CN114307016B - Fire extinguishing system based on unmanned aerial vehicle vision auxiliary fire monitor and control method - Google Patents
Fire extinguishing system based on unmanned aerial vehicle vision auxiliary fire monitor and control method Download PDFInfo
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Abstract
The invention discloses a fire monitor fire extinguishing system and a control method based on unmanned aerial vehicle vision assistance, wherein an unmanned aerial vehicle is used for carrying a vision device to collect a fire field distribution image overlooked at high altitude above a fire scene, a robot coordinate point, a jet flow track drop point coordinate point and a flame coordinate point in the image are selected, and a plane position relation between the fire point and the jet flow drop point is converted into a signal instruction for angle and direction control which can be recognized by a fire monitor control device; the fire monitor control device executes the signal command and drives the fire monitor to spray fire extinguishing agent to the fire point; and when the selected previous fire point is in a pressed or extinguished state, selecting the next fire point target and the current jet flow drop point coordinate, and executing the action again until all the fire source target points in the fire scene are pressed or in an extinguished state. The unmanned aerial vehicle-based intelligent fire extinguishing system based on the unmanned aerial vehicle is beneficial to visually selecting multiple fire source target points to realize intelligent fire extinguishing, overcomes the defects that a purely manual fire extinguishing method and fire fighters are insufficient in view of fire scene, and improves the overall fire extinguishing efficiency and the intelligent level of the robot.
Description
Technical Field
The invention relates to the technical field of intelligent fire fighting, in particular to a vision-assisted fire monitor fire extinguishing system based on an unmanned aerial vehicle and a control method.
Background
With the need of social development, the fire monitor with an intelligent level becomes a mainstream development trend, and the fire monitor plays an irreplaceable advantage in a large fire scene. In a fire scene, the fire monitor has the potential danger that a fire and a building are easy to collapse and explosive articles are easy to explode to hurt people, the fire monitor extinguishes fire in a close range by the traditional manpower, and casualty accidents are easy to cause. Because the fire monitor is a necessary product of some fire-fighting facilities, the fire monitor plays an increasingly important role in occasions such as airports, petrochemical production plants, railway stations, bus stations and the like. The fire monitor is provided with a fixed fire monitor and a movable fire monitor at present, is mainly applied to remote fire extinguishing occasions, and avoids potential danger of fire fighters to a certain extent. According to the current industry regulations, a fire monitor is called with a flow rate of more than 24 liters per second. The executing structure of the fire monitor is mainly a horizontal rotating structure and a pitching rotating structure, so that the effective range of the fire monitor is wider. The general position of fixed fire monitor is confirmed, and the later stage needs the position change extremely inconvenient, generally is fit for installing in fixed occasion, like forest, airport etc.. The other type is a movable fire monitor which is mainly characterized in that a fire monitor frame is arranged on a movable support and can move within a certain range, and the flexibility of fire extinguishing is better than that of a fixed type. The fire monitor is classified into a water monitor and a foam monitor by the substances sprayed from the fire monitor. The foam cannon appears, because the fire source is gas, solid and liquid, which cause fire, the traditional water cannon can not effectively extinguish fire, such as the fire caused by oil leakage. In this case, the water needs to be doped to a certain degree, and effective fire extinguishing is carried out through foam and chemical reaction.
The fire-fighting robot mainly goes through three development stages, wherein the first stage is a program-controlled fire-fighting robot, and the second stage is a remote-controlled robot with sensing and detecting capabilities. The third stage is a robot with a semi-automatic and full-automatic intelligent system, and the requirement of the fire-fighting industry is met to a greater extent. Developed countries such as japan and the usa have started to research robots from 70 to 80 years in the 20 th century. And the core key technology of the intelligent robot is still in a research and development stage at night in China, aiming at the robot in the fire disaster of the petrochemical engineering, according to corresponding data statistics, the purchase amount of the robot reaches more than 800 in the first half year from 2017 to 2018 by all levels of fire-fighting troops in China, and the cumulative consumption is about 6.5 hundred million yuan. At present, the fire-fighting robot in China mainly depends on import and is relatively expensive, and research investment is increased in some western countries at present, so that the research and development of the robot with the intelligent function have great promotion effect on the development of the fire-fighting industry in China. Particularly in the field of combining unmanned aerial vehicle vision and fire-fighting robot control, the research on the aspect at home and abroad is still incomplete at present. Adopt present stage vision camera to fix on fire-fighting robot, it mainly has following problem: (1) The fire extinguishing device can not carry out high-efficiency fire extinguishing in the occasions with large area and multiple fire points in the non-closed space; (2) The problem of insufficient visual angle or blockage exists, and the target point is easy to lose; (3) The distribution condition of the whole fire field is judged not to be comprehensive enough, so that the implementation of fire extinguishing strategies by fire fighters is influenced.
Disclosure of Invention
In order to solve the not enough that exists among the prior art, this application has provided a fire gun fire extinguishing systems and control method based on unmanned aerial vehicle vision assists, can solve the visual angle that current vision camera installed and exists on the robot and be not enough or by the drawback of sheltering from, for traditional pure manual remote control operation mode, no matter in the efficiency of putting out a fire or the fire extinguishing strategy implementation in whole scene of a fire all have apparent advantage, has also promoted the whole intelligent degree of robot simultaneously.
The technical scheme adopted by the invention is as follows:
a control method of an unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system comprises the following steps:
step 1, carrying a visual device to the position above a fire scene by an unmanned aerial vehicle, and acquiring a fire scene distribution image of overhead overlooking by adjusting the postures of the unmanned aerial vehicle and the visual device, wherein the fire scene distribution image comprises information of a robot, a jet flow drop point and a fire point of the fire scene;
step 2, the unmanned aerial vehicle vision control system automatically completes server configuration work, communication connection state detection and fire monitor attitude angle initialization work;
step 3, selecting a robot coordinate point, a jet flow track drop point coordinate point and a flame coordinate point in the fire field distribution image, processing the extracted point coordinates, positioning the plane position relationship between the fire point and the jet flow drop point, and converting the plane position relationship between the fire point and the jet flow drop point into a signal instruction for angle and direction control which can be identified by a fire monitor control device; the fire monitor control device executes the signal command and drives the fire monitor to spray fire extinguishing agent to the fire point;
and 4, when the selected previous fire point is in a pressed or extinguished state, selecting a next fire point target and the current jet flow drop point coordinates, executing the action again, automatically moving the jet flow drop point to the next fire point target under the instruction of the fire monitor control device, and repeating the point selection and injection processes in the step 3 until all fire source target points in the fire scene are pressed or in an extinguished state.
Further, the robot coordinate point, the jet flow track falling point coordinate point and the flame coordinate point in the fire field distribution image are continuously updated, so that the jet flow falling point gradually approaches to the flame coordinate point until the fire point is suppressed from spreading, and the purpose of extinguishing fire is achieved.
Further, the method for calculating and outputting the control information of the angle such as the pitch angle and the horizontal angle of the fire monitor and the horizontal deflection direction by the robot coordinate point, the jet flow falling point coordinate point and the flame coordinate point in the step 3 comprises the following steps:
pitch angle:
α n ＝arcsin(S n *sin(2*α n-1 )/S n-1 )/2
horizontal angle:
horizontal deflection direction of the fire monitor:
let f be n (x n ,y n )＝(y 2,n -y 1,n )x n +(x 1,n -x 2,n )y n +y 1,n *x 2,n -x 1,n *y 2,n
Substituting the flame coordinate point p selected for the nth time 3 (x 3,n ,y 3,n ) Position information:
wherein alpha is n-1 Is the pitching angle of the fire monitor for the (n-1) th time, and takes the upper left corner of the image as the origin coordinate, p (x) 1,n ,y 1,n ) Representing the position of the coordinate point selected by the robot for the nth time; p (x) 2,n ,y 2,n ) Representing the position of the coordinate point selected at the nth time of the jet flow falling point; p (x) 3,n ,y 3,n ) Representing the position of the nth selected coordinate point of the flame point; s. the n Representing the distance from the coordinate point of the nth-time selection robot to the jet flow drop point; s. the n-1 And representing the distance from the coordinate point of the robot to the jet flow drop point selected at the (n-1) th time.
Further, when a plurality of fire points appear in a fire scene, the fire point target selection strategy is to comprehensively judge and select the fire points according to a plurality of factors of fire intensity, fire point distance, hazard degree and easily diffused fire points; thus, the suppression or extinguishing of a plurality of fire points is realized.
A fire extinguishing system based on an unmanned aerial vehicle vision auxiliary fire monitor comprises a fire extinguishing robot, a fire monitor control device and an unmanned aerial vehicle vision control system;
the fire-fighting robot is provided with a fire monitor main body structure, and the fire monitor main body structure is used for remotely spraying a fire extinguishing agent;
the fire monitor control device comprises an angle sensor, an embedded controller and a driver, wherein the angle sensor is used for acquiring a feedback signal of a corner of the fire monitor; the embedded controller receives a signal instruction sent by the unmanned aerial vehicle control system and outputs a fire monitor driving signal according to the received signal instruction; the driver receives the fire monitor driving signal from the embedded controller and drives the joint of the main structure of the fire monitor to rotate and jet;
the unmanned aerial vehicle vision control system comprises an unmanned aerial vehicle, a vision device and a point selection fire extinguishing system; the visual device is arranged right below the unmanned aerial vehicle and used for acquiring high-altitude overlook fire field distribution images; the point selection fire extinguishing system receives the fire field distribution image, selects coordinate information of three points including a jet flow drop point, a flame point and a robot point in the fire field distribution image from the fire field distribution image, converts the coordinate information into a signal instruction of the angle and the direction of the fire monitor, and transmits the signal instruction to the fire monitor control device.
Furthermore, the vision device adopts a monocular camera and is used for acquiring a two-dimensional fire field distribution image under the unmanned aerial vehicle.
Furthermore, the angle sensor, the embedded controller and the driver are connected with each other through signals.
Further, the point selection fire extinguishing system comprises an image processing unit and a communication unit, wherein the image processing unit receives and processes the fire scene image acquired by the vision device to obtain signal instructions of the angle and direction of the fire monitor; the communication unit is used for realizing communication connection between the unmanned aerial vehicle visual control system and the fire monitor control device.
Furthermore, the communication connection between the unmanned aerial vehicle visual control system and the fire monitor control device is based on TCP socket communication connection, a robot remote control terminal or a remote computer end serves as a TCP server end, and the fire monitor control device serves as a TCP client end.
The invention has the beneficial effects that:
(1) According to the unmanned aerial vehicle fire extinguishing method, the problems that the existing visual angle is insufficient, the visual angle is blocked, a target point is lost and the like are solved through the favorable overlooking visual angle of the unmanned aerial vehicle, the existing purely manual operation fire extinguishing method is changed, and meanwhile, the fire extinguishing efficiency and quality and the overall intelligent degree of the robot are improved;
(2) According to the invention, the fire points in the fire scene distribution image are selected, so that on one hand, the fire points with different hazard grades are extinguished at fixed points, and the fire extinguishing efficiency is improved; on the other hand, the fire scene-based overlook image can enable the falling point of the fire monitor to approach the fire point continuously, and the accuracy of fixed-point extinguishing is improved. The fire extinguishing system can solve the problem of effective fire extinguishing in large-area and multi-fire-point fire starting occasions in non-closed spaces based on fire field distribution images.
(3) Through unmanned aerial vehicle visual control system, comparatively comprehensive developments scene of a fire distribution information is provided for the fire fighter to the implementation scheme of the scene of a fire strategy is put out a fire rapidly made to the fire fighter.
Drawings
FIG. 1 is a flow chart of the attitude angle control of a fire monitor according to the present invention.
Fig. 2 is a schematic diagram of the relationship between the fire-fighting robot, the fire monitor control unit and the unmanned aerial vehicle vision control system of the present invention and the fire scene.
Fig. 3 is a flow chart of the fire extinguishing process realized by the unmanned aerial vehicle vision system.
Fig. 4 is a flow chart of the coordinate point-selecting fire-extinguishing operation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A fire extinguishing system based on an unmanned aerial vehicle vision auxiliary fire monitor comprises a fire extinguishing robot, a fire monitor control device and an unmanned aerial vehicle vision control system; the fire-fighting robot is provided with a fire monitor main body structure which is used for remotely spraying a fire extinguishing agent.
As shown in fig. 1, the fire monitor control device comprises an angle sensor, an embedded controller and a driver, wherein the angle sensor, the embedded controller and the driver are connected with each other through signals; more specifically, the angle sensor is used for collecting a feedback signal of a fire monitor corner; the embedded controller receives a signal instruction sent by the unmanned aerial vehicle control system and outputs a fire monitor driving signal according to the received signal instruction; the driver receives the fire monitor driving signal from the embedded controller and drives the joint of the main structure of the fire monitor to rotate and jet. The fire monitor control device is a key device with multiple rotors connected with an unmanned aerial vehicle visual control system and a fire monitor joint to rotate; the fire monitor control device is installed inside the robot for integrated control.
The unmanned aerial vehicle vision control system comprises an unmanned aerial vehicle, a vision device and a point selection fire extinguishing system; unmanned aerial vehicle adopts many rotor unmanned aerial vehicle, and unmanned aerial vehicle is used for the carry vision device to fly to the scene of a fire top.
The visual device is arranged right below the unmanned aerial vehicle and used for acquiring high-altitude overlook fire field distribution images; in this application, vision device adopts the monocular camera for gather the fire field distribution image of two-dimentional under the unmanned aerial vehicle.
The point selection fire extinguishing system comprises an image processing unit and a communication unit, wherein the image processing unit receives a fire scene image acquired by a visual device and is used for selecting coordinate information of three points, namely a jet flow falling point, a flame point and a robot point in a fire scene distribution image, the point selection operation is supported on a robot remote control terminal or a remote computer terminal, and the point selection operation can be carried out through manual selection or extraction through image processing software. The point selection fire extinguishing system calculates and processes the coordinate information of the selected jet flow falling point, the flame point and the robot point and converts the coordinate information into signal instructions of the horizontal angle, the pitch angle and the direction of the fire monitor; the specific process is as follows:
pitch angle:
α n ＝arcsin(S n *sin(2*α n-1 )/S n-1 )/2
horizontal angle:
horizontal deflection direction of the fire monitor:
let f be n (x n ,y n )＝(y 2,n -y 1,n )x n +(x 1,n -x 2,n )y n +y 1,n *x 2,n -x 1,n *y 2,n
Substituting the flame coordinate point p selected for the nth time 3 (x 3,n ,y 3,n ) Position information:
wherein alpha is n-1 Is the pitching angle of the fire monitor for the (n-1) th time, and takes the upper left corner of the image as the origin coordinate, p (x) 1,n ,y 1,n ) Representing the position of the coordinate point selected by the robot for the nth time; p (x) 2,n ,y 2,n ) Representing the position of the coordinate point selected at the nth time of the jet flow falling point; p (x) 3,n ,y 3,n ) Representing the position of the coordinate point selected for the nth time of the flame point; s n And the distance from the coordinate point of the nth-time selection robot to the jet flow drop point is represented.
S n-1 And the distance from the coordinate point of the selection robot to the jet flow falling point at the (n-1) th time is represented.
The communication unit is used for realizing the communication connection between the unmanned aerial vehicle vision control system and the fire monitor control device, and transmitting the signal instruction of the angle and the direction of the fire monitor to the embedded controller of the fire monitor control device. In this embodiment, the communication connection between the unmanned aerial vehicle vision control system and the fire monitor control device is based on a TCP socket communication connection, and the robot remote control terminal or the remote computer terminal serves as a TCP server, and the fire monitor control device serves as a TCP client.
On the basis of the unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system designed by the application, the application also provides a control method of the unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system, and the control method comprises the following steps in combination with the steps shown in the figure 3:
step 1, the unmanned aerial vehicle carries a vision device to fly to a position right above flame according to an appointed route or a requirement to keep a certain safe height for hovering, and the safe height needs to guarantee that the shielding condition can not occur in a visual field range. And adjusting the overlooking angle of the visual device until the camera lens is close to a horizontal line vertical to the ground, and observing the fire field distribution condition under the view angle of the unmanned aerial vehicle at a remote controller terminal of the robot or a remote computer terminal. In addition, the acquired fire field distribution image needs to include information such as a robot, a jet flow drop point, a fire field fire point and the like; otherwise, the postures of the unmanned aerial vehicle and the vision device are continuously adjusted. In the step, the view range is not blocked, which means that the building and the smoke are not blocked.
Step 2, the unmanned aerial vehicle vision control system automatically completes server configuration work, communication connection state detection and fire monitor attitude angle initialization work;
and 3, spraying the fire extinguishing agent by the fire monitor, selecting a robot coordinate point, a jet flow track drop point coordinate point and a flame coordinate point at a robot remote controller terminal or a remote computer terminal, processing the extracted point coordinates by an unmanned aerial vehicle vision control system, positioning the plane position relation between a fire point and the jet flow drop point, converting the plane position relation into an angle and a direction control signal instruction which can be recognized by a fire monitor control device, and finally finishing the gradual approaching of the jet flow drop point to the flame coordinate point under the action of a fire monitor driver until the fire point is suppressed from diffusing and the fire extinguishing purpose is achieved.
Sequentially selecting a robot coordinate point, a jet flow landing point coordinate point and a flame coordinate point from the fire field distribution image, and calculating and outputting control information of angles such as a pitch angle, a horizontal angle and the like of the fire monitor by using an unmanned aerial vehicle vision control system; the angle and direction of the fire monitor are calculated by the following formula:
pitch angle:
α n ＝arcsin(S n *sin(2*α n-1 )/S n-1 )/2
horizontal angle:
horizontal deflection direction of the fire monitor:
let f be n (x n ,y n )＝(y 2,n -y 1,n )x n +(x 1,n -x 2,n )y n +y 1,n *x 2,n -x 1,n *y 2,n
Substituting the flame coordinate point p selected for the nth time 3 (x 3,n ,y 3,n ) Location information：
Wherein, the upper left corner of the image is used as the origin coordinate, p (x) 1,n ,y 1,n ) Representing the position of the coordinate point selected by the robot for the nth time; p (x) 2,n ,y 2,n ) Representing the position of the nth selected coordinate point of the jet flow drop point; p (x) 3,n ,y 3,n ) Representing the position of the nth selected coordinate point of the flame point; s. the n Representing the distance from the coordinate point of the robot selected for the nth time to the jet flow drop point; s n-1 And the distance from the coordinate point of the selection robot to the jet flow falling point at the (n-1) th time is represented.
Further, the characteristic limiting conditions for selecting the coordinate information of the three points in the step 3 comprise the flight height of the unmanned aerial vehicle and the hovering stability condition of the unmanned aerial vehicle; the flight height of the unmanned aerial vehicle is ensured to simultaneously contain jet flow drop point, multiple flame points and robot coordinate point information in a received image picture; the hovering stability of the unmanned aerial vehicle is ensured to ensure that the drift error generated by the pixel block corresponding to the selected point coordinate is controlled within an allowable range, wherein the size of the selected point of the unmanned aerial vehicle corresponds to the size of the 5 x 5 pixel square on the screen.
Further, the selected robot coordinate point in step 3 is a fire monitor horizontal rotation joint shaft installed on the fire-fighting robot as a selected characteristic point.
And 4, when the selected previous fire point is in a pressed or extinguished state, selecting a next fire point target and the current jet flow drop point coordinate at the robot remote controller terminal or the remote computer terminal, executing the action again, automatically moving the jet flow drop point to the next fire point target under the instruction of the fire monitor control device, and repeating the process for point selection until all fire source target points in the fire scene are pressed or in an extinguished state. As shown in fig. 4, when a current fire point is in a pressed or extinguished state, a jet flow drop point needs to be reselected, which is because it is considered that the water outlet pressure may fluctuate unstably due to interference of internal or external factors in the whole fire extinguishing process, and the jet flow drop point needs to be repeatedly selected in the point selecting process, so that not only can the influence caused by unstable water pressure be reduced, but also the error superposition caused by the fact that the jet flow drop point and the fire point cannot be completely superposed finally in the fire extinguishing process due to interference of external factors can be avoided.
In this embodiment, the method can precisely suppress multiple fire points by selecting the fire point target at the robot remote control terminal or the remote computer terminal. When a plurality of fire points appear in a fire scene, the selection strategy of the fire point target is to select the fire points by comprehensive judgment according to a plurality of factors such as the fire intensity, the fire point distance, the hazard degree, the easily-diffused fire points and the like; thus, the suppression or extinguishing of multiple fire points is realized.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (6)
1. A control method of an unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system is characterized by comprising the following steps:
step 1, carrying a visual device to the upper part of a fire scene by using an unmanned aerial vehicle, and adjusting the postures of the unmanned aerial vehicle and the visual device, wherein the visual device adopts a monocular camera and is used for acquiring a two-dimensional fire scene distribution image right below the unmanned aerial vehicle, and the fire scene distribution image comprises information of a robot, a jet flow drop point and a fire scene fire point;
step 2, the unmanned aerial vehicle vision control system automatically completes server configuration work, communication connection state detection and fire monitor attitude angle initialization work;
step 3, selecting a robot coordinate point, a jet flow track drop point coordinate point and a flame coordinate point in the fire field distribution image, processing the extracted point coordinates, positioning the plane position relationship between the fire point and the jet flow drop point, and converting the plane position relationship between the fire point and the jet flow drop point into a signal instruction for angle and direction control which can be identified by a fire monitor control device; the fire monitor control device executes the signal command and drives the fire monitor to spray fire extinguishing agent to the fire point;
step 4, when the selected previous fire point is in a pressed or extinguished state, selecting a next fire point target and the current jet flow drop point coordinates, executing action again, automatically moving the jet flow drop point to the next fire point target under the instruction of the fire monitor control device, and repeating the point selection and injection processes in the step 3 until all fire source target points in the fire scene are pressed or in an extinguished state;
the method comprises the steps of continuously updating a robot coordinate point, a jet flow track falling point coordinate point and a flame coordinate point in a fire field distribution image, and finishing the gradual approximation of the jet flow falling point to the flame coordinate point until the fire point is suppressed from diffusing and the aim of extinguishing a fire is fulfilled;
in the step 3, the method for calculating and outputting the control information of the pitch angle and the horizontal angle of the fire monitor and the horizontal deflection direction by the robot coordinate point, the jet flow landing point coordinate point and the flame coordinate point comprises the following steps:
pitch angle:
α n ＝arcsin(S n *sin(2*α n-1 )/S n-1 )/2
horizontal angle:
horizontal deflection direction of the fire monitor:
let f n (x n ,y n )＝(y 2,n -y 1,n )x n +(x 1,n -x 2,n )y n +y 1,n *x 2,n -x 1,n *y 2,n
Substituting the flame coordinate point p selected for the nth time 3 (x 3,n ,y 3,n ) Position information:
wherein alpha is n-1 Is the pitch angle of the fire monitor at the n-1 th time as shown in the figureThe upper left corner of the figure is the origin coordinate, p 1 (x 1,n ,y 1,n ) Representing the position of the coordinate point selected by the robot for the nth time; p is a radical of formula 2 (x 2,n ,y 2,n ) Representing the position of the nth selected coordinate point of the jet flow drop point; p is a radical of 3 (x 3,n ,y 3,n ) Representing the position of the nth selected coordinate point of the flame point; s n Representing the distance from the coordinate point of the nth-time selection robot to the jet flow drop point; s n-1 And the distance from the coordinate point of the selection robot to the jet flow falling point at the (n-1) th time is represented.
2. The unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system control method according to claim 1, wherein when a plurality of fire points occur in a fire scene, the fire point target selection strategy is to select the fire points according to comprehensive judgment based on a plurality of factors including fire intensity, fire point distance, hazard degree and easily-diffused fire points; thus, the suppression or extinguishing of a plurality of fire points is realized.
3. The unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system based on the unmanned aerial vehicle vision-assisted fire monitor fire extinguishing system control method of claim 1 is characterized by comprising a fire fighting robot, a fire monitor control device and an unmanned aerial vehicle vision control system;
the fire-fighting robot is provided with a fire monitor main body structure, and the fire monitor main body structure is used for remotely spraying a fire extinguishing agent;
the fire monitor control device comprises an angle sensor, an embedded controller and a driver, wherein the angle sensor is used for collecting a feedback signal of a fire monitor corner; the embedded controller receives a signal instruction sent by the unmanned aerial vehicle control system and outputs a fire monitor driving signal according to the received signal instruction; the driver receives the fire monitor driving signal output by the embedded controller and drives the joint of the main body structure of the fire monitor to rotate and jet;
the unmanned aerial vehicle vision control system comprises an unmanned aerial vehicle, a vision device and a point selection fire extinguishing system; the visual device is arranged right below the unmanned aerial vehicle and used for acquiring high-altitude overlook fire field distribution images; the point selection fire extinguishing system receives the fire field distribution image, selects three point coordinate information of a jet flow falling point, a flame point and a robot point in the fire field distribution image from the fire field distribution image, converts the coordinate information into a signal instruction of the angle and the direction of the fire monitor and transmits the signal instruction to the fire monitor control device;
the vision device adopts a monocular camera and is used for acquiring a two-dimensional fire field distribution image under the unmanned aerial vehicle.
4. The unmanned aerial vehicle-based vision-assisted fire monitor fire extinguishing system according to claim 3, wherein the angle sensor, the embedded controller and the driver are connected with each other through signals.
5. The unmanned aerial vehicle-based vision-assisted fire monitor fire extinguishing system according to claim 3, wherein the point-selection fire extinguishing system comprises an image processing unit and a communication unit, the image processing unit receives and processes the fire scene image acquired by the vision device to obtain signal instructions of the angle and direction of the fire monitor; the communication unit is used for realizing the communication connection between the unmanned aerial vehicle vision control system and the fire monitor control device.
6. The fire extinguishing system based on the unmanned aerial vehicle vision-aided fire monitor is characterized in that the communication connection between the unmanned aerial vehicle vision control system and the fire monitor control device is based on TCP socket communication connection, a robot remote control terminal or a remote computer end serves as a TCP server end, and the fire monitor control device serves as a TCP client end.
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| CN116139430B (en) * | 2023-04-17 | 2023-07-07 | 中国矿业大学 | Unmanned aerial vehicle intelligent fire-fighting fire-extinguishing system and method |
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| CN101574566B (en) * | 2009-06-08 | 2011-07-27 | 南京航空航天大学 | Monocular vision technique based fire monitor control method for adjusting relative positions of fire point and water-drop point |
| CN107899166B (en) * | 2017-12-07 | 2022-10-21 | 南京航空航天大学 | Accurate fire extinguishing system and method based on unmanned aerial vehicle and intelligent fire-fighting robot |
| CN110075462A (en) * | 2019-05-14 | 2019-08-02 | 中国科学院自动化研究所 | Fire-fighting system |
| CN110898353A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Panoramic monitoring and linkage control method and system for fire-fighting robot of transformer substation |
| CN110975194A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Transformer substation fire-fighting robot auxiliary method and system |
| CN112370694B (en) * | 2020-11-17 | 2022-07-01 | 宁波鼎翔消防技术有限公司 | Cooperative fire extinguishing method based on unmanned aerial vehicle and robot |
| CN112316340A (en) * | 2020-11-26 | 2021-02-05 | 浙江理工大学 | Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof |
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