CN114495626B - Fire rescue VR training system - Google Patents
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Abstract
The invention discloses a fire rescue VR training system, which comprises a host, VR equipment and simulated fire fighting equipment, wherein the host is connected with the VR equipment; the VR equipment is connected to the host, is worn by training personnel, and can display a fire disaster and a virtual scene in a fire extinguishing process; the simulated fire fighting equipment is connected to the host, and the host is used for modeling a simulated building and combustible substances in the building, simulating a virtual scene of a fire and simulating a virtual scene of a fire extinguishing process after receiving a fire extinguishing operation signal. By adopting the technical scheme, the fire rescue VR training system is an integrated multifunctional fire-fighting rescue simulation training system based on a virtual reality technology, and in order to simulate the situation of a fire rescue scene more truly, the real-time interaction between the fire development situation and the fire rescue action is realized by simulating the fire accident occurrence development evolution process meeting the physical rules and the influence of the fire rescue action on the fire development.
Description
Technical Field
The invention relates to a fire rescue VR training system, and belongs to the technical field of fire rescue training systems.
Background
In recent years, on the one hand, with the rapid development of economic society, the urbanization process is accelerated, various types of disasters frequently occur, and the difficulty and the specialty of disposal are enhanced. Under the background of higher mission of 'full-disaster type and large emergency' and the rescue concept of 'people-oriented and life-up', higher requirements are put forward for disaster handling capability and individual occupation literacy of the fire-fighting and rescue team, and the main way is to solve the problem and strengthen training and training; on the other hand, with the rapid evolution and practical landing of modern technologies, particularly new-generation information technologies such as virtual reality, cloud computing and the internet of things, a feasible solution is provided for solving the problems of pain points and difficulty points which are high in cost, consumption, risk, pollution and difficulty in reappearing in the traditional training of fire rescue teams. The solution is to develop an electronic training system by utilizing a new generation of information technology, and the electronic training system is used as a beneficial supplement of a traditional real fire real-field training mode, plays respective advantages, makes good for deficiencies, comprehensively utilizes the advantages and improves the scientific training level.
In general, a good training system must explicitly answer the three questions "who trains", "what exercises", and "how exercises", i.e., the questions of the training subjects, the training content, and the training modalities. The electronic training is different from the traditional real fire entity training, mainly characterized in that the training mode is different, various fire-fighting training with high simulation, low consumption, no pollution and repeatability is realized by utilizing the advantages and the characteristics of the simulation technology, different trained objects and command training, tactical training, skill training and psychological training of different disaster types can be supported on the same hardware facility through updating software, the electronic training system has strong expansibility and adaptability, is particularly suitable for large-scale complex disaster scenes which cannot be simulated by adopting the real fire entity mode, is used for constructing a training environment which is more close to a real fire scene, and forms good advantage complementation with the real fire entity training, thereby forming a more complete training system and achieving better training effect. The electronic training is another training mode with great development prospect after the real fire training, and the electronic training can be developed more quickly with the technical progress and can play a larger role. The construction of a special electronic training center is an important embodiment of scientific and technical trainees, is also an important way for improving the ability of resolving major safety risks, and has great practical significance. For example, a virtual training device for building fire disclosed in chinese patent document CN211273316U, a combustion training device disclosed in chinese patent document CN211294263U, a virtual reality simulated fire-fighting lance disclosed in CN211181177U, and a virtual fire-fighting training system disclosed in chinese patent document CN 106816057A. Some fire control training systems based on virtual simulation technique on the market at present have two outstanding difficult point problems yet, and first, simulation about the conflagration action is still true inadequately, and it is great with the actual conditions difference, and this judgement that will influence the object of being trained to the condition of a fire to a certain extent has caused the training effect to be difficult to guarantee. Secondly, the current similar training system generally focuses on a certain aspect of training, and the training content is set too singly, so that comprehensive training integrating skill training, tactical training, command training and psychological training is difficult to support. In the aspects of fire development and spread and fire-fighting rescue interactive simulation, a numerical simulation method based on heat transfer science and computational fluid dynamics can be mainly used for meeting the physical law of fire development. Due to the large calculation amount and high calculation cost and time cost, the method can only be used for fire prediction evaluation and accident disaster inversion reconstruction in a non-real-time state and cannot be used for real-time fire extinguishing interactive simulation in virtual training. The existing interactive fire-fighting and rescue training system in the market can only simulate the visual effect of flame and smoke when a fire disaster occurs, can not simulate the fire development and spreading rule, and controls the fire spreading or extinguishing process only through the superposition of fire-fighting actions such as water spraying and the like and the flame on time or space under the interaction of fire-fighting rescue and fire smoke (for example, fire extinguishing caused by water spraying).
Disclosure of Invention
Therefore, an object of the present invention is to provide a fire rescue VR training system, which can be used for fire rescue training of trainers.
In order to achieve the purpose, the fire rescue VR training system comprises a host, VR equipment and simulated fire fighting equipment, wherein the host is connected with the VR equipment;
the VR equipment is connected to the host, is worn by training personnel, and can display a fire disaster and a virtual scene in a fire extinguishing process;
the simulated fire fighting equipment is connected with the host and comprises a VR tracking device and a simulated fire extinguishing operation control device, wherein the VR tracking device is used for tracking the position and the angle of the simulated fire fighting equipment, and the simulated fire extinguishing operation control device is used for sending a corresponding fire extinguishing operation signal to the host when training personnel carry out fire extinguishing operation;
the host is used for modeling the simulated building and combustible materials in the building, simulating a virtual scene of a fire disaster and simulating a virtual scene of a fire extinguishing process after receiving the fire extinguishing operation signal.
The method for simulating the virtual scene of the fire comprises the following steps:
(1) determining the combustion type of each combustible material in the simulated building, wherein the judgment coefficient of the combustion type is as follows:
when f is less than or equal to fi, the combustion type is ventilation control combustion, and when f is greater than fi, the combustion type is fuel control combustion;
wherein fi is a combustion type critical value corresponding to the type of the combustible material, and is determined through an experimental result; g is the mass combustion coefficient of combustible substances and is determined through experimental results; a. thefIs the surface area of the combustible; a. thevIs the area of the building opening; hvIs the height of the building opening;
(2) calculating the heat release rate H when combustible is burntR：
Wherein t is the combustion time, t1For the time, t, at which the rate of heat release of the combustible material increases under the type of combustion determined in step (1) to reach the maximum rate of heat release corresponding to the type of material2Time to consume 80% of the heat of the combustible for combustion, t1And t2Determining through an experimental result; when t is less than or equal to t1When it is a fire growth stage, when t1＜t≤t2When the fire is in a fire sustained stage, when t is more than t2The stage of extinguishing fire is started; a is a fire growth coefficient, a specific numerical value is determined through an experimental result according to the type of the material, beta represents a fire extinguishing coefficient, and the specific numerical value is determined through the experimental result according to the type of the material;
(3) simulating fire spread:
dividing each single combustible material in the building into a plurality of control bodies;
determining one or more control bodies starting combustion according to the preset ignition point position information;
calculating the quantity Q of heat radiation received by the unburnt control bodyG：
When Q isG≥QGCiIf so, judging that the unburned control body reaches an ignition condition, and starting combustion;
wherein Q isGCiThe specific numerical value of the critical heat for ignition of the material type of the unburned control body is determined through an experimental result; hRjThe heat release rate when the jth control body on the periphery burns is T, and the time when the unburned control body receives heat radiation is T; l isjThe distance between the jth control body and the unburned control body; theta is an environmental wind direction coefficient and represents an included angle between a connecting line of the jth control body pointing to the unburned control body and the wind direction; ν is a wind power coefficient, represents the influence of wind power on the size of heat radiation and is a preset value; n is the number of other control bodies around the unburned control body.
The virtual scene for simulating the fire extinguishing process comprises the following steps:
simulating a scene of spraying a fire extinguishing agent to a fire area, and acquiring an effective dose M of the fire extinguishing agent acting on a control body for combustion by a particle system collision detection method;
calculating the heat loss Q of the control body of the fire extinguishing agent causing the combustionL=ηM；
Calculating the calorific value Q = Q stored by the combustion control bodyGk- QL；
When Q < QGCkWhen the combustion is started, the combustion control body stops combustion;
wherein eta is the fire extinguishing efficiency coefficient of the fire extinguishing agent, and the specific numerical value is obtained according to experiments; qGCkCritical heat for ignition of the material type of the combustion control body;
QGkthe heat radiation heat received by the combustion control body and the self combustion heatSum of (a):
wherein HRiThe heat release rate of the peripheral ith control body during combustion; t is a unit ofkThe time for which the control body for the combustion receives thermal radiation; l isiThe distance between the ith control body and the combustion control body; hRkM is the heat release rate of the burning control body, and m is the number of other control bodies around the burning control body.
By adopting the technical scheme, the fire rescue VR training system is an integrated multifunctional fire-fighting rescue simulation training system based on a virtual reality technology, and in order to simulate the situation of a fire rescue scene more truly, the real-time interaction between the fire development situation and the fire rescue action is realized by simulating the fire accident occurrence development evolution process meeting the physical rules and the influence of the fire rescue action on the fire development.
Drawings
Fig. 1 is a system block diagram of a fire rescue VR training system of the present invention.
Fig. 2 is a schematic flow chart of a fire spreading and extinguishing simulation method according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The invention provides a fire rescue VR training system, aiming at establishing a fire development and rescue disposal interactive model meeting fire development evolution rules and fire extinguishing efficiency evaluation reality and realizing a rapid expression method meeting real-time fire extinguishing rescue interactive calculation requirements. In the aspect of the fire occurrence development evolution law, the invention simplifies the complex fire dynamics influence factors into the main factors of the article type (such as fixed furniture such as sofas, beds, tables, chairs, cabinets, curtains, carpets, electric appliances and the like, and has the functions of determining fire load), the material type (such as wood, cloth, fur, high polymer materials and electric elements, and has the functions of influencing the heat release rate and the ignition heat consumption), the placing mode (such as horizontal, vertical, inclined angle and interval, and has the functions of influencing the flame propagation speed and the smoke generation amount), the ventilation condition (opening area, opening position, environmental wind direction and environmental wind speed, and has the functions of influencing the fire control type (fuel control type/ventilation evolution type and the flame shape) and the like, and the fire development law model is used for controlling; in the aspect of interaction of fire extinguishing and rescue actions and fire evolution, factors such as fire extinguishing agent types (water, foam, dry powder, aerosol and water-based fire extinguishing agents), spraying modes (direct current, blooming and water mist), effective acting amount (the amount of the fire extinguishing agents actually entering a fire area) and the like are mainly considered, the factors and the fire extinguishing efficiency evaluation result are utilized to realize the influence of fire extinguishing actions on the fire development process, and finally, the interactive control of the fire extinguishing training process is realized.
The invention relates to a fire rescue VR training system, which comprises a host, VR equipment and simulated fire fighting equipment, as shown in figure 1.
VR equipment can be for VR glasses or VR helmet, VR equipment connect in the host computer to training personnel wear, can show the virtual scene of conflagration and the virtual scene of the process of putting out a fire.
The simulation fire fighting equipment connect in the host computer, including VR tracer and simulation operation controlling means that puts out a fire, the VR tracer is used for pursuing the position and the angle of simulation fire fighting equipment, simulation operation controlling means that puts out a fire is used for putting out a fire the operation time at training personnel to the host computer sends corresponding operating signal. The simulated fire fighting equipment can be a simulated fire fighting lance in a semi-physical form or a simulated fire extinguisher; the VR tracking device can be a position and angle tracking device such as a gyroscope and the like and is used for tracking the position and the angle of the simulated fire fighting equipment so as to determine the angle and the direction of the sprayed fire extinguishing agent; the simulated fire extinguishing operation control device comprises a switch of a simulated fire-fighting lance or a switch of a simulated fire extinguisher and the like, and when a trainer triggers the switch, the simulated injection of the fire extinguishing agent is started.
The host is used for modeling a simulated building and combustible materials in the building and realizing a fire spreading and fire extinguishing simulation method.
The fire spreading and fire extinguishing simulation method, as shown in fig. 2, comprises the following steps:
(1) determining the combustion type of each combustible material in the simulated building, wherein the judgment coefficient of the combustion type is as follows:
when f is less than or equal to fi, the combustion type is ventilation control combustion, and when f is greater than fi, the combustion type is fuel control combustion;
wherein fi is a combustion type critical value corresponding to the type of the combustible material, and is determined through an experimental result; g is the combustible mass combustion coefficient and is determined by the experimental result; a. thefIs the surface area (m) of combustible2）；AvArea of building opening (m)2）；HvIs the height (m) of the building opening.
Fuel-controlled combustion means that the building is open wide, ventilation is good, oxygen supply is sufficient, and the rate of combustion (expressed as the rate of heat release) is primarily affected by the rate of combustible supply given by the decomposition of the fuel. The ventilation control type combustion means that the opening of a building is small, ventilation is poor, oxygen supply is insufficient, and the combustion rate is mainly influenced by the ventilation condition. The area of the opening of the building and the height of the opening respectively mean the area of the opening in the space of the building and the height of the center of the opening, and the values directly influence the ventilation condition and further influence the combustion type.
(2) Calculating the heat release rate H of combustible material in different stagesR（kW）：
Wherein t is the combustion time, t1For the combustible substance, the time(s), t) for the rate of heat release to increase to reach the maximum rate of heat release corresponding to the type of material under the combustion type determined in step (1)2Time(s), t) to consume 80% of the heat of the combustible for combustion1And t2Determining through an experimental result; when t is less than or equal to t1When it is a fire growth stage, when t1＜t≤t2When the fire is in a fire sustained stage, when t is more than t2The stage of extinguishing fire is started; a is the fire growth coefficient (Kw/s)2) The specific value is determined by the experimental result according to the type of the material, beta represents the fire extinguishing coefficient (Kw/s)2) The specific numerical value is determined by the experimental result according to the kind of the material.
(3) Simulating fire spread:
dividing each single combustible material in the building into a plurality of control bodies; since the heat release rate is calculated for all combustible materials in the space in the step (2), the heat release rate of each control body is obtained in the step (2);
determining one or more control bodies starting combustion according to the preset ignition point position information;
calculating the quantity Q of heat radiation received by the unburnt control bodyG：
When Q isG≥QGCiIf so, judging that the unburned control body reaches an ignition condition, and starting combustion;
wherein Q isGCiCritical heat (KJ) for ignition of the material type of the unburned control body, and the specific numerical value is determined through an experimental result; hRjThe heat release rate (kW) of the peripheral jth control body during combustion, T is the heat radiation received by the unburned control bodyTime of fire(s); l isjThe distance (m) between the jth control body and the unburned control body; theta is an environmental wind direction coefficient and represents an included angle between a connecting line of the jth control body pointing to the unburned control body and a preset wind direction, the included angle is a value within the range of 0-180 degrees, the included angle represents a downwind direction when being 0 degrees, the included angle represents an upwind direction on a 180-degree meter, and the included angle represents a crosswind direction when being 0-180 degrees; ν is a wind power coefficient, represents the influence of wind power on the size of heat radiation and is a preset value; n is the number of other control bodies around the unburned control body. In this step, the quantity Q of heat radiation received by the unburned control body is programmed and calculatedGkWhen summing, the other control bodies around the unburned control body (namely all the control bodies except the unburned control body in the space) are traversed, and the heat radiation heat quantity generated by the other control bodies which are burnt to the unburned control body is calculated.
(4) Simulating the spread of fire under the intervention of fire extinguishing action:
when the fire extinguishing agent is sprayed to a fire area, the effective dose M of the fire extinguishing agent acting on a control body for combustion is obtained by a particle system collision detection method;
calculating the heat loss Q of the control body of the fire extinguishing agent causing the combustionL=ηM；
Calculating the calorific value Q = Q stored by the combustion control bodyGk- QL；
When Q < QGCkWhen the combustion is stopped, the combustion control body stops the combustion;
wherein eta is the fire extinguishing efficiency coefficient of the fire extinguishing agent, and the specific numerical value is obtained according to experiments; qGCkCritical heat (KJ) ignited for the type of material of the control body of the combustion;
QGkthe sum (KJ) of the heat of radiation received by the control body for this combustion and the heat of combustion itself:
wherein HRiHeat generated by combustion of the ith control bodyRelease rate (kW); t iskThe time(s) for which the control body for the combustion receives thermal radiation; l isiThe distance (m) between the ith control body and the combustion control body; hRkIs the heat release rate (kW) of the burning control body, and m is the number of other control bodies around the burning control body.
The particle system collision detection method is a common representation method for processing smoke, fire, water and other similar fluid substances through simulation software (such as Unity3D, unregeal and the like), namely, a limited number of particles in a particle system are used for representing the flow and the interaction of fluid, for example, the particle system is used for representing two elements of fire and water in a fire extinguishing process, and the particle system collision detection of the two elements obtains the interaction effect of the fire and the water, namely, how much water is sprayed into flames in the fire extinguishing process, so that the actual effective fire extinguishing water consumption is calculated.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (2)
1. The utility model provides a fire rescue VR training system which characterized in that: the system comprises a host, VR equipment and simulated fire fighting equipment;
the VR equipment is connected to the host, is worn by training personnel, and can display a fire disaster and a virtual scene in a fire extinguishing process;
the simulated fire fighting equipment is connected with the host and comprises a VR tracking device and a simulated fire extinguishing operation control device, wherein the VR tracking device is used for tracking the position and the angle of the simulated fire fighting equipment, and the simulated fire extinguishing operation control device is used for sending a corresponding fire extinguishing operation signal to the host when training personnel carry out fire extinguishing operation;
the host is used for modeling the simulated building and combustible materials in the building, simulating a virtual scene of a fire and simulating a virtual scene of a fire extinguishing process after receiving a fire extinguishing operation signal;
the method for simulating the virtual scene of the fire comprises the following steps:
(1) determining the combustion type of each combustible material in the simulated building, wherein the judgment coefficient of the combustion type is as follows:
when f is less than or equal to fi, the combustion type is ventilation control combustion, and when f is greater than fi, the combustion type is fuel control combustion;
wherein fi is a combustion type critical value corresponding to the type of the combustible material, and is determined through an experimental result; g is the combustible mass combustion coefficient and is determined by the experimental result; a. thefIs the surface area of the combustible; a. thevIs the area of the building opening; hvIs the height of the building opening;
(2) calculating the heat release rate H when combustible is burntR：
Wherein t is the combustion time, t1For the time, t, at which the rate of heat release of the combustible material increases under the type of combustion determined in step (1) to reach the maximum rate of heat release corresponding to the type of material2Time to consume 80% of the heat of the combustible for combustion, t1And t2Through experimental resultsDetermining; when t is less than or equal to t1When it is a fire growth stage, when t1＜t≤t2When the fire is in a fire sustained stage, when t is more than t2The stage of extinguishing fire is started; a is a fire growth coefficient, a specific numerical value is determined through an experimental result according to the type of the material, beta represents a fire extinguishing coefficient, and the specific numerical value is determined through the experimental result according to the type of the material;
(3) simulating fire spread:
dividing each single combustible material in the building into a plurality of control bodies;
determining one or more control bodies starting combustion according to the preset ignition point position information;
calculating the quantity Q of heat radiation received by the unburnt control bodyG：
When Q isG≥QGCiIf so, judging that the unburned control body reaches an ignition condition, and starting combustion;
wherein Q isGCiThe specific numerical value of the critical heat for ignition of the material type of the unburned control body is determined through an experimental result; hRjThe heat release rate when the jth control body on the periphery burns is T, and the time when the unburned control body receives heat radiation is T; l isjThe distance between the jth control body and the unburned control body; theta is an environmental wind direction coefficient and represents an included angle between a connecting line of the jth control body pointing to the unburned control body and the wind direction; ν is a wind power coefficient, represents the influence of wind power on the size of heat radiation and is a preset value; n is the number of other control bodies around the unburned control body.
2. A fire rescue VR training system as claimed in claim 1, where simulating a virtual scene of a fire suppression process comprises the steps of:
simulating a scene of spraying a fire extinguishing agent to a fire area, and acquiring an effective dose M of the fire extinguishing agent acting on a control body for combustion by a particle system collision detection method;
calculating the heat loss Q of the control body of the fire extinguishing agent causing the combustionL=ηM；
Calculating the calorific value Q = Q stored by the combustion control bodyGk- QL；
When Q < QGCkWhen the combustion is started, the combustion control body stops combustion;
wherein eta is the fire extinguishing efficiency coefficient of the fire extinguishing agent, and the specific numerical value is obtained according to experiments; qGCkCritical heat for ignition of the material type of the combustion control body;
QGkthe sum of the heat radiation heat received by the combustion control body and the self combustion heat:
wherein HRiThe heat release rate of the peripheral ith control body during combustion; t iskThe time for which the control body for the combustion receives thermal radiation; l isiThe distance between the ith control body and the combustion control body; hRkA heat release rate of a control body for the combustion; m is the number of other control bodies around the control body for combustion.
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