WO2020073595A1 - 城市主战消防车自动灭火系统及实现方法 - Google Patents

城市主战消防车自动灭火系统及实现方法 Download PDF

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Publication number
WO2020073595A1
WO2020073595A1 PCT/CN2019/076949 CN2019076949W WO2020073595A1 WO 2020073595 A1 WO2020073595 A1 WO 2020073595A1 CN 2019076949 W CN2019076949 W CN 2019076949W WO 2020073595 A1 WO2020073595 A1 WO 2020073595A1
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Prior art keywords
fire
camera
central control
control system
motor
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French (fr)
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朱劲松
李伟
林达
赵戈
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles

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  • the invention relates to the field of fire protection, in particular to an automatic fire extinguishing system for a city main battle fire truck and its implementation method.
  • the technical problem to be solved by the present invention is to overcome the defects of the prior art, and to provide a self-extinguishing system mounted on a city main battle fire truck, which can realize automatic environment detection and fire judgment at the fire extinguishing site, automatic positioning and fire extinguishment of fire monitors After spraying, automatic jet flow falling point adjustment and fire extinguishing operation, stop resetting.
  • the system can realize the integration of automatic fire extinguishing operations, greatly reduce the number of fire extinguishing workers and the operating capacity requirements of fire trucks, improve the efficiency of fire extinguishing operations, accelerate the speed of fire extinguishing and rescue, and further reduce the casualties and property losses of personnel.
  • the automatic fire extinguishing system of the city main fire fighting vehicle includes a bottom support platform, a top support platform, a central control system and a display system;
  • the top support platform passes through the first support structure and the second support structure Installed above the bottom bracket platform;
  • the first horizontal motor is installed on the bottom bracket platform, the first horizontal motor is installed with a pitch motor, and the fire motor is installed on the pitch motor;
  • the second horizontal motor is installed on the top bracket platform, the second horizontal motor
  • the first camera, the infrared camera and the second camera are installed in sequence on the top;
  • the first horizontal motor, the tilt motor, the first camera, the infrared camera, the second camera and the second horizontal motor are respectively connected to the central control system; the central control system and the display System connection.
  • the distance from the infrared camera to the first camera is equal to the distance from the infrared camera to the second camera.
  • the invention also provides a method for realizing the above-mentioned automatic fire extinguishing system of the city main fire fighting vehicle, including the following steps:
  • the automatic fire extinguishing system of the city main fire fighting vehicle provided by the present invention starts to work after the fire truck enters the fire site and stops; first, the second horizontal motor installed on the upper part of the top bracket platform rotates left and right to drive the installation on its upper part
  • the infrared camera rotates the same left and right.
  • the infrared camera continuously scans the fire environment and transmits the picture to the central control system; the central control system continuously processes the fire scene returned by the infrared camera and recognizes the location of the fire source in the scanned picture.
  • the acquired fire field image is transmitted to the display system for display; the second horizontal motor continues to rotate left and right until the center fire source position appears in the center of the infrared camera shooting screen, the second horizontal motor stops rotating; at the second horizontal motor After the rotation is stopped, the first camera and the second camera are turned on at the same time, and the acquired fire scene picture is transmitted to the central control system; the central control system calculates the position of the infrared camera relative to the fire source according to the fire scene pictures taken by the first camera and the second camera The three-dimensional coordinates of the camera; the central control system will obtain the three positions of the infrared camera relative to the position of the fire source Coordinates for the three-dimensional coordinates with respect to gun fire fire source position;
  • Fire gun jet landing point adjustment After completing the prediction of the fire gun jet landing point, the central control system of the urban main battle fire truck automatic fire extinguishing system provided by the present invention calculates and matches the deviation value between the level and the pitch position, and then controls the first level respectively The motor and the pitch motor adjust the angle, and the vehicle fire pump continues to work during this process;
  • the fire extinguishing process is stopped: the automatic fire extinguishing system of the city main battle fire truck provided by the present invention keeps the infrared camera turned on during the continuous injection of the fire cannon, and the central control system continuously recognizes the state of the fire source point captured by the infrared camera; if the fire source point Always exists, the vehicle fire pump continues to work; when the fire source point disappears, the vehicle fire pump stops working, and the fire extinguishing process is completed.
  • the automatic fire extinguishing system of the city main fire fighting vehicle provided by the present invention can realize the automatic identification and positioning of the fire source when the fire truck arrives at the fire site of the city main station, automatically matches the working parameters of the fire monitor, and automatically predicts the jet fire drop , Automatically adjust the fire jet's jet landing point and stop judgment of the automatic fire extinguishing process.
  • the system further reduces the number of personnel required for the fire fighting operations of the city's main fire trucks, and also improves the speed and efficiency of fire fighting operations to achieve the rapid urban fire scene , The purpose of efficient and safe fire extinguishing.
  • Figure 1 is a front view of the system structure of the present invention
  • FIG. 3 is a connection diagram of the system data transmission of the present invention.
  • FIG. 4 is a front view of the display system of the present invention.
  • FIG. 6 is a flow chart of the present invention to achieve the matching of the working parameters of the fire monitor
  • FIG. 8 is a flow chart of the present invention to achieve the adjustment of the jet cannon jet landing point
  • the automatic fire extinguishing system for a city main battle fire truck provided by the present invention includes a bottom support platform 1, a top support platform 4, a central control system, and a display system; the top support platform 4 passes through the first support structure 2.
  • the second bracket structural member 3 is installed above the bottom bracket platform 1;
  • the first horizontal motor 5 is installed on the upper part of the bottom bracket platform 1,
  • the pitch motor 6 is installed on the upper part of the first horizontal motor 5, and the fire monitor is installed on the upper part of the pitch motor 6 7;
  • the second horizontal motor 11 is installed on the upper part of the top bracket platform 4, and the first camera 8, the infrared camera 9, and the second camera 10 are sequentially installed on the upper part of the horizontal motor 11, the three are aligned horizontally, and the infrared camera 9 is installed at the first camera 8 and the middle position of the second camera 10, the first camera 8 and the second camera 10 constitute a binocular stereo camera;
  • the first horizontal motor 5, the pitch motor 6, the first camera 8, the infrared camera 9, the second camera 10, and the second horizontal motor 11 of the automatic fire extinguishing system of the city main battle fire truck respectively pass through data lines
  • the cable is connected with the central control system to realize signal processing and input and output, and the central control system is connected with the display system; the display system is designed with the data display of the working process of the automatic fire extinguishing system of the city main fire truck provided by the present invention, as shown in FIG. 4.
  • the invention also provides a method for realizing the above-mentioned automatic fire extinguishing system of the city main fire fighting vehicle, including the following steps:
  • Fire site identification and positioning The automatic fire extinguishing system of the city main battle fire truck provided by the present invention starts to work after the fire truck enters the fire scene and stops. Its working process is shown in FIG. 5: First, it is installed on the second part of the top support platform 4 The horizontal motor 11 rotates left and right, driving the infrared camera 9 installed on the upper part to do the same left and right rotation. In the process, the infrared camera 9 continuously scans the fire environment and transmits the picture to the central control system; the central control system continuously processes the infrared camera 9 transmission.
  • the second horizontal motor 11 rotates around until the position of the center fire source appears on the screen shot by the infrared camera 9 After the center position, the second horizontal motor 11 stops rotating; after the second horizontal motor 11 stops rotating, the first camera 8 and the second camera 10 are turned on at the same time, and the acquired fire scene picture is transmitted to the central control system;
  • the fire scene pictures taken by the first camera 8 and the second camera 10 calculate the three-dimensional coordinates of the camera installation position relative to the fire source position.
  • the central control system will Mounting the camera to take a position with respect to the three-dimensional coordinates of the fire source position in terms of fire monitor 7 with respect to the three-dimensional coordinates of the fire source position;
  • the central control system is based on the fire trajectory stored in the fire monitors
  • the empirical model calculates and matches the parameter information that can make the fire extinguishing agent reach the fire source position.
  • the parameter information is the horizontal rotation angle of the first horizontal motor 5, the rotation angle of the pitch motor 6 and the working pressure of the fire truck water pump; the first horizontal motor 5 After the rotation angle and the rotation angle of the pitch motor 6 reach a predetermined angle, the fire truck water pump starts to work according to the matched working pressure;
  • the automatic fire extinguishing system of the city main battle fire truck provided by the present invention is shown in FIG. 9 during the continuous jetting process of the fire cannon 7: the infrared camera 9 is always on, and the central control system continuously recognizes the infrared camera 9 The state of the fire source point photographed; when the fire source point always exists, the vehicle fire pump continues to work; after the central control system judges that the fire source point disappears, the vehicle fire pump stops working and the fire extinguishing process is completed.

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  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)

Abstract

本发明公开一种城市主战消防车自动灭火系统及实现方法，包括底部支架平台、顶部支架平台、中控系统及显示系统；顶部支架平台安装于底部支架平台；底部支架平台上安装有第一水平电机，第一水平电机上安装有俯仰电机，俯仰电机上安装有消防炮；顶部支架平台上安装有第二水平电机，第二水平电机上依次安装有第一相机、红外相机及第二相机；第一水平电机、俯仰电机、第一相机、红外相机、第二相机及第二水平电机分别与中控系统连接，中控系统与显示系统连接。本发明减少了城市主战消防车灭火作业对消防人员数量的需求，同时也提升了消防灭火作业的速度与效率，达到了城市火场的快速、高效、安全灭火的目的。

Description

城市主战消防车自动灭火系统及实现方法 技术领域
本发明涉及消防领域，具体涉及一种城市主战消防车自动灭火系统及实现方法。
背景技术
伴随消防产业的不断发展，越来越多的消防车辆不断提升车辆灭火作业自动化程度。城市消防任务不断呈现作业环境复杂、承担任务多样等现实需求，这对于人员数量需求、作业操作水平都提出了更高的要求。例如，城市主战消防车辆在到达着火区域后，消防人员需要对现场环境进行火场侦查、着火点预判、消防炮操作等，现在阶段基本是采取人工操作，费时费力。
发明内容
本发明所要解决的技术问题在于克服现有技术缺陷，提供一种搭载于城市主战消防车上的自灭火系统，可以实现在灭火现场自动环境侦测与火情判断、消防炮自动定位与灭火喷射、自动射流落点调整以及灭火作业完成后停止复位。该系统可以实现自动灭火作业一体化，极大的减少消防车灭火作业人员数量与作业能力需求，提升灭火作业效率，加快灭火救援速度，进一步的减轻人员生命伤亡与财产损失。
为了解决上述技术问题，本发明提供的城市主战消防车自动灭火系统，包括底部支架平台、顶部支架平台、中控系统及显示系统；顶部支架平台通过第一支架结构件、第二支架结构件安装于底部支架平台上方；底部支架平台上安装有第一水平电机，第一水平电机安装有俯仰电机，俯仰电机上安装有消防炮；顶部支架平台上安装有第二水平电机，第二水平电机上依次安装有第一相机、红外相机及第二相机；第一水平电机、俯仰电机、第一相机、红外相机、第二相机及第二水平电机分别与中控系统连接；中控系统与显示系统连接。
进一步的，红外相机到第一相机的距离与红外相机到第二相机的距离相等。
本发明还提供一种实现上述城市主战消防车自动灭火系统的方法，包括以下步骤：
1)火场识别与定位：本发明提供的城市主战消防车自动灭火系统在消防车进入火场停车后启动工作；首先，安装于顶部支架平台上部的第二水平电机左右旋转，带动安装于其上部的红外相机做相同的左右旋转，红外相机在此过程中不断扫描火场环境并将画面传输至中控系统；中控系统不断处理红外相机传回的火场画面并识别出扫描画面中的火源位置，同时将获取的火场图像传输至显示系统中显示；第二水平电机持续左右旋转，直至中心火源位置出现在红外相机拍摄画面的中心位置后，第二水平电机停止旋转；在第二水平电机停止旋转后， 第一相机与第二相机同时打开，并将获取的火场画面传输至中控系统；中控系统依据第一相机和第二相机拍摄的火场画面计算出红外相机相对于火源位置的三维坐标；中控系统将获取的红外相机相对于火源位置的三维坐标换算为消防炮相对于火源位置的三维坐标；
2)消防炮工作参数匹配：本发明提供的城市主战消防车自动灭火系统在系统工作获取火场信息位置后，中控系统依据存储于其中的消防炮射流轨迹模型计算匹配出可以使得灭火水剂达到火源位置的参数信息，参数信息分别是第一水平电机的水平旋转角度、俯仰电机旋转角度以及消防车载水泵的工作压力；在第一水平电机旋转角度以及俯仰电机旋转角度到达预定角度后，消防车载水泵依据匹配出的工作压力开始启动工作；
3)消防炮射流落点预测：本发明提供的城市主战消防车自动灭火系统在完成消防炮工作参数匹配后，首先，第一相机、第二相机开启拍摄并将获取的射流轨迹图像不断传输至中控系统；中控系统对获取图像进行背景减除并获取拍摄到的射流轨迹二值图像，同时将此轨迹二值图像在显示系统中显示；中控系统将获取的射流轨迹二值图像与射流轨迹模型不断作对比计算，并将对比出的轨迹偏差转换至对应的第一水平电机位置偏差值与俯仰电机俯仰位置偏差值，同时将水平与俯仰位置偏差值在显示系统中显示；
4)消防炮射流落点调整：本发明提供的城市主战消防车自动灭火系统在完成消防炮射流落点预测后中控系统在计算匹配出水平与俯仰位置偏差值后，分别控制第一水平电机与俯仰电机进行角度调整，在此过程中车载消防泵持续工作；
5)灭火过程停止：本发明提供的城市主战消防车自动灭火系统在消防炮持续喷射过程中，红外相机一直开启，中控系统不断识别红外相机拍摄到的火源点状态；若火源点一直存在，车载消防泵持续工作；当火源点消失后，车载消防泵停止工作，灭火过程完毕。
本发明的有益效果：本发明提供的城市主战消防车自动灭火系统，可以实现在城市主站消防车到达火灾现场自动识别定位火源、自动匹配消防炮工作参数、自动预测消防炮射流落点、自动调整消防炮射流落点以及自动灭火过程停止判断，该系统进一步的减少城市主战消防车灭火作业对于人员数量的需求，同时也提升了消防灭火作业的速度与效率，达到城市火场的快速、高效、安全灭火的目的。
附图说明
图1是本发明的系统结构主视图；
图2是本发明的系统结构侧视图；
图3是本发明的系统数据传输连接图；
图4是本发明的显示系统的主视图；
图5是本发明实现火场识别与定位的流程图；
图6是本发明实现消防炮工作参数匹配的流程图；
图7是本发明实现消防炮射流落点预测的流程图；
图8是本发明实现消防炮射流落点调整的流程图；
图9是本发明实现灭火过程停止判断的流程图；
图中：1-底部支架平台，2-第一支架结构件，3-第二支架结构件，4-顶部支架平台，5-第一水平电机，6-俯仰电机，7-消防炮，8-第一相机，9-红外相机，10-第二相机，11-第二水平电机。
具体实施方式
下面结合附图1—4对本发明做更进一步的解释。
如图1、图2所示，本发明提供的城市主战消防车自动灭火系统，包括底部支架平台1、顶部支架平台4、中控系统及显示系统；顶部支架平台4通过第一支架结构件2、第二支架结构件3安装于底部支架平台1上方；底部支架平台1上部安装有的第一水平电机5，第一水平电机5上部安装有俯仰电机6，俯仰电机6上部安装有消防炮7；顶部支架平台4上部安装有第二水平电机11，水平电机11上部依次安装有第一相机8、红外相机9、第二相机10，三者水平对齐，红外相机9安装位置在第一相机8与第二相机10的中间位置，第一相机8与第二相机10构成双目立体相机；
如图3所示，所述城市主战消防车自动灭火系统的第一水平电机5、俯仰电机6、第一相机8、红外相机9及第二相机10及第二水平电机11分别通过数据线缆与中控系统连接，实现信号处理与输入输出，中控系统与显示系统连接；显示系统设计有本发明提供的城市主战消防车自动灭火系统工作过程数据显示，如图4所示。
本发明还提供一种实现上述城市主战消防车自动灭火系统的方法，包括以下步骤：
1)火场识别与定位：本发明提供的城市主战消防车自动灭火系统在消防车进入火场停车后启动工作，其工作流程如图5所示：首先，安装于顶部支架平台4上部的第二水平电机11左右旋转，带动安装于其上部的红外相机9做相同的左右旋转，红外相机9在此过程中不断扫描火场环境并将画面传输至中控系统；中控系统不断处理红外相机9传回的火场画面并识别出扫描画面中的火源位置，同时将获取的火场图像在显示系统中显示；此时第二水平电机11左右旋转，直至中心火源位置出现在红外相机9拍摄画面的中心位置后，第二水平电机11停止旋转；在第二水平电机11停止旋转后第一相机8与第二相机10同时打开，并将获取的火场画面传输至中控系统；中控系统依据第一相机8、第二相机10拍摄的火场画面计 算出相机安装位置相对于火源位置的三维坐标，中控系统将获取的相机安装位置相对于火源位置的三维坐标换算为消防炮7相对于火源位置的三维坐标；
2)消防炮工作参数匹配：本发明提供的城市主战消防车自动灭火系统在系统工作获取火场信息位置后，其工作流程如图6所示：中控系统依据存储于其中的消防炮射流轨迹经验模型计算匹配出可以使得灭火水剂达到火源位置的参数信息，参数信息分别是第一水平电机5的水平旋转角度、俯仰电机6旋转角度以及消防车载水泵的工作压力；第一水平电机5旋转角度以及俯仰电机6旋转角度到达预定角度后，消防车载水泵依据匹配出的工作压力开始启动工作；
3)消防炮射流落点预测：本发明提供的城市主战消防车自动灭火系统在完成消防炮工作参数匹配后，其工作流程如图7所示：首先，第一相机8、第二相机9开启拍摄并将获取的射流轨迹图像不断传输至中控系统；中控系统对获取图像进行背景减除并获取拍摄到的射流轨迹二值图像，同时将此轨迹二值图像在显示系统中显示；中控系统将获取的射流轨迹二值图像与射流轨迹模型不断作对比计算，并将对比出的轨迹偏差转换至对应的第一水平电机5位置偏差值与俯仰电机6俯仰位置偏差值，同时将水平与俯仰位置偏差值在显示系统中显示；
4)消防炮射流落点调整：本发明提供的城市主战消防车自动灭火系统在完成消防炮7射流落点预测后，其工作流程如图8所示：中控系统在计算匹配出水平与俯仰位置偏差值后，分别控制第一水平电机5与俯仰电机6进行角度调整，在此过程中车载消防泵持续工作；
5)灭火过程停止判断：本发明提供的城市主战消防车自动灭火系统在消防炮7持续喷射过程中，其工作流程如图9所示：红外相机9一直开启，中控系统不断识别红外相机9拍摄到的火源点状态；当火源点一直存在的时候，车载消防泵持续工作；当中控系统判断火源点消失后，车载消防泵停止工作，灭火过程完毕。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下还可以做出若干改进，这些改进也应视为本发明的保护范围。

Claims (3)

  1. 一种城市主战消防车自动灭火系统，包括底部支架平台(1)、顶部支架平台(4)、中控系统及显示系统；其特征在于：所述顶部支架平台(4)通过第一支架结构件(2)、第二支架结构件(3)安装于底部支架平台(1)上方；所述底部支架平台(1)上安装有第一水平电机(5)，第一水平电机(5)上安装有俯仰电机(6)，俯仰电机(6)上安装有消防炮(7)；所述顶部支架平台(4)上安装有第二水平电机(11)，第二水平电机(11)上依次安装有第一相机(8)、红外相机(9)及第二相机(10)；所述第一水平电机(5)、俯仰电机(6)、第一相机(8)、红外相机(9)、第二相机(10)及第二水平电机(11)分别与中控系统连接；所述中控系统与显示系统连接。
  2. 根据权利要求1所述的城市主战消防车自动灭火系统，其特征在于：所述红外相机(9)到第一相机(8)的距离与红外相机(9)到第二相机(10)的距离相等。
  3. 一种实现权利要求1或2所述的城市主战消防车自动灭火系统的方法，其特征在于包括以下步骤：
    1)火场识别与定位：在城市主战消防车到达火场地点后，所述第二水平电机(11)左右旋转，带动第一相机(8)、红外相机(9)、第二相机(10)做相同的左右旋转，其中红外相机(9)在此过程中不断扫描火场环境并将画面传输至中控系统；所述中控系统不断处理红外相机(9)传回的火场画面并识别出画面中的火源位置，同时将获取的火场图像传输至显示系统中显示；所述第二水平电机(11)持续左右旋转，直至中心火源位置出现在红外相机(9)拍摄画面的中心位置后，第二水平电机(11)停止旋转，第一相机(8)与第二相机(10)同时打开，并将拍摄获取的火场画面传输至中控系统；所述中控系统依据第一相机(8)与第二相机(10)拍摄的火场画面计算出红外相机(9)安装位置相对于火源位置的三维坐标，中控系统将获取的红外相机(9)安装位置相对于火源位置的三维坐标换算为消防炮(7)相对于火源位置的三维坐标；
    2)消防炮工作参数匹配：所述中控系统依据存储于其中的消防炮射流轨迹模型计算匹配出可以使得灭火水剂达到火源位置的工作参数信息，参数信息分别是第一水平电机(5)旋转角度、俯仰电机(6)旋转角度以及消防车载水泵的工作压力；所述第一水平电机(5)以及俯仰电机(6)到达预定角度后，消防车载水泵依据匹配出的工作压力开始启动；
    3)消防炮射流落点预测：所述第一相机(8)与第二相机(10)开启拍摄并将获取的射流轨迹图像不断传输至中控系统；所述中控系统对获取图像进行背景减除并将拍摄到的射流轨迹图像转换为二值图像，同时将此二值图像在显示系统中显示；所述中控系统将获取的射流轨迹二值图像与射流轨迹模型不断作对比计算，并将对比出的轨迹偏差转换至对应的第一水平 电机(5)位置偏差值和俯仰电机(6)位置偏差值，同时将水平与俯仰位置偏差值在显示系统中显示；
    4)消防炮射流落点调整：所述中控系统在计算匹配出水平与俯仰位置偏差值后，分别控制第一水平电机(5)与俯仰电机(6)进行角度调整；
    5)灭火过程停止：所述红外相机(9)一直开启，中控系统不断识别红外相机(9)拍摄到的火源点状态；当火源点一直存在，车载消防泵持续工作；当火源点消失后，车载消防泵停止工作，灭火过程完毕。
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