- Photoelectric detection equipment 9 Start the power supply, power on the equipment, and zoom the white light camera, infrared camera, laser range finder, and integrated processing unit.
- the function self-test module performs self-test and initialization on the zoom white light camera, infrared camera, laser range finder and integrated processing module, and performs port communication state configuration after initialization.
- Step 4 Aiming at the target and zoom control
- the photodetection device 9 is aimed at the target (fire source). Specifically, using the turret to rotate the photodetection device 9 so that the target appears in the field of view of the zoom white light camera (displayed on the display screen of the system), the zoom control module controls the magnification of the zoom white light camera, and the target to be targeted is displayed on the display screen. Centered (the target center of the target ranging image is aligned with the target point), and the height is adjusted to 3 / 4 of the entire screen height on the display (other ratios can be used as long as they are fully displayed and meet the clarity requirements) .
- Step 5 Optical Axis Compensation
- the data compensation module reads the optical axis deviation amount in the data storage module according to the current magnification of the zoom white camera (magnification magnification after aiming and zoom control), and performs data compensation. That is, according to the optical axis deviation amount at the current magnification, the angle of the photodetecting device 9 is finely adjusted so that the white optical axis at the current magnification coincides with the reference optical axis (ie, the new center point after the target ranging image data is compensated) Align the target point).
- Step 6 (optional): Image fusion
- the integrated scheduling module reads the image of the aiming and zooming control of the zoom white light camera, and the image of the infrared camera, and then The image fusion module performs image fusion processing. That is, the image of the infrared camera is enlarged or reduced to a magnification corresponding to the image of the aiming and zooming control of the zoom white camera (the target size is coincident and simultaneously centered in the two images), and the image is cropped.
- the two images to be merged have the same number of horizontal and vertical pixels, and the two images are fused (can be realized by various methods, for example, averaging with the pixel gray scale, etc.), and the fused image is obtained.
- Step 7 (optional): Image comparison selection
- the image contrast module is for the image of the white light camera, the image of the infrared camera (in the case of obtaining the target image through the infrared camera, and correspondingly zooming in or out), or the above-mentioned merged image (in the case of obtaining the target image through the infrared camera)
- the sharpness of the contrast is compared (for example, image sharpness contrast can be achieved by using an image processing algorithm that emphasizes the edges by image filtering, and the overall sharpness of the image is determined from the gradient reflected by the pixels of the image at each edge), determining the selection The image required for target ranging.
- Step 8 Laser ranging
- the laser range finder performs laser ranging for multiple times (for example, 5 times), after which the integrated scheduling module can After removing the maximum and minimum values for the distance of 5 measurements, the three data at the intermediate value are averaged, and the average value is taken as the target slant range. Thereby the search and measurement of the target by the detecting device is completed.
- the angle solving module is used to solve the ballistic solution angle (emission angle information) of the fire extinguishing bomb.
- the data compensation module is also used to record the camshaft deviation and perform data compensation.
- Figure 12 is a flow chart showing the operation of a fire-fighting trajectory solution of a photoelectric detecting device of a fire-fighting vehicle suitable for high-rise and super high-rise building fire rescue according to an embodiment of the present invention.
- the photodetection device obtains the oblique line distance L from the target fire source to the fire extinguishing bomb, and the turret system returns the pitch angle ⁇ and the azimuth angle of the target relative to the turret to the integrated dispatching module. ⁇ (For example, the azimuth of the center of the turret can be taken as 0), and the photodetection equipment performs the blasting of the fire blasting ball to solve the firing angle information of the fire extinguishing bomb.
- the solving module solves the projectile pitch angle ⁇ and the launch azimuth angle according to the target slanting distance L and the target pitch angle ⁇ , the target azimuth angle ,, so that the projectile launch angle is ⁇ , the launch azimuth ⁇
- the azimuth of the launch can be taken as the azimuth of the center of the turret, for example 0), and it can hit the target.
- the first step (optional): The position and axis of the fire extinguishers of different positions (for example, the 24 positions shown in Figure 11) are slightly different, and the various positions of the fire-fighting bomb assembly frame and the detection device are calibrated. The left and right position deviation and the up and down position deviation of the axis, and the heading (azimuth) deviation angle and the pitch deviation angle, and the four deviation data are recorded in the data compensation module.
- Step 2 The angle solving module obtains the height information of the target fire source relative to the fire extinguishing bomb and the horizontal distance of the target distance launching point according to the oblique line distance and the elevation angle of the target.
- the solution formula is as follows:
- ⁇ is the pitch angle of the fire-fighting bomb assembly
- L is the oblique line distance from the fire-fighting missile assembly to the target
- hO is the height information of the target fire source relative to the fire-fighting projectile
- the third step the angle solving module solves the fire-blasting angle of the fire-fighting projectile.
- ⁇ _ ⁇ (H)
- the input is the flight parameters of the fire extinguisher at a certain time, including: speed, ballistic inclination, ballistic declination, yaw rate, pitch rate, pitch angle, and deviation.
- the increment (dx/dt) of the above 11 parameters at this time is output.
- the main input and output parameters are shown in the table below.
- m is the mass of the projectile
- g is the acceleration of gravity
- q is the dynamic pressure
- C A is the axial force coefficient
- S M is the reference area
- ( ⁇ is the normal force coefficient
- ⁇ is the synthetic angle of attack
- J Y1 is the winding
- J ZY1 is the moment of inertia around the Z-axis of the projectile
- 1 is the full-elastic reference length
- ⁇ 1 is the length from the centroid to the core.
- the initial pitch angle ⁇ 0 of the iteration is the target pitch angle ⁇
- the convergence pitch angle is continuously corrected by comparing the relationship between the ballistic height H at the target X axial distance (ie, the horizontal distance d) and the target height hO. In order to finally get the result of being able to hit the target.
- Step 4 Data compensation module for error compensation
- the full trajectory parameter is determined by the detection device as the position and orientation reference calculation.
- the accusation computer compensates to eliminate the four deviation data of the position and angle of the fire extinguishing bomb due to the different position of the firearm, thus determining the launching station on a certain unit. Need a pitch angle.
- the first step the personnel are in place and the vehicle starts to start.
- Step 2 Start the generator set, and power on each device.
- Step 3 Choose a working mode, park at the right place
- the driver controls the fire truck to stop.
- the driver gets off the vehicle and is responsible for observing the safety distance of the fire truck and communicating with the operator in time.
- Step 4 Leveling and unfolding, aiming at the fire target 1)
- the operator turns the console "leveling control” knob to the “expanded” position, the fire extinguisher automatically leveles and unfolds, and the "expand” indicator flashes during the leveling process.
- the console "expand” indicator lights up.
- the display interface "Leveling Control” column “Expand” light changes to "Green";
- Step 5 Measure the target position, solve the shooting elements (ie, the launch angle)
- the button on the operator control handle measures the fire target position parameter, and the "target position" column displays the target "distance” and "height", data;
- the actual fire point is point B. Since point B does not meet the accuracy requirements of the laser range finder, use the aiming point B.
- the A point is used for ranging, and the position change between the two points A and B is performed, and the distance data of the point A is converted to the distance data of the point B, and the shooting metadata of the point B is calculated.
- the command and control device 4 automatically solves the shooting elements according to the target data, and at the same time judges whether the solution result is valid (whether the azimuth and elevation angle are within the limited range), and the effective calculation result is displayed in the "emission angle" column. .
- Step 6 Launch mode selection, launch insurance to unlock
- Step 7 Transfer the launch turret, fire the fire bomb
- Step 8 Fire bomb launch
- the emission control device gives an ignition timing signal
- the ignition timing signal is sent to the launcher igniter through the module cable box; 3) The launcher emits a drug to ignite, and the fire extinguisher has a certain initial velocity to launch the cylinder
- Step 9 Delay the timing of gunpowder self-destruction
- Delayed gunpowder starts self-destruction delay under the effect of launching impact overload. After the delay time expires, the delay gunpowder control fire extinguisher opens the umbrella and sprays the fire extinguishing agent at the same time, and the fire extinguisher self-destructs.
- the tenth step of the start of the fuse is divided into two small steps:
- Step 10-1 Fuze Insurance Release, Function Startup
- the fuse circuit works, and the self-destruction delay is started.
- the fuse and the delayed gun are connected in parallel with the main charge of the fire extinguisher to improve the self-destructive reliability of the fire extinguisher.
- the fuse controls the fire extinguisher to open the umbrella and spray the fire extinguishing agent at the same time, and the fire extinguisher self-destructs.
- Step 10-2 Fuze trigger
- the fuse or the delayed gunpowder gives the ignition signal, and the fire extinguisher receives the ignition signal and simultaneously sprays the extinguishing agent to open the parachute to decelerate.
- the functions of the fuze are set as follows:
- the fuze mainly applies the near-explosion trigger function
- the fuze bombing function is used as a supplement to the failure of the near-explosive function to ensure that the fire-fighting projectile is fired in a timely manner after it reaches the fire area;
- the self-destruct function of the fuze is to force the ignition signal to be given when the fire-fighting projectile does not meet the requirements of the near-explosion, the triggering condition, or the near-explosion or the bombing function, so as to prevent the fire-fighting bomb from carrying the pyrotechnics freely. , causing harm to personnel and equipment or residual pyrotechnics on fire-fighting bombs, resulting in recycling risks.
- Step 11 Firefighting action
- the fire extinguisher deceleration umbrella has a deceleration condition before the fire extinguisher enters the room.
- the deceleration bomb can not affect the fire trajectory before entering the room;
- the fire extinguishing bomb shall continue to spray the fire extinguishing agent during the action of the deceleration umbrella.
- the total time of the deceleration umbrella in the inflating time and the fire extinguishing agent shall not exceed 30. /».
- Step 12 Delayed gunpowder self-destruction trigger
- the delayed gun self-destruct function has the same function as the fuse self-destruction, but the two are installed independently and do not interfere with each other.
- the purpose is to improve the safety of fire-fighting bombs under abnormal working conditions. At the same time, it can also be used for the supplementary fire extinguishing function after the fire bomb enters the indoor fuze.
- the self-destruction ignition signal is automatically forcibly given
- the fire extinguisher After the fire extinguisher receives the ignition signal, it simultaneously triggers the work of the payload section and the safety deceleration section, spraying the fire extinguishing agent in the effective load section, and opening the parachute in the safety deceleration section.
- Step 13 System is withdrawn, equipment is powered off
- Step 14 The vehicle returns to flameout, the person gets off
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Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13889601.4A EP3023126B1 (en) | 2013-07-16 | 2013-07-16 | Fire engine suitable for fire-fighting in high-rise and super high-rise buildings |
CN201380004041.1A CN103958004B (zh) | 2013-07-16 | 2013-07-16 | 适用于高层和超高层建筑火灾扑救的消防车 |
US14/905,665 US9566459B2 (en) | 2013-07-16 | 2013-07-16 | Fire engine suitable for fire-fighting in high-rise and super high-rise buildings |
JP2016526388A JP6159886B2 (ja) | 2013-07-16 | 2013-07-16 | 高層及び超高層ビルの消火活動に適用する消防車 |
PCT/CN2013/079451 WO2015006915A1 (zh) | 2013-07-16 | 2013-07-16 | 适用于高层和超高层建筑火灾扑救的消防车 |
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PCT/CN2013/079451 WO2015006915A1 (zh) | 2013-07-16 | 2013-07-16 | 适用于高层和超高层建筑火灾扑救的消防车 |
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US (1) | US9566459B2 (zh) |
EP (1) | EP3023126B1 (zh) |
JP (1) | JP6159886B2 (zh) |
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WO (1) | WO2015006915A1 (zh) |
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Also Published As
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EP3023126A1 (en) | 2016-05-25 |
US20160166862A1 (en) | 2016-06-16 |
EP3023126A4 (en) | 2017-07-05 |
CN103958004A (zh) | 2014-07-30 |
EP3023126B1 (en) | 2021-01-27 |
CN103958004B (zh) | 2016-01-13 |
US9566459B2 (en) | 2017-02-14 |
JP6159886B2 (ja) | 2017-07-05 |
JP2016526988A (ja) | 2016-09-08 |
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