CN108714279A - A kind of extinguishing method, device, system and a kind of storage medium of the fire-fighting ships and light boats based on automatic Pilot waterborne - Google Patents
A kind of extinguishing method, device, system and a kind of storage medium of the fire-fighting ships and light boats based on automatic Pilot waterborne Download PDFInfo
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- CN108714279A CN108714279A CN201810517615.XA CN201810517615A CN108714279A CN 108714279 A CN108714279 A CN 108714279A CN 201810517615 A CN201810517615 A CN 201810517615A CN 108714279 A CN108714279 A CN 108714279A
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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
- A62C3/07—Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles
- A62C3/10—Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles in ships
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention belongs to unmanned, fire-fighting technique fields waterborne, provide a kind of extinguishing method, device, system and a kind of storage medium of the fire-fighting ships and light boats based on automatic Pilot waterborne.Wherein, the extinguishing method of fire-fighting ships and light boats based on automatic Pilot waterborne, it is travelled to specified course and specified fire extinguishing region by controlling fire-fighting ships and light boats, and search for point of origin by controlling infrared thermography, to obtain the thermal imaging data output of point of origin, and then it is locked by point of origin and judges locking point of origin, and then the thermal imaging data by receiving point of origin, and then according to thermal imaging data, calculate distance of the point of origin with respect to fire-fighting ships and light boats, orientation and height, to obtain target of putting out a fire, and then by controlling fire extinguishing system to fire extinguishing target ejecting extinguishing material fire extinguishing, to realize automatic running and the self-extinguishing of fire-fighting ships and light boats.
Description
Technical field
The invention belongs to automatic Pilot waterborne, fire-fighting technique field more particularly to a kind of disappearing based on automatic Pilot waterborne
Extinguishing method, device, system and a kind of storage medium of anti-ships and light boats.
Background technology
In the prior art, the driving intelligent degree of fire-fighting ships and light boats is low, and driver is needed to complete, for example, working as fire-fighting ships and light boats
When needing to drive towards specified course with specified fire extinguishing region, driver is needed to carry out whole-process control, it is not only cumbersome, and because driving
The individual difference of experience and skill is sailed, the stability that fire-fighting ships and light boats drive is also uncontrollable.
In addition, after reaching specified fire extinguishing region, it is also necessary to which manual control is put out a fire, and not only fire-fighting efficiency is low, but also the behaviour that puts out a fire
Make cumbersome.
In addition, to ensure fire extinguishing personnel safety, some are not suitable for the special offshore environment of manual control fire extinguishing, existing to disappear
Anti- ships and light boats can not be completed.
Therefore, it is necessary to provide corresponding technical solution to solve above-mentioned technical problem.
Invention content
It is an object of the present invention to provide a kind of extinguishing methods of the fire-fighting ships and light boats based on automatic Pilot waterborne, with solution
The technical problem that certainly existing fire-fighting ships and light boats drive and the intelligence of fire extinguishing is low.
A kind of extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne, includes the following steps：
Control fire-fighting ships and light boats are travelled to specified course；
Control fire-fighting ships and light boats are travelled to specified fire extinguishing region；
Receive the course signal in the current course of characterization fire-fighting ships and light boats；
Receive the position signal of the current location of characterization fire-fighting ships and light boats；
Judge whether the current course and the specified course are consistent；
If consistent, judge whether the current location is located at the specified fire extinguishing region；
If being located at, control infrared thermography searches for point of origin；
Judge whether the infrared thermography locks point of origin；
If locking, receives the thermal imaging data of the point of origin；
According to the thermal imaging data, distance, orientation and height of the point of origin with respect to fire-fighting ships and light boats are calculated, to obtain
Fire extinguishing target；
Control fire extinguishing system is put out a fire to the fire extinguishing target ejecting extinguishing material.
Accordingly, another object of the present invention, which also resides in, provides a kind of going out for fire-fighting ships and light boats based on automatic Pilot waterborne
Fiery device, to solve the technical problem that existing fire-fighting ships and light boats drive and the intelligence of fire extinguishing is low.
A kind of extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne, including：
Heading control unit, control fire-fighting ships and light boats are travelled to specified course；
Fire extinguishing region travels control unit, and control fire-fighting ships and light boats are travelled to specified fire extinguishing region；
Course receiving unit receives the course signal in the current course of characterization fire-fighting ships and light boats；
Position receiving unit receives the position signal of the current location of characterization fire-fighting ships and light boats；
Course judging unit judges whether the current course and the specified course are consistent；
Location determination unit is worked as according to the current course judging result consistent with the specified course described in judgement
Whether front position is located at the specified fire extinguishing region；
Point of origin search unit, the judging result in the specified fire extinguishing region is located at according to the current location, and control is red
Outer thermal imaging system searches for point of origin；
Point of origin locks judging unit, judges whether the infrared thermography locks point of origin；
Thermal imaging data receipt unit locks the judging result of point of origin according to the infrared thermography, described in reception
The thermal imaging data of point of origin；
Put out a fire target computing unit, according to the thermal imaging data, calculate the point of origin with respect to fire-fighting ships and light boats distance,
Orientation and height, to obtain fire extinguishing target；
Fire extinguishing control unit, control fire extinguishing system are put out a fire to the fire extinguishing target ejecting extinguishing material.
With improvement, another object of the present invention, which also resides in, provides a kind of fire extinguishing of the fire-fighting ships and light boats based on automatic Pilot waterborne
Method, to realize automatic decision water surface movable object and be avoided to it, to improve driving safety.
The extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne further includes：
Speed signal of the characterization mobile object close to fire-fighting ships and light boats speed degree is received, and receives the characterization mobile object
The direction signal of moving direction；
The mobile object is calculated apart from the opposite of fire-fighting ships and light boats according to the speed signal and the direction signal
Distance；
Judge whether the relative distance is more than preset safety close to distance；
If so, the current course of adjustment fire-fighting ships and light boats, to avoid the mobile object.
Accordingly, another object of the present invention, which also resides in, provides a kind of fire extinguishing of the fire-fighting ships and light boats based on automatic Pilot waterborne
Device, to realize automatic decision water surface movable object and be avoided to it, to improve driving safety.
The extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne further includes：
Directional velocity receiving unit receives speed signal of the characterization mobile object close to fire-fighting ships and light boats speed degree, and connects
Receive the direction signal for characterizing the mobile object moving direction；
Metrics calculation unit is calculated the mobile object distance according to the speed signal and the direction signal and disappears
The relative distance of anti-ships and light boats；
Distance Judgment unit judges whether the relative distance is more than preset safety close to distance；
Adjustment unit is avoided, is more than judging result of the preset safety close to distance according to the relative distance, adjustment disappears
The current course of anti-ships and light boats, to avoid the mobile object.
In addition, another object of the present invention, which also resides in, provides a kind of storage medium, computer instruction, the computer are stored
Instruction is when running on a processor, the step of can perform the extinguishing method of the above-mentioned fire-fighting ships and light boats based on automatic Pilot waterborne.
In addition, another object of the present invention, which also resides in, provides a kind of fire extinguishing system of the fire-fighting ships and light boats based on automatic Pilot waterborne
System, including：Fire-fighting ships and light boats ontology, computer, GPS device, infrared thermography, fire extinguishing system and radar；The computer includes
The extinguishing device of the above-mentioned fire-fighting ships and light boats based on automatic Pilot waterborne；
The computer, the GPS device, the fire extinguishing system, the infrared thermography, the fire extinguishing system and institute
Radar is stated to be separately mounted on the fire-fighting ships and light boats ontology；
The GPS device, current course and current location for obtaining fire-fighting ships and light boats, and export the characterization current boat
To course signal and characterize the position signal of the current location；
The infrared thermography, for searching for point of origin, the thermal imaging data to obtain point of origin export；
The fire extinguishing system is put out a fire for ejecting extinguishing material.
The radar, for sensing mobile object close to the speed degree of fire-fighting ships and light boats and the mobile side of the mobile object
To, and export the speed signal for characterizing speed degree of the mobile object close to fire-fighting ships and light boats and characterize the mobile object and move
The direction signal in dynamic direction.
The extinguishing method of fire-fighting ships and light boats provided by the invention based on automatic Pilot waterborne, by controlling fire-fighting ships and light boats to finger
Vectoring and specified fire extinguishing region traveling, and point of origin is searched for by controlling infrared thermography, with obtain the heat of point of origin at
It as data output, and then is locked by point of origin and judges locking point of origin, and then the thermal imaging data by receiving point of origin, into
And according to thermal imaging data, distance, orientation and height of the point of origin with respect to fire-fighting ships and light boats are calculated, to obtain fire extinguishing target, in turn
By controlling fire extinguishing system to fire extinguishing target ejecting extinguishing material fire extinguishing, to realize the automatic running of fire-fighting ships and light boats and go out automatically
Fire.
Description of the drawings
Fig. 1 is a kind of flow of the extinguishing method for fire-fighting ships and light boats based on automatic Pilot waterborne that the embodiment of the present disclosure provides
Figure；
Fig. 2 is the office of the extinguishing method for another fire-fighting ships and light boats based on automatic Pilot waterborne that the embodiment of the present disclosure provides
Portion's flow chart；
Fig. 3 is the device framework map of the extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne in corresponding diagram 1；
Fig. 4 is the device framework map of the extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne in corresponding diagram 2；
Fig. 5 is the system architecture of the fire extinguishing system for the fire-fighting ships and light boats based on automatic Pilot waterborne that the embodiment of the present disclosure provides
Figure.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, embodiment of the present disclosure one side is designed to provide a kind of fire boat based on automatic Pilot waterborne
The extinguishing method of ship, to solve the low technical problem of existing fire-fighting ships and light boats driving intelligentization.
A kind of extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne, including step：S0,S1,S2,S3,S4,S5,
S6, T0, T1, T2 and T3.
On the one hand, step S0：Control fire-fighting ships and light boats are travelled to specified course.
Step S1：Control fire-fighting ships and light boats are travelled to specified fire extinguishing region.
It should be noted that fire-fighting ships and light boats can encourage and put out a fire in response to bearing indication, region instruction is encouraged to specified boat
It is travelled to specified fire extinguishing region.Wherein, course and specified fire extinguishing region is specified to can reside in local map data base waterborne
In, it can also exist in the map data base waterborne by the remote server of network connection.
On the other hand, step S2：Receive the course signal in the current course of characterization fire-fighting ships and light boats.
Step S3：Receive the position signal of the current location of characterization fire-fighting ships and light boats.
It should be noted that current course and the present bit of fire-fighting ships and light boats can in real time be obtained by means such as GPS positionings
It sets.
In addition, current course may be consistent with specified course and specified fire extinguishing region respectively with current location, may differ
It causes.When current location is consistent with specified fire extinguishing region, illustrate that fire-fighting ships and light boats have arrived at specified fire extinguishing region.Current course and finger
When vectoring is consistent, illustrate fire-fighting ships and light boats without departing from course.
On the other hand, step S4：Judge whether current course is consistent with specified course.If inconsistent, S0 is thened follow the steps,
If consistent, S5 is thened follow the steps.
It should be noted that can be by the current course of the fire-fighting ships and light boats obtained in real time by means such as GPS positionings and water
Specified course in upper map data base carries out comparison judgement, to obtain corresponding comparison result to execute corresponding step.
It should be noted that if current course and specified course are inconsistent, illustrate fire-fighting ships and light boats off-course, need
The course of fire-fighting ships and light boats is adjusted to specified course.
On the other hand, step S5：Judge whether current location is located at specified fire extinguishing region.If not being located at, then follow the steps
S1 thens follow the steps S6 if being located at.
It should be noted that can be by the current location of the fire-fighting ships and light boats obtained in real time by means such as GPS positionings and water
Specified boat fire extinguishing region in upper map data base carries out comparison judgement, corresponding to execute to obtain corresponding comparison result
Step.
On the other hand, step S6：It controls infrared thermography and searches for point of origin.
It should be noted that when control infrared thermography search point of origin, can be appointed by controlling infrared thermography
Meaning angle searching point of origin, once searching point of origin, infrared thermography can carry out thermal imaging to point of origin, to obtain
The supplemental characteristic of point of origin.
On the other hand, step T0：Judge whether infrared thermography locks point of origin.If locking executes step T1.If not
Locking executes step S6.
It should be noted that infrared thermography searches point of origin, and after obtaining the supplemental characteristic of point of origin, can send
Go out point of origin parameter data signal, therefore, the conduct of point of origin parameter data signal can be received and judge that infrared thermography is
The foundation of no locking point of origin.
State when obtaining the supplemental characteristic of point of origin alternatively, it is also possible to infrared thermography, which is used as, judges infrared thermal imaging
Whether instrument locks the foundation of point of origin.
On the other hand, step T1：Receive the thermal imaging data of point of origin.
It should be noted that the thermal imaging data of point of origin can reflect distance, orientation, height and the intensity of a fire of point of origin
Etc. parameters.
On the other hand, step T2：According to thermal imaging data, distance, orientation and height of the point of origin with respect to fire-fighting ships and light boats are calculated
Degree, to obtain fire extinguishing target.
It should be noted that obtain point of origin thermal imaging data after, in conjunction with fire-fighting ships and light boats with respect to point of origin distance,
The parameters such as orientation and height, can accurately calculate fire location, to obtain fire extinguishing target.
On the other hand, step T3：Fire extinguishing system is controlled to fire extinguishing target ejecting extinguishing material fire extinguishing.
Blanket explanation, automatic running, the self-extinguishing on the water of fire-fighting ships and light boats are needed, therefore is adapted to some and compares
Harsh offshore environment avoids fire extinguishing personnel from going through dangers.
Referring to Fig. 1-2, with improvement, it is contemplated that fire-fighting ships and light boats automatic running on the water, it is understood that there may be mobile object is leaned on to it
Closely, in order to enhance the safety of fire-fighting ships and light boats automatic Pilot, the another aspect of the embodiment of the present disclosure is designed to provide another kind
The extinguishing method of fire-fighting ships and light boats based on automatic Pilot waterborne, including step：S0,S1,S2,S3,S4,S5,S6,T0,T1,T2,
T3, S8, S9, S10 and S11.
It should be noted that Fig. 2 shows the extinguishing methods of the fire-fighting ships and light boats based on automatic Pilot waterborne be to be shown in Fig. 1
The fire-fighting ships and light boats based on automatic Pilot waterborne extinguishing method on the basis of the improvement that carries out, therefore, Fig. 2 only shows improvement portion
The method and step divided.In the following, being illustrated to the method and step of improvement part in conjunction with Fig. 2.
Referring to Fig. 2, on the one hand, step S8：Speed signal of the characterization mobile object close to fire-fighting ships and light boats speed degree is received,
And receive the direction signal of characterization mobile object moving direction.
It should be noted that mobile object can be obtained by radar monitoring technology close to fire-fighting ships and light boats speed degree and shifting
The moving direction of animal body.
In addition, since mobile object is being moved with fire-fighting ships and light boats, mobile object is close to fire-fighting ships and light boats speed degree
It is a relative quantity.
On the other hand, step S9：Mobile object is calculated apart from fire-fighting ships and light boats according to speed signal and direction signal
Relative distance.
It should be noted that since mobile object is being moved with fire-fighting ships and light boats, mobile object is close to fire-fighting ships and light boats
Speed degree is a relative quantity, so, multiplying can be carried out with close to the time by the relative quantity, to be calculated
Relative distance of the mobile object apart from fire-fighting ships and light boats.
On the other hand, step S10：Judge whether relative distance is more than preset safety close to distance.If so, executing step
Rapid S11.Further, if it is not, thening follow the steps S0.
Wherein, step S11：The current course for adjusting fire-fighting ships and light boats, to avoid mobile object.
On the other hand, referring to Fig. 3, the purpose of the another aspect of the embodiment of the present disclosure also resides in offer one kind based on waterborne automatic
The extinguishing device of the fire-fighting ships and light boats of driving, to solve the low technical problem of existing fire-fighting ships and light boats driving intelligentization.
The extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne, including：Heading control unit U0, fire extinguishing area row
Sail control unit U1, course receiving unit U2, position receiving unit U3, course judging unit U4, position judgment unit U5, on fire
Point search unit U6, point of origin locking judging unit B0, thermal imaging data receipt unit B1, fire extinguishing target computing unit B2 and
Control unit of putting out a fire B3.
On the one hand, Heading control unit U0 and fire extinguishing region travel control unit U1, be respectively used to control fire-fighting ships and light boats to
Specified course and specified fire extinguishing region traveling.
It should be noted that fire-fighting ships and light boats can encourage and put out a fire in response to bearing indication, region instruction is encouraged to specified boat
It is travelled to specified fire extinguishing region.Wherein, course and specified fire extinguishing region is specified to can reside in local map data base waterborne
In, it can also exist in the map data base waterborne by the remote server of network connection.
On the other hand, course receiving unit U2 and position receiving unit U3 is respectively used to receive working as characterization fire-fighting ships and light boats
The position signal of the course signal in preceding course and the current location of characterization fire-fighting ships and light boats.
It should be noted that current course and the present bit of fire-fighting ships and light boats can in real time be obtained by means such as GPS positionings
It sets.
In addition, current course may be consistent with specified course and specified fire extinguishing region respectively with current location, may differ
It causes.When current location is consistent with specified fire extinguishing region, illustrate that fire-fighting ships and light boats have arrived at specified fire extinguishing region.Current course and finger
When vectoring is consistent, illustrate fire-fighting ships and light boats without departing from course.
On the other hand, course judging unit U4, for judging whether current course is consistent with specified course.
It should be noted that can be by the current course of the fire-fighting ships and light boats obtained in real time by means such as GPS positionings and water
Specified course in upper map data base carries out comparison judgement, to obtain corresponding comparison result to encourage corresponding program mould
Block.
On the other hand, position judgment unit U5, for according to the current course judging result consistent with specified course, judging
Whether current location is located at specified fire extinguishing region.
It should be noted that can be by the current location of the fire-fighting ships and light boats obtained in real time by means such as GPS positionings and water
Specified boat fire extinguishing region in upper map data base carries out comparison judgement, corresponding to encourage to obtain corresponding comparison result
Program module.
For example, can not be located at the judging result in specified fire extinguishing region, the traveling control of excitation fire extinguishing region according to current location
Unit U1 controls fire-fighting ships and light boats processed are travelled to specified fire extinguishing region.
For another example, the judging result in specified fire extinguishing region, excitation point of origin search unit U6 can be located at according to current location
It controls infrared thermography and searches for point of origin.
On the other hand, point of origin search unit U6 searches for point of origin for controlling infrared thermography.
It should be noted that it should be noted that control infrared thermography search point of origin when, can by control it is red
Outer thermal imaging system any angle searches for point of origin, once searching point of origin, infrared thermography can carry out heat to point of origin
Imaging, to obtain the supplemental characteristic of point of origin.
On the other hand, point of origin locks judging unit B0, for judging whether infrared thermography locks point of origin.
It should be noted that it should be noted that infrared thermography searches point of origin, and obtain the parameter of point of origin
After data, point of origin parameter data signal can be sent out, therefore, it is red as judging that point of origin parameter data signal can be received
Whether outer thermal imaging system locks the foundation of point of origin.
State when obtaining the supplemental characteristic of point of origin alternatively, it is also possible to infrared thermography, which is used as, judges infrared thermal imaging
Whether instrument locks the foundation of point of origin.
On the other hand, thermal imaging data receipt unit B1, the judgement knot for locking point of origin according to infrared thermography
Fruit receives the thermal imaging data of point of origin.
It should be noted that it should be noted that the thermal imaging data of point of origin can reflect the distance of point of origin, side
The parameters such as position, height and the intensity of a fire.
On the other hand, put out a fire target computing unit B2, for according to thermal imaging data, calculating point of origin with respect to fire-fighting ships and light boats
Distance, orientation and height, to obtain fire extinguishing target.
It should be noted that obtain point of origin thermal imaging data after, in conjunction with fire-fighting ships and light boats with respect to point of origin distance,
The parameters such as orientation and height, can accurately calculate fire location, to obtain fire extinguishing target.
On the other hand, put out a fire control unit B3, for controlling fire extinguishing system to fire extinguishing target ejecting extinguishing material.
Blanket explanation, automatic running, the self-extinguishing on the water of fire-fighting ships and light boats are needed, therefore is adapted to some and compares
Harsh offshore environment avoids fire extinguishing personnel from going through dangers.
Referring to Fig. 3-4, with improvement, it is contemplated that fire-fighting ships and light boats automatic running on the water, it is understood that there may be mobile object is leaned on to it
Closely, in order to enhance the safety of fire-fighting ships and light boats automatic Pilot, the another aspect of the embodiment of the present disclosure is designed to provide another kind
The extinguishing device of fire-fighting ships and light boats based on automatic Pilot waterborne, including：Heading control unit U0, fire extinguishing region travel control unit
U1, course receiving unit U2, position receiving unit U3, course judging unit U4 and position judgment unit U5, point search on fire
Unit U6, point of origin locking judging unit B0, thermal imaging data receipt unit B1, fire extinguishing target computing unit B2, fire extinguishing control
Unit B 3.
It should be noted that in the following, changing to the extinguishing device of this improved fire-fighting ships and light boats based on automatic Pilot waterborne
Device architecture into part illustrates.
Referring to Fig. 4, on the one hand, directional velocity receiving unit U8 is fast close to fire-fighting ships and light boats for receiving characterization mobile object
The speed signal of slow degree, and receive the direction signal of characterization mobile object moving direction.
It should be noted that mobile object can be obtained by radar monitoring technology close to fire-fighting ships and light boats speed degree and shifting
The moving direction of animal body.
In addition, since mobile object is being moved with fire-fighting ships and light boats, mobile object is close to fire-fighting ships and light boats speed degree
It is a relative quantity.
On the other hand, metrics calculation unit U9, for according to speed signal and direction signal be calculated mobile object away from
Relative distance from fire-fighting ships and light boats.
It should be noted that since mobile object is being moved with fire-fighting ships and light boats, mobile object is close to fire-fighting ships and light boats
Speed degree is a relative quantity, so, multiplying can be carried out with close to the time by the relative quantity, to be calculated
Relative distance of the mobile object apart from fire-fighting ships and light boats.
On the other hand, range estimation unit U10, for judging whether relative distance is more than preset safety close to distance.
On the other hand, adjustment unit U11 is avoided, for being more than judgement of the preset safety close to distance according to relative distance
As a result, the current course of adjustment fire-fighting ships and light boats, to avoid mobile object.
Further, preset safety is less than close to the judging result of distance according to relative distance, avoids adjustment unit
U11 does not adjust the current course of fire boat ship, and Heading control unit U0 continues control fire-fighting ships and light boats and travelled to specified course.
Particularly, the purpose of the another aspect of the embodiment of the present disclosure, which also resides in, provides a kind of storage medium, and storage computer refers to
It enables, when which runs on a processor, can perform the fire extinguishing side of the above-mentioned fire-fighting ships and light boats based on automatic Pilot waterborne
The step of method.
Particularly, referring to Fig. 5, the purpose of the another aspect of the embodiment of the present disclosure is also resided in offer one kind and is driven automatically based on waterborne
The fire extinguishing system for the fire-fighting ships and light boats sailed, including：Fire-fighting ships and light boats ontology (not shown), computer 10, GPS device 11, fire extinguishing system 12,
Radar 13 and infrared thermography 14.
On the one hand, computer 10 includes the extinguishing device of the above-mentioned fire-fighting ships and light boats based on automatic Pilot waterborne.
On the other hand, computer 10, GPS device 11, fire extinguishing system 12, radar 13 and infrared thermography 14 are installed respectively
On fire-fighting ships and light boats ontology (not shown).
On the other hand, GPS device 11, current course and current location for obtaining fire-fighting ships and light boats, and export characterization and work as
The position signal of the course signal and characterization current location in preceding course.
On the other hand, fire extinguishing system 12 are put out a fire for ejecting extinguishing material.
On the other hand, radar 13, for sensing movement of the mobile object close to fire-fighting ships and light boats speed degree and mobile object
Direction, and export characterization mobile object close to the speed signal of fire-fighting ships and light boats speed degree and characterize mobile object moving direction
Direction signal.
On the other hand, infrared thermography 14, for searching for point of origin, the thermal imaging data to obtain point of origin export.
The extinguishing method for the fire-fighting ships and light boats based on automatic Pilot waterborne that the embodiment of the present disclosure provides, by controlling fire boat
Ship is travelled to specified course and specified fire extinguishing region, and searches for point of origin by controlling infrared thermography, to obtain point of origin
Thermal imaging data output, and then by point of origin lock judge locking point of origin, and then pass through receive point of origin thermal imaging
Data, and then according to thermal imaging data, distance, orientation and height of the point of origin with respect to fire-fighting ships and light boats are calculated, to obtain fire extinguishing mesh
Mark, and then by controlling fire extinguishing system to fire extinguishing target ejecting extinguishing material fire extinguishing, to realize the automatic running of fire-fighting ships and light boats
And self-extinguishing.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention,
All any modification, equivalent and improvement made by all within the spirits and principles of the present invention etc., should be included in
Within protection scope of the present invention.
Claims (10)
1. a kind of extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne, which is characterized in that include the following steps：
Control fire-fighting ships and light boats are travelled to specified course；
Control fire-fighting ships and light boats are travelled to specified fire extinguishing region；
Receive the course signal in the current course of characterization fire-fighting ships and light boats；
Receive the position signal of the current location of characterization fire-fighting ships and light boats；
Judge whether the current course and the specified course are consistent；
If consistent, judge whether the current location is located at the specified fire extinguishing region；
If being located at, control infrared thermography searches for point of origin；
Judge whether the infrared thermography locks point of origin；
If locking, receives the thermal imaging data of the point of origin；
According to the thermal imaging data, distance, orientation and height of the point of origin with respect to fire-fighting ships and light boats are calculated, to obtain fire extinguishing
Target；
Control fire extinguishing system is put out a fire to the fire extinguishing target ejecting extinguishing material.
2. the extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne as described in claim 1, which is characterized in that judging
Further include following steps after the step of whether infrared thermography locks point of origin：
If unlocked, control infrared thermography searches for point of origin.
3. the extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne as described in claim 1, which is characterized in that judging
Further include following steps after the current course and the whether consistent step in the specified course：
If inconsistent, control fire-fighting ships and light boats are travelled to specified course.
4. the extinguishing method of the fire-fighting ships and light boats based on automatic Pilot waterborne as described in claim 1, which is characterized in that judging
Further include following steps after the step of whether current location is located at the specified fire extinguishing region：
If not being located at, control fire-fighting ships and light boats are travelled to the specified fire extinguishing region.
5. a kind of storage medium stores computer instruction, which is characterized in that when the computer instruction is run on a processor,
The step of the extinguishing method of the executable fire-fighting ships and light boats based on automatic Pilot waterborne as described in any one in claim 1-4
Suddenly.
6. a kind of extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne, which is characterized in that including：
Heading control unit, control fire-fighting ships and light boats are travelled to specified course；
Fire extinguishing region travels control unit, and control fire-fighting ships and light boats are travelled to specified fire extinguishing region；
Course receiving unit receives the course signal in the current course of characterization fire-fighting ships and light boats；
Position receiving unit receives the position signal of the current location of characterization fire-fighting ships and light boats；
Course judging unit judges whether the current course and the specified course are consistent；
Location determination unit judges the present bit according to the current course judging result consistent with the specified course
It sets and whether is located at the specified fire extinguishing region；
Point of origin search unit is located at the judging result in the specified fire extinguishing region according to the current location, controls infrared heat
Imager searches for point of origin；
Point of origin locks judging unit, judges whether the infrared thermography locks point of origin；
Thermal imaging data receipt unit locks the judging result of point of origin according to the infrared thermography, receives described on fire
The thermal imaging data of point；
Fire extinguishing target computing unit calculates distance of the point of origin with respect to fire-fighting ships and light boats, orientation according to the thermal imaging data
And height, to obtain fire extinguishing target；
Fire extinguishing control unit, control fire extinguishing system are put out a fire to the fire extinguishing target ejecting extinguishing material.
7. the extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne as claimed in claim 6, which is characterized in that described
Fiery point search unit, according to the judging result of the unlocked point of origin of the infrared thermography, control infrared thermography search
Point of origin.
8. the extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne as claimed in claim 6, which is characterized in that the boat
To control unit, according to the current course and the inconsistent judging result in the specified course, control fire-fighting ships and light boats are to specified
Course travels.
9. the extinguishing device of the fire-fighting ships and light boats based on automatic Pilot waterborne as claimed in claim 6, which is characterized in that described to go out
Flame range domain travels control unit, is not located at the judging result in the specified fire extinguishing region according to the current location, controls fire-fighting
Ships and light boats are travelled to specified fire extinguishing region.
10. a kind of fire extinguishing system of the fire-fighting ships and light boats based on automatic Pilot waterborne, which is characterized in that including：Fire-fighting ships and light boats ontology,
Computer, GPS device, infrared thermography and fire extinguishing system；The computer includes as described in any in claim 6-9
The extinguishing device of fire-fighting ships and light boats based on automatic Pilot waterborne；
The computer, the GPS device, the infrared thermography and the fire extinguishing system are separately mounted to the fire boat
On ship ontology；
The GPS device, current course and current location for obtaining fire-fighting ships and light boats, and export the characterization current course
Course signal and the position signal for characterizing the current location；
The infrared thermography, for searching for point of origin, the thermal imaging data to obtain point of origin export；
The fire extinguishing system is put out a fire for ejecting extinguishing material.
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| CN201810517615.XA CN108714279A (en) | 2018-05-25 | 2018-05-25 | A kind of extinguishing method, device, system and a kind of storage medium of the fire-fighting ships and light boats based on automatic Pilot waterborne |
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| CN201810517615.XA CN108714279A (en) | 2018-05-25 | 2018-05-25 | A kind of extinguishing method, device, system and a kind of storage medium of the fire-fighting ships and light boats based on automatic Pilot waterborne |
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