CN106563231A - Fire-extinguishing control method, fire-extinguishing control device and fire-extinguishing control system for fire-fighting truck, and fire-fighting truck - Google Patents
Fire-extinguishing control method, fire-extinguishing control device and fire-extinguishing control system for fire-fighting truck, and fire-fighting truck Download PDFInfo
- Publication number
- CN106563231A CN106563231A CN201610894670.1A CN201610894670A CN106563231A CN 106563231 A CN106563231 A CN 106563231A CN 201610894670 A CN201610894670 A CN 201610894670A CN 106563231 A CN106563231 A CN 106563231A
- Authority
- CN
- China
- Prior art keywords
- fire
- firing
- flame
- profile
- fighting medium
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A62C37/00—Control of fire-fighting equipment
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Fire-Detection Mechanisms (AREA)
Abstract
The invention discloses a fire-extinguishing control method, a fire-extinguishing control device and a fire-extinguishing control system for a fire-fighting truck, and the fire-fighting truck. The fire-extinguishing control method comprises the following steps: receiving a thermal imaging image of a fire-extinguishing scene during a fire-extinguishing process; and carrying out image identification according to the received thermal imaging image, analysing to obtain the flame core position of a flame in the fire-extinguishing scene and the position of a fire-extinguishing medium, comparing the flame core position with the position of the fire-extinguishing medium, and controlling a fire-extinguishing gun head to adjust the direction according to a comparison result to enable the position of the fire-extinguishing medium to be the same as the flame core position. The thermal imaging image of the fire-extinguishing scene is received during the fire-extinguishing process, the flame core position and the position of the fire-extinguishing medium are identified and enabled to be the same through adjusting the direction of the fire-extinguishing gun head, so as to realize the purpose that the fire-extinguishing medium accurately hits the flame core, thus the fire-extinguishing efficiency is greatly increased.
Description
Technical field
The present invention relates to fire fighting truck technical field, more particularly to a kind of fire extinguishing control method of fire fighting truck, control device and
Control system and fire fighting truck.
Background technology
In prior art, fire fighting truck fire extinguishing typically adopts following two modes：One is manually operated alternative, and concrete scheme is
Then fireman controls manually fire-fighting rule of thumb or according to the position for taking the thermal imaging instrument artificial judgment flame worn with oneself
Big gun or arm support are put out a fire.But scene typically has dense smog when being put out a fire due to fire fighting truck, and fireman is not readily apparent specifically
Catch fire object and ambient conditions, it is difficult to find the position that optimal spray angle is directed at flame, affect fire-fighting efficiency.Another kind is certainly
Flowing control method, concrete scheme is position of the fire fighting truck according to graphic images automatic decision flame, then by distance-finding method
Learn the distance between water cannon and flame, the direction of the blister that then calculates and control to put out a fire so that its water column for ejecting in the air
Fly and can just hit flame after a segment distance.This kind of method is sprayed water due to simply analyzing flame location towards flame, efficiency
Lifted not high；Secondly, actual fire-extinguishing location want by existing diastimeter be more difficult to get between fire extinguishing blister and flame away from
From blister of so putting out a fire also is difficult to accurately hit flame.
Therefore, the fire-fighting efficiency for how effectively lifting fire fighting truck is a problem demanding prompt solution.
The content of the invention
The present invention provides a kind of fire extinguishing control method of fire fighting truck, device, system and fire fighting truck, to effectively improve fire fighting truck
Fire-fighting efficiency.
To achieve these goals, the present invention provides a kind of fire extinguishing control method of fire fighting truck, and the method includes：Put out a fire
Cheng Zhong, receives the graphic images of fire extinguishing scene；Graphic images according to receiving carry out image recognition, and analysis draws described going out
The position of the flame core position of scene of a fire face Flame and the position of firing-fighting medium, the comparison flame core position and firing-fighting medium, root
According to comparative result fire-extinguishing gun head adjustment direction is controlled so that the position of firing-fighting medium is consistent with the flame core position.
Further, the method includes：Graphic images according to receiving carry out image recognition, and analysis draws the flame
Flame core profile and the firing-fighting medium profile, judge in both profile and the flame core profile of the firing-fighting medium
Whether person is located within another one, when judged result for it is no when, control fire-extinguishing gun head adjustment direction so that the firing-fighting medium
Profile is located within the flame core profile or the flame core profile is located within the profile of the firing-fighting medium.
To achieve these goals, the present invention provides the fire extinguishing control method of another kind of fire fighting truck, and the method includes：Fire extinguishing
During, receive the graphic images of fire extinguishing scene；Graphic images according to receiving carry out image recognition, and analysis draws described
The flame core position of fire extinguishing scene Flame and the position of firing-fighting medium, and the position of the flame core position and firing-fighting medium is defeated
Go out to display device.
Further, the method also includes：Graphic images according to receiving carry out image recognition, and analysis draws the fire
The flame core profile of flame and the profile of the firing-fighting medium, and by the profile of the firing-fighting medium and flame core profile output to institute
State in display device.
Correspondingly, the present invention provides a kind of fire control unit of fire fighting truck, and the control device includes：Receiver module, uses
In in fire extinguishing procedure, the graphic images of fire extinguishing scene are received；Analysis module, for being carried out according to the graphic images for receiving
Image recognition, analysis draws the flame core position of the fire extinguishing scene Flame and the position of firing-fighting medium；Compare control module,
For relatively more described flame core position and the position of firing-fighting medium, and fire-extinguishing gun head adjustment direction is controlled so as to go out according to comparative result
The position of fiery medium is consistent with the flame core position.
Further, the analysis module, is additionally operable to carry out image recognition according to the graphic images for receiving, and analysis draws
The flame core profile of the flame and the profile of the firing-fighting medium；It is described to compare control module, it is additionally operable to judge that the fire extinguishing is situated between
Whether one of both profile of matter and the flame core profile are located within another one, and when judged result is no, control is gone out
Gun firing head adjustment direction is so that the profile of the firing-fighting medium is located within the flame core profile or the flame core profile is located at institute
State within the profile of firing-fighting medium.
Correspondingly, the present invention provides the fire control unit of another kind of fire fighting truck, and the control device includes：Receiver module,
For in fire extinguishing procedure, receiving the graphic images of fire extinguishing scene；Analysis module, for being entered according to the graphic images for receiving
Row image recognition, analysis draws the flame core position of the fire extinguishing scene Flame and the position of firing-fighting medium；Control module, will
The position of the flame core position and firing-fighting medium is exported to display device.
Further, the analysis module, is additionally operable to carry out image recognition according to the graphic images for receiving, and analysis draws
The flame core profile of the flame and the profile of the firing-fighting medium；The control module, is additionally operable to the wheel of the firing-fighting medium
Wide and described flame core profile is exported in the display device.
Correspondingly, the present invention also provides a kind of extinguishment control system of fire fighting truck, and the extinguishment control system includes above-mentioned
A kind of fire control unit；And including the thermal imaging system and display device being connected with the fire control unit signal respectively.
Correspondingly, the present invention also provides a kind of fire fighting truck, and the fire fighting truck includes the extinguishment control system in such scheme.
By above-mentioned technical proposal, the position of the flame core by identifying flame, i.e., the object for catching fire accurately is identified,
And identify the position of firing-fighting medium, by the comparison to both, with the amendment fire-extinguishing gun head in real time during fire extinguishing
Direction, to be accurately directed at flame core ejecting extinguishing medium, so most can efficiently suppress fire spreading, greatly promote fire extinguishing effect
Rate.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of description, with following tool
Body embodiment is used to explain the present invention together, but does not constitute to the present invention.In the accompanying drawings：
The fire extinguishing control method schematic flow sheet of the fire fighting truck in one embodiment that Fig. 1 is provided for the present invention；
The fire extinguishing control method schematic flow sheet of the fire fighting truck in another embodiment that Fig. 2 is provided for the present invention；
The fire extinguishing control method schematic flow sheet of the fire fighting truck in a still further embodiment that Fig. 3 is provided for the present invention；
The fire extinguishing control method schematic flow sheet of the fire fighting truck in the further embodiment that Fig. 4 is provided for the present invention；
The structured flowchart of the fire control unit of fire fighting truck in one embodiment that Fig. 5 is provided for the present invention；
The structured flowchart of the fire control unit of fire fighting truck in another embodiment that Fig. 6 is provided for the present invention；
The structured flowchart of the extinguishment control system of the fire fighting truck that Fig. 7 is provided for the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, fire fighting truck fire extinguishing control method, the fire extinguishing control dress for the present invention being provided
Put, the specific embodiment of extinguishment control system and fire fighting truck is described in further detail.
On the one hand, the present invention provides a kind of fire extinguishing control method of fire fighting truck, referring to Fig. 1, fire extinguishing control method include with
Lower step：
Step S11：In fire extinguishing procedure, the graphic images of real-time reception fire extinguishing scene；
Step S12：Graphic images according to receiving carry out image recognition, and analysis draws the flame core of fire extinguishing scene Flame
Position and the position of firing-fighting medium, compare the position of the flame core position and firing-fighting medium, and according to comparative result fire-extinguishing gun is controlled
Head adjustment direction is so that the position of firing-fighting medium is consistent with the flame core position.
Fire fighting truck is put out a fire into the scene of a fire, is typically with manually operated alternative or the side of automatically controlling in prior art
Method, substantially hits flame, and fire extinguishing precision is not high.For this purpose, the fire extinguishing control method of the present invention is operated in during putting out a fire to going out
The direction of gun firing head is modified.
The graphic images of real-time reception fire extinguishing scene, can arrange thermal imaging shooting by the fire-extinguishing gun head of fire fighting truck
Head, its shooting direction and the first cause of fire-extinguishing gun, so with the graphic images of captured in real-time fire extinguishing scene and can transmit to fire-fighting
Vehicle controller, further with the graphic images, the position of fire-extinguishing gun head is adjusted, to correct big gun brilliance degree in real time so that going out
Fiery medium accurately can hit flame under smoke condition.
Realize efficiently putting out a fire, the important point is exactly that the water column or foam of injection will be directed at flame root (i.e.
Flame core), the flame root is regarded as the object that catches fire, the further burning of the object that so can prevent to catch fire, rapid control
The development of the intensity of a fire.Therefore the present inventor proposes that the graphic images to receiving carry out image recognition, analyzes fire extinguishing field
The flame core position and the position of firing-fighting medium of face Flame, whether the position for determining whether firing-fighting medium is directed at the position of flame core
Put, if both positions are different, by the position for adjusting fire-extinguishing gun head, so that firing-fighting medium can be directed at the position of flame core,
So that the efficiency of fire extinguishing is greatly improved.
Generally, flame includes successively outside in flame envelope, internal flame and flame core, and its temperature is correspondingly successively decreased successively, i.e., more leaned on
Nearly flame core temperature is lower, this is because flame core is burn incompletely and temperature is minimum, so, image is being carried out to graphic images
During identification, chromatographic analysiss can be carried out with accurate to the bulk temperature of the flame in graphic images with reference to the feature of flame temperature
Identify the position of flame core.Firing-fighting medium is generally water or foam, and its temperature is significantly less than flame temperature, so in fire
Also the position for being easy to analyze firing-fighting medium under flame background is come, and then both positions are compared, and is gone out with real-time adjustment
The direction of gun firing head.For example on the basis of the position of flame core, if knot is compared in the position of firing-fighting medium in the left side of flame core position
When being really that both positions are not consistent, then the direction for controlling fire-extinguishing gun head adjusts to the right, the position and flame until firing-fighting medium
The position of the heart is consistent.Certainly, if comparative result is that both position is consistent, the angle of fire-extinguishing gun head need not be adjusted
It is whole.
In existing autocontrol method, when being identified to graphic images, typically carry out point with reference to combustion characteristic
Analysis, even certain position temperature drift, then be identified as the position of flame, then ejecting extinguishing is carried out to flame, due to so going out
Fiery mode is the rough position for analyzing flame, and its fire-fighting efficiency is not high.And present invention fire extinguishing control method is adopted, lead to
The position for identifying flame core is crossed, i.e., accurately identifies the object for catching fire, and the amendment fire-extinguishing gun head in real time during fire extinguishing
Direction, to be accurately directed at flame core ejecting extinguishing medium, so most can efficiently suppress fire spreading, greatly promote fire extinguishing effect
Rate.Ground is understood, causes firing-fighting medium also can repair by the image recognition of thermal imaging when deviateing flame core when having wind or other factors
Just and control firing-fighting medium accurately hit is caught fire object.
Further, referring to Fig. 2, in the present embodiment, fire extinguishing control method also includes：
Step S13：Graphic images according to receiving carry out image recognition, analysis draw the flame core profile of the flame and
The profile of the firing-fighting medium, judges whether one of both profile and the flame core profile of the firing-fighting medium are located at another
Within one, when judged result is no, fire-extinguishing gun head adjustment direction is controlled so that the profile of the firing-fighting medium is positioned at described
Within flame core profile or the flame core profile be located at the firing-fighting medium profile within.
In order to further improve fire-fighting efficiency, make firing-fighting medium farthest cover the object that catches fire as far as possible, to heat into
When being identified as image, according to the demarcation line between Flame Temperature Distribution, it is easier to analyze flame core profile, while firing-fighting medium
During injection due to temperature be significantly lower than flame temperature, also can easily distinguish the shape contour of firing-fighting medium, to both profiles it
Between relation judged, the direction of fire-extinguishing gun head is adjusted according to judged result.Firing-fighting medium is set farthest to be covered with
Fiery object, point several situations, when the profile of firing-fighting medium is less than flame core profile, the profile of firing-fighting medium need to be located at flame core profile
Within；When the profile of firing-fighting medium is more than flame core profile, flame core profile need to be located within the profile of firing-fighting medium；When both take turns
When wide scope is identical, then both profiles are to overlap, it is believed that the profile of firing-fighting medium is located within flame core profile, also may be used
To think that flame core profile is located within the profile of firing-fighting medium.So, only when one profile be located at another one profile it
When interior, just can guarantee that firing-fighting medium is farthest injected in and catch fire on object.
Therefore when being judged, it is only necessary to judge one of both profile and flame core profile of firing-fighting medium whether position
Within another one, when judged result is to be, shows that firing-fighting medium is farthest injected in and catch fire on object, no
Need the position for adjusting fire-extinguishing gun head.Conversely, when judged result is no, showing that firing-fighting medium is that a part is injected in
On fiery object, in addition it is also necessary to adjust the position of fire-extinguishing gun head, the profile for making firing-fighting medium is located within flame core profile or flame core profile
Within the profile of firing-fighting medium, firing-fighting medium can be just set accurately to hit the object that catches fire.
In the present embodiment, control method of putting out a fire can also be included the position and/or flame of flame core position and firing-fighting medium
The profile of heart profile and firing-fighting medium is exported on the display apparatus.Fireman can be so allowed to understand fire extinguishing situation in real time, so as to
Fireman controls whole scene of a fire situation.
On the other hand, the present invention also provides a kind of fire extinguishing control method of fire fighting truck, and referring to Fig. 3, the method includes following
Step：
Step S21：In fire extinguishing procedure, the graphic images of real-time reception fire extinguishing scene；
Step S22：Graphic images according to receiving carry out image recognition, and analysis draws the fire extinguishing scene Flame
Flame core position and the position of firing-fighting medium, and the position of the flame core position and firing-fighting medium is exported to display device.
Because site environment is complex, the direction of sometimes fireman oneself control fire-extinguishing gun head carries out extinguishing operation.
In this case, graphic images are identified, it is only necessary to identify the position of flame core position and firing-fighting medium, and incite somebody to action both
Position export to display device, such fireman oneself by manipulation fire-extinguishing gun head direction, find display device
When upper both position is inconsistent, the direction of fire-extinguishing gun head can be adjusted so that both positions are consistent, so that fire extinguishing is situated between
Matter aims at the object that catches fire and is put out a fire.
It is to be understood that the embodiment that the present invention is provided is human assistance extinguishing method, and enforcement provided above
Example is autocontrol method, and both control modes are different, but its core concept is just as, i.e., by identifying flame core
Position and the position of firing-fighting medium, and control the flame core that fire-extinguishing gun head hits flame, that is, the object for catching fire, to greatly promote fire extinguishing
Efficiency.
In the control system of fire fighting truck, automatic control mode and human assistance mould can be set on human-computer interaction interface
The option of formula, is selected by fireman according to the practical situation in the scene of a fire, if selecting automatic control mode, by provided above
Fire extinguishing control method shown in embodiment is performed, if selecting human assistance pattern, the fire extinguishing control method shown in example is applied as this
Perform.
Further, referring to Fig. 4, in the present embodiment, fire extinguishing control method also includes：
Step S23：Graphic images according to receiving carry out image recognition, analysis draw the flame core profile of the flame and
The profile of the firing-fighting medium, and the profile of the firing-fighting medium and the flame core profile are exported in the display device.
As described above, in order to further improve fire-fighting efficiency, firing-fighting medium need to be as far as possible made farthest to be covered with
Fiery object.When graphic images are identified, according to the demarcation line between Flame Temperature Distribution, can be easier to analyze flame core
Profile, while also can easily distinguish the shape of firing-fighting medium because temperature is significantly lower than flame temperature when firing-fighting medium sprays
Profile, both profiles are exported to display device, allow fireman according to the relation between both profiles, and adjustment in time is gone out
The direction of gun firing head, so as to firing-fighting medium is at utmost injected in catch fire on object.
When display device shows, can with using various suitable modes, such as the sake of clarity, can be with flame it is true
Solid color highlights out the profile of flame core, and the position of flame core then can be labeled on the centre position of profile, and puts out a fire and be situated between
Matter can highlight out its profile with the color of water, and the position of firing-fighting medium can also select the interposition for being labeled in its profile
Put.
In the selection of firing-fighting medium, it may be preferable that firing-fighting medium selects to be foam.To foam fire-fighting, foam fire-fighting principle
It is that foam coverage to catch fire on thing prevented with starvation to burn, in the embodiment and embodiment provided above, makes foam
Accurate alignment flame core then can be prevented quickly to catch fire the burning away of object, and make fire-fighting efficiency higher.
Correspondingly, on the one hand, the present invention provides a kind of fire fighting truck fire control unit 10, referring to Fig. 5, the control device 10
Including：
Receiver module 11：For in fire extinguishing procedure, real-time reception is put out a fire the graphic images of scene；
Analysis module 12：For carrying out image recognition according to the graphic images for receiving, analysis draws fire extinguishing scene moderate heat
The flame core position and the position of firing-fighting medium of flame；
Compare control module 13：For comparing the position of the flame core position and firing-fighting medium, gone out according to comparative result control
Gun firing head adjustment direction is so that the position of firing-fighting medium is consistent with the flame core position.
In the control device 10, analysis module 12 can identify the position of flame core position and firing-fighting medium, compare control
Module 13 can in real time correct the direction of fire-extinguishing gun head during fire extinguishing, so that firing-fighting medium accurately hits flame core, this
Sample most can efficiently suppress fire spreading, greatly promote fire-fighting efficiency.
Further, in the control device 10, analysis module 12 is additionally operable to carry out image knowledge according to the graphic images for receiving
Not, analysis draws the flame core profile of the flame and the profile of the firing-fighting medium；Relatively control module 13, is additionally operable to judgement and goes out
Whether one of both profile and flame core profile of fiery medium are located within another one, and when judged result is no, control is gone out
Gun firing head adjustment direction is so that the profile of the firing-fighting medium is located within the flame core profile or the flame core profile is located at institute
State within the profile of firing-fighting medium.
In the control device 10, analysis module 12 can further analyze the profile of flame core profile and firing-fighting medium, than
Compared with control module 13 by comparing the relation between both profiles, the profile that can control one of both is located at the profile of another one
Within the scope of, can so control firing-fighting medium and at utmost cover flame core, so that it is guaranteed that effective lifting of fire-fighting efficiency
Further, in the control device 10, compare control module 13, be additionally operable to the position by flame core position and firing-fighting medium
The just profile of firing-fighting medium and the output of flame core profile are exported to display device 40 and/or are additionally operable to the display device 40
On.
By by the position of flame core position and firing-fighting medium, and/or the profile and flame core profile of firing-fighting medium is exported to aobvious
Showing device, can make fireman understand the practical situation of fire-extinguishing location in real time, to make favorable decisions to the rescue in the scene of a fire.
Correspondingly, on the other hand, the present invention provides a kind of fire fighting truck fire control unit 20, and the control device 20 includes：
Receiver module 21, in fire extinguishing procedure, receiving the graphic images of fire extinguishing scene；
Analysis module 22, for carrying out image recognition according to the graphic images for receiving, analysis draws the fire extinguishing scene
The flame core position and the position of firing-fighting medium of Flame；
Control module 23, the position of the flame core position and firing-fighting medium is exported to display device.
In the control device 20, analysis module 22 can identify the position of flame core position and firing-fighting medium, control module
23 export the position of flame core position and firing-fighting medium to display device 40, so need fireman's human assistance to put out a fire at some
In the case of, fireman can know the position of flame core position and firing-fighting medium by display device, it is possible to very fast to judge both
Position it is whether variant, such as both inconsistent directions that fire-extinguishing gun head can be in real time corrected during fire extinguishing in position, with
Make firing-fighting medium accurately hit flame core, so most can efficiently suppress fire spreading, greatly promote fire-fighting efficiency.
Further, in the control device 20, analysis module 22 is additionally operable to carry out image knowledge according to the graphic images for receiving
Not, analysis draws the flame core profile of the flame and the profile of the firing-fighting medium；Control module 23, is additionally operable to firing-fighting medium
Profile and flame core profile export in the display device.
In the control device 20, analysis module 22 can further analyze the profile of flame core profile and firing-fighting medium, control
Molding block 23 exports the profile of firing-fighting medium and flame core profile in display device 40, and such fireman is taken turns by comparing both
Relation between exterior feature, can manipulate the direction of fire-extinguishing gun head, and the profile for making one of both is located within the profile of another one,
Firing-fighting medium can so be controlled and at utmost cover flame core, so that it is guaranteed that effective lifting of fire-fighting efficiency
Correspondingly, the present invention provides a kind of extinguishment control system 1 of fire fighting truck, and the control system 1 includes foregoing embodiments
There is provided in any one fire control unit 10 (or fire control unit 20), and also including respectively with fire control unit 10
The thermal imaging system 30 and display device 40 of (or fire control unit 20) signal connection.
The graphic images of scene of being put out a fire by the Real-time Collection of thermal imaging system 30, and the graphic images are transmitted to fire extinguishing
Control device 10 (or fire control unit 20) so that fire control unit 10 (or fire control unit 20) can be to warm into figure
As being analyzed identification, to identify the flame core position of fire extinguishing scene Flame, and the position of firing-fighting medium, such that it is able to logical
The position for crossing control firing-fighting medium is consistent with the position of flame core, and makes firing-fighting medium accurately hit the object that catches fire.The fire extinguishing
The further feature and advantage of control system are corresponding with aforesaid fire extinguishing control method, will not be described here.
Correspondingly, the present invention provides a kind of fire fighting truck, including the extinguishment control system 1 of the fire fighting truck in above-described embodiment,
The effect and detail of fire fighting truck are corresponding with fire extinguishing control method above and fire control unit, will not be described here.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. the fire extinguishing control method of a kind of fire fighting truck, it is characterised in that the method includes：
In fire extinguishing procedure, the graphic images of fire extinguishing scene are received；
Graphic images according to receiving carry out image recognition, analysis draw the flame core position of the fire extinguishing scene Flame and
The position of the position of firing-fighting medium, the comparison flame core position and firing-fighting medium, according to comparative result the adjustment of fire-extinguishing gun head is controlled
Direction is so that the position of firing-fighting medium is consistent with the flame core position.
2. the fire extinguishing control method as shown in claim 1, it is characterised in that the method also includes：
Graphic images according to receiving carry out image recognition, and analysis draws the flame core profile and the firing-fighting medium of the flame
Profile, judge that whether one of both profile and the flame core profile of the firing-fighting medium is located within another one, when
When judged result is no, fire-extinguishing gun head adjustment direction is controlled so that the profile of the firing-fighting medium is located within the flame core profile
Or the flame core profile is located within the profile of the firing-fighting medium.
3. the fire extinguishing control method of a kind of fire fighting truck, it is characterised in that the method includes：
In fire extinguishing procedure, the graphic images of fire extinguishing scene are received；
Graphic images according to receiving carry out image recognition, analysis draw the flame core position of the fire extinguishing scene Flame and
The position of firing-fighting medium, and the position of the flame core position and firing-fighting medium is exported to display device.
4. fire extinguishing control method as stated in claim 3, it is characterised in that the method also includes：
Graphic images according to receiving carry out image recognition, and analysis draws the flame core profile and the firing-fighting medium of the flame
Profile, and the profile of the firing-fighting medium and the flame core profile are exported in the display device.
5. a kind of fire control unit of fire fighting truck, it is characterised in that the control device includes：
Receiver module, in fire extinguishing procedure, receiving the graphic images of fire extinguishing scene；
Analysis module, for carrying out image recognition according to the graphic images for receiving, analysis draws the fire extinguishing scene Flame
Flame core position and firing-fighting medium position；
Relatively control module, for relatively more described flame core position and the position of firing-fighting medium, and puts out a fire according to comparative result control
Big gun head adjustment direction is so that the position of firing-fighting medium is consistent with the flame core position.
6. fire control unit as stated in claim 5, it is characterised in that
The analysis module, is additionally operable to carry out image recognition according to the graphic images for receiving, and analysis draws the flame of the flame
The profile of heart profile and the firing-fighting medium；
It is described to compare control module, it is additionally operable to judge that one of both profile of the firing-fighting medium and the flame core profile are
It is no within another one, when judged result for it is no when, control fire-extinguishing gun head adjustment direction so that the profile of the firing-fighting medium
Within the flame core profile or the flame core profile be located at the firing-fighting medium profile within.
7. a kind of fire control unit of fire fighting truck, it is characterised in that the control device includes：
Receiver module, in fire extinguishing procedure, receiving the graphic images of fire extinguishing scene；
Analysis module, for carrying out image recognition according to the graphic images for receiving, analysis draws the fire extinguishing scene Flame
Flame core position and firing-fighting medium position；
Control module, the position of the flame core position and firing-fighting medium is exported to display device.
8. the fire control unit as shown in claim 7, it is characterised in that
The analysis module, is additionally operable to carry out image recognition according to the graphic images for receiving, and analysis draws the flame of the flame
The profile of heart profile and the firing-fighting medium；
The control module, is additionally operable to the profile of the firing-fighting medium and flame core profile output to the display device
On.
9. a kind of extinguishment control system of fire fighting truck, it is characterised in that the extinguishment control system includes：
Fire control unit as described in any one of claim 5-8；
The thermal imaging system being connected with the fire control unit signal respectively and display device.
10. a kind of fire fighting truck, it is characterised in that include the extinguishment control system as shown in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610894670.1A CN106563231B (en) | 2016-10-13 | 2016-10-13 | Fire extinguishing control method, control device, control system and the fire fighting truck of fire fighting truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610894670.1A CN106563231B (en) | 2016-10-13 | 2016-10-13 | Fire extinguishing control method, control device, control system and the fire fighting truck of fire fighting truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106563231A true CN106563231A (en) | 2017-04-19 |
| CN106563231B CN106563231B (en) | 2019-06-04 |
Family
ID=58532087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610894670.1A Active CN106563231B (en) | 2016-10-13 | 2016-10-13 | Fire extinguishing control method, control device, control system and the fire fighting truck of fire fighting truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106563231B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109331389A (en) * | 2018-11-12 | 2019-02-15 | 重庆知遨科技有限公司 | A kind of fire-fighting robot movement method of real-time based on Multi-sensor Fusion |
| CN109464766A (en) * | 2018-09-14 | 2019-03-15 | 广州市华科尔科技股份有限公司 | A kind of fire-fighting method of fire-fighting unmanned plane |
| CN109876345A (en) * | 2019-03-05 | 2019-06-14 | 华北科技学院 | A kind of intelligent fire fighting method and firefighting robot |
| CN110487325A (en) * | 2019-07-02 | 2019-11-22 | 上海鲲哥无人机科技有限公司 | The control method and system of fire-fighting fire extinguishing platform based on aircraft |
| CN115228027A (en) * | 2022-04-29 | 2022-10-25 | 三一汽车制造有限公司 | Fire control method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1151977A1 (en) * | 2000-05-02 | 2001-11-07 | Nederlandse Organisatie voor toegepast-natuurwetenschappelijk Onderzoek TNO | Process for generating a gas for providing energy |
| CN101574567A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Computer vision technique based method and system for detecting and extinguishing fire disaster intelligently |
| CN101814133A (en) * | 2009-12-04 | 2010-08-25 | 四川川大智胜软件股份有限公司 | Intelligent flame detector based on computer vision monitoring technology |
| CN103055458A (en) * | 2012-12-26 | 2013-04-24 | 北京八方瑞达科技股份有限公司 | Automatically tracking and positioning jet extinguishing device and method |
| CN104436501A (en) * | 2014-12-15 | 2015-03-25 | 中国科学技术大学 | Fire extinguishing control method, device and system based on fire monitor technology |
| CN204952024U (en) * | 2015-08-21 | 2016-01-13 | 河南联纵消防科技有限公司 | Automatic track location fire water monitor |
-
2016
- 2016-10-13 CN CN201610894670.1A patent/CN106563231B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1151977A1 (en) * | 2000-05-02 | 2001-11-07 | Nederlandse Organisatie voor toegepast-natuurwetenschappelijk Onderzoek TNO | Process for generating a gas for providing energy |
| CN101574567A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Computer vision technique based method and system for detecting and extinguishing fire disaster intelligently |
| CN101814133A (en) * | 2009-12-04 | 2010-08-25 | 四川川大智胜软件股份有限公司 | Intelligent flame detector based on computer vision monitoring technology |
| CN103055458A (en) * | 2012-12-26 | 2013-04-24 | 北京八方瑞达科技股份有限公司 | Automatically tracking and positioning jet extinguishing device and method |
| CN104436501A (en) * | 2014-12-15 | 2015-03-25 | 中国科学技术大学 | Fire extinguishing control method, device and system based on fire monitor technology |
| CN204952024U (en) * | 2015-08-21 | 2016-01-13 | 河南联纵消防科技有限公司 | Automatic track location fire water monitor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109464766A (en) * | 2018-09-14 | 2019-03-15 | 广州市华科尔科技股份有限公司 | A kind of fire-fighting method of fire-fighting unmanned plane |
| CN109331389A (en) * | 2018-11-12 | 2019-02-15 | 重庆知遨科技有限公司 | A kind of fire-fighting robot movement method of real-time based on Multi-sensor Fusion |
| CN109876345A (en) * | 2019-03-05 | 2019-06-14 | 华北科技学院 | A kind of intelligent fire fighting method and firefighting robot |
| CN110487325A (en) * | 2019-07-02 | 2019-11-22 | 上海鲲哥无人机科技有限公司 | The control method and system of fire-fighting fire extinguishing platform based on aircraft |
| CN115228027A (en) * | 2022-04-29 | 2022-10-25 | 三一汽车制造有限公司 | Fire control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106563231B (en) | 2019-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106563231A (en) | Fire-extinguishing control method, fire-extinguishing control device and fire-extinguishing control system for fire-fighting truck, and fire-fighting truck | |
| CN111111074B (en) | Fire extinguishing scheduling method and system for power tunnel fire-fighting robot | |
| CN106443387B (en) | A kind of method, apparatus and system controlling crusing robot Partial Discharge Detection | |
| US10520387B2 (en) | Gas leakage treatment method and aerial vehicle | |
| CN110837822B (en) | Fire-fighting robot injection curve adjusting method and device based on multi-view vision | |
| CN106710128A (en) | Fire alarm early-warning unmanned aerial vehicle | |
| CN106843240A (en) | System is coordinated by fire prevention robot and multimachine based on intelligent video | |
| CN107050724B (en) | A kind of full filed fire behavior detection artificial intelligence fire extinguishing system and method | |
| CN113813527A (en) | Accurate fire fighting device and method for marine unmanned fire fighting truck | |
| JP4266535B2 (en) | Black smoke detection system | |
| CN108545208A (en) | A kind of inspection unmanned plane, controller and control method | |
| CN104253944B (en) | Voice command based on sight connection assigns apparatus and method | |
| CN206788648U (en) | System is coordinated by fire prevention robot and multimachine based on intelligent video | |
| CN110989599B (en) | Autonomous operation control method and system for fire-fighting robot of transformer substation | |
| CN104061910A (en) | Forest burning point positioning method based on GPS receiver and two cameras | |
| CN106313085A (en) | Robot system using a vision sensor | |
| CN116071708A (en) | Image recognition analysis method for fire risk security protection | |
| KR102059767B1 (en) | impact point extraction method of shooting system with bullet ball pellet | |
| CN106818416A (en) | A kind of monitoring system of the liquid manure one drip irrigation technique based on Internet of Things | |
| CN107651187A (en) | A kind of fire-fighting unmanned plane that fire is made with fire | |
| CN110538412B (en) | Data information acquisition system and data information acquisition method for fire hydrant fire extinguishing system | |
| CN114870294B (en) | Lithium ion battery fire extinguishing method and system based on image recognition | |
| KR20130126300A (en) | Forest fire detection system and forest fire detection method using the same, and aerial robot for forest fire detection | |
| CN107592418A (en) | Method for turning on flashlight of mobile terminal and mobile terminal | |
| CN110314320A (en) | A kind of intelligence dry-chemical fire extinguishing control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co.,Ltd. Address before: No.997 Jinxing Road, Wangcheng District, Changsha City, Hunan Province Patentee before: Changsha Zhonglian Fire-Fighting Machinery Co.,Ltd. |
|
| CP03 | Change of name, title or address |