Method and device for jet landing point detection and fire extinguishing control of fire monitor

Abstract

The present invention relates to the field of firefighting equipment, and discloses a method and device for jet landing point detection and fire extinguishing control for fire monitors. The method comprises: obtaining three-dimensional target fire point area point cloud data when the fire monitor is in an unactivated state, and obtaining jet trajectory image data when the fire monitor is in an activated state and the jet trajectory is stable; extracting the jet area from the jet trajectory image data; performing curve fitting on the jet area to obtain a jet trajectory curve; determining the intersection of the jet trajectory curve and the end of the jet area as the jet landing point; and extracting the three-dimensional spatial position information of the jet landing point from the three-dimensional target fire point area point cloud data. The present invention combines the three-dimensional target fire point area point cloud data and the jet trajectory image data to achieve accurate landing point detection and positioning.

Description

Technical Field

[0001] The present invention relates to the field of fire-fighting equipment, and in particular to a method and device for jet landing point detection and fire extinguishing control of a fire monitor. Background Art

[0002] For existing fire monitors, when used in complex fire-fighting scenarios, the jet trajectory of the fire monitor is easily affected by external factors such as outdoor wind or machine equipment operating errors, resulting in a deviation between the jet landing point of the fire monitor and the target fire point, making it difficult to accurately detect the jet landing point, resulting in the fire-fighting effect of the fire monitor in actual application often being less than ideal. Summary of the Invention

[0003] The purpose of the present invention is to provide a method and device for detecting the jet landing point and controlling fire extinguishing of a fire monitor, so as to solve the problem that the jet trajectory of the fire monitor is easily affected by external factors.

[0004] In order to achieve the above-mentioned objectives, the present invention provides a method for detecting the jet landing point of a fire monitor, comprising: obtaining point cloud data of a three-dimensional target fire point area when the fire monitor is in an unactivated state, and obtaining jet trajectory image data when the fire monitor is in an activated state and the jet trajectory is stable; extracting a jet area from the jet trajectory image data; performing curve fitting on the jet area to obtain a jet trajectory curve; determining the intersection of the jet trajectory curve and the end of the jet area as the jet landing point; and extracting the three-dimensional spatial position information of the jet landing point from the point cloud data of the three-dimensional target fire point area.

[0005] Preferably, extracting the jet area from the jet trajectory image data includes: performing transmittance feature extraction on the jet trajectory image data based on preset rules to extract the transmittance feature image as the first jet candidate area; performing motion feature extraction on the jet trajectory image data to extract the jet motion area as the second jet candidate area; and performing similarity feature matching on the first jet candidate area and the second jet candidate area to extract the jet area.

[0006] An embodiment of the present invention also provides a fire extinguishing control method for a fire monitor, comprising: obtaining the current fire point position; using any of the above-mentioned jet landing point detection methods to obtain the jet landing point position corresponding to the fire extinguishing of the fire monitor based on the initial posture parameters of the fire monitor; and correcting the fire monitor posture when the position deviation between the fire point position and the jet landing point position is greater than or equal to a preset deviation.

[0007] Preferably, obtaining the current fire point position includes: obtaining visible light image data, infrared image data and three-dimensional fire point area point cloud data for the current fire point; extracting a first flame candidate area and a second flame candidate area from the visible light image data and the infrared image data respectively; fusing the first flame candidate area and the second flame candidate area to extract an intersection area as the fire point area; and extracting the three-dimensional spatial position information of the fire point area from the three-dimensional target fire point area point cloud data.

[0008] Preferably, after obtaining the current fire point position, the method further includes: obtaining a fire cannon jet model showing the correlation between the fire point position, the fire cannon position and the fire cannon initial posture parameters, wherein the fire cannon jet model is configured to output fire cannon posture parameters so that the direction of the fire cannon muzzle is aligned with the fire point direction and the fire cannon jet area can cover the fire point area; and in the fire cannon coordinate system, based on the current fire point position, obtaining the fire cannon initial posture parameters through the fire cannon jet model, wherein the fire cannon initial posture parameters are used to control the posture of the fire cannon.

[0009] Preferably, the initial posture parameters of the fire cannon include the direction of the fire cannon muzzle, the pitch angle of the fire cannon, the horizontal angle of the fire cannon and / or the water pressure at the muzzle of the fire cannon, and the fire cannon jet model is configured as follows: based on the direction vector of the fire point position relative to the fire cannon, the pitch angle of the fire cannon and the horizontal angle of the fire cannon are output so that the direction of the fire cannon muzzle is aligned with the direction of the fire point; and in the fire cannon coordinate system and when the direction of the fire cannon muzzle is aligned with the direction of the fire point, based on the spatial position of the fire point position relative to the fire cannon, the pitch angle of the fire cannon and the water pressure at the muzzle of the fire cannon are output so that the jet area of ​​the fire cannon covers the fire point area.

[0010] Preferably, the correction of the fire cannon posture includes: determining the horizontal deflection angle of the fire cannon that needs to be adjusted and the landing point position deviation distance that needs to be compensated according to the three-dimensional spatial position coordinates of the fire point, the jet landing point and the fire cannon; determining the expected target fire point position of the fire cannon according to the determined landing point position deviation distance, and obtaining the fire cannon optimized posture parameters through the fire cannon jet model based on the expected target fire point position; and obtaining the jet landing point optimized position corresponding to the fire cannon extinguishing the fire based on the fire cannon optimized posture parameters. If the position deviation between the expected target fire point position and the jet landing point optimized position is less than the preset deviation, the correction is completed, otherwise repeat the above steps until the corresponding position deviation is less than the preset deviation.

[0011] Preferably, the following formula is used to calculate the horizontal deflection angle δ that needs to be corrected for the fire monitor:

[0012]

[0013] In the formula, (X F ,Y F ,Z F )、(X W ,Y W ,Z W )、(X M ,Y M ,Z M ) are the three-dimensional spatial coordinates of the fire point, jet landing point and fire monitor respectively.

[0014] An embodiment of the present invention also provides a jet landing point detection device for a fire monitor, comprising: a memory storing a program that can be run on a processor; and the processor, which is configured to implement any of the above-mentioned jet landing point detection methods when executing the program.

[0015] An embodiment of the present invention also provides a fire extinguishing control device for a fire monitor, comprising: a data processing unit and a fire monitor control unit. The data processing unit includes: a fire point detection module for obtaining the current fire point position; a fire monitor posture calculation module for determining the fire monitor initial posture parameters based on the fire point position; a jet landing point detection module, configured as any of the above-mentioned jet landing point detection devices, for obtaining the jet landing point position corresponding to the fire extinguishing of the fire monitor based on the fire monitor initial posture parameters. The fire monitor control unit is configured to correct the fire monitor posture when the positional deviation between the fire point position and the jet landing point position is greater than or equal to a preset deviation.

[0016] Preferably, a data acquisition unit is also included, and the data acquisition unit includes a visible light image acquisition device, an infrared image acquisition device and a laser radar adapted for installation on the fire monitor, and is used to respectively collect visible light image data, infrared image data and three-dimensional fire point area point cloud data for the current fire point.

[0017] An embodiment of the present invention further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute any of the above-mentioned jet landing point detection methods or any of the above-mentioned fire extinguishing control methods.

[0018] Through the above technical solution, the present invention combines the three-dimensional target fire point area point cloud data and jet trajectory image data to achieve accurate landing point detection and positioning, which helps to further guide the adjustment of the fire monitor posture, reduce the deviation between the jet landing point position and the target fire point position, and improve the fire extinguishing effect.

[0019] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 1 is a flow chart of a method for detecting the jet landing point of a fire monitor according to an embodiment of the present invention;

[0022] Figure 2 1 is a schematic diagram of a process for extracting a jet area from jet trajectory image data according to an embodiment of the present invention;

[0023] Figure 3 1 is a flow chart of a fire extinguishing control method for a fire monitor according to an embodiment of the present invention;

[0024] Figure 4 1 is a flow chart of obtaining the fire point position in an embodiment of the present invention;

[0025] Figure 5 1 is a flow chart of determining the initial posture parameters of a fire monitor based on the position of a fire point in an embodiment of the present invention;

[0026] Figure 6 is a plan view of an example jet trajectory according to an embodiment of the present invention;

[0027] Figure 7 1 is a schematic diagram of a flow chart for calibrating the posture of a fire monitor in an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of the spatial positional relationship between a fire monitor, a jet landing point, and a fire point in an embodiment of the present invention; and

[0029] Figure 9 It is a structural schematic diagram of a fire extinguishing control device of a fire monitor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0031] Here, some terms involved in the embodiments of the present invention are introduced to facilitate understanding of the embodiments of the present invention:

[0032] 1. Point cloud: The embodiments of the present invention mainly refer to the lidar point cloud, which is a collection of data points representing 3D shapes or objects in space obtained by scanning with a 3D lidar device. Each point contains three-dimensional coordinate information, namely the three elements x, y, and z, denoted as (x, y, z).

[0033] 2. The mapping relationship between the 3D spatial coordinates in the point cloud and the 2D pixel coordinates in the image: The mapping relationship between the internal and external parameters of the camera obtained by camera calibration, the relationship between the camera and the ground coordinate system and projection, and the relationship between pixels and planes is realized. F ,y F ) and the three-dimensional spatial position (X F ,Y F ,Z F ). The mapping relationship can be described as the following formula (1):

[0034]

[0035] Where K is the intrinsic parameter matrix of the camera, R is the rotation matrix of the camera pose, and t is the translation vector.

[0036] Example 1

[0037] Currently, when fire monitors are used in complex fire environments, such as harsh outdoor fires, a variety of factors can interfere with the jet flow, causing deviations in the jet's landing point, which in turn affects the firefighting effect. The factors influencing landing point deviation include controllable factors ρ and uncontrollable factors σ. Controllable factors ρ, such as device deflection angle errors, can be manually corrected; uncontrollable factors σ, such as external wind forces, are not easily statistically analyzed.

[0038] Accordingly, the first embodiment of the present invention provides a method for detecting the jet impact point of a fire monitor, so as to improve the accuracy of the impact point detection in various complex fire scene environments. Figure 1 FIG. 1 is a flow chart of a method for detecting the jet landing point of a fire monitor according to an embodiment of the present invention. Figure 1 As shown, the jet landing point detection method may include the following steps S110-S150:

[0039] Step S110, obtaining three-dimensional target fire point area point cloud data when the fire monitor is in an unactivated state, and obtaining jet trajectory image data when the fire monitor is in an activated state and the jet trajectory is stable.

[0040] For example, before a fire monitor sprays water, a laser radar system adapted for the monitor is used to collect three-dimensional point cloud data of the target fire area. The monitor is then activated, and after the jet trajectory stabilizes, a visible light image acquisition device adapted for the monitor is used to capture image data of the jet trajectory. The visible light image acquisition device, for example, a visible light camera, is used.

[0041] Step S120: extracting a jet area from the jet trajectory image data.

[0042] like Figure 2As shown, in a preferred embodiment, step S120 includes the following steps S121-S123:

[0043] Step S121 : performing transmittance feature extraction on the jet trajectory image data based on a preset rule to extract a transmittance feature image as a first jet candidate region.

[0044] In this example, for the jet trajectory image data collected by the visible light camera, all pixels in the image are traversed, and then based on the dark primary color prior theory, the transmittance feature image is extracted using the evaluation rule shown in the following formula (2). The transmittance feature image is then classified using the evaluation rule shown in the following formula (3) to generate the first jet candidate area C1 of the fire monitor.

[0045]

[0046] f(x,y)<ε 12 (3)

[0047] Where, {r,,} represents the RGB channels of the jet trajectory image, J c (,y) is the pixel value of the RGB channel of the image at (x,y), f(x,y) represents the pixel grayscale value of the transmittance feature image at (x,y), A is the coefficient, ε 12 is the threshold.

[0048] Step S122 : extracting motion features from the jet trajectory image data to extract a motion region as a second jet candidate region.

[0049] Continuing with the above example, step S122 is intended to evaluate motion features. By using the background subtraction method based on the mixed Gaussian model and the difference between the previous and next frame images, the background area and the foreground area in the image are classified, and the motion area of ​​the jet is extracted as the second jet candidate area C2 of the fire monitor.

[0050] Step S123 : performing similarity feature matching on the first jet candidate region and the second jet candidate region to extract the jet region.

[0051] Continuing with the above example, the absolute difference matching method is applied to the extracted first jet candidate area C1 and the second jet candidate area C2, and similarity feature matching is performed using the evaluation rule shown in the following formula (4) to obtain the jet area C of the fire monitor.

[0052] D(a,b)=|a(x,y)-b(x,y)|>ε 13 (4)

[0053] Where D(a,b) represents the similarity, a(x,y) and b(x,y) correspond to the pixel values ​​of the candidate regions C1 and C2 at (x,y), respectively. 13 is the threshold.

[0054] Step S130: performing curve fitting on the jet region to obtain a jet trajectory curve.

[0055] Preferably, for step S130, a curve fitting method based on the least squares method is used to process all pixel points in the jet area to obtain the jet trajectory 0 curve. Continuing with the above example, for the extracted jet area C, all pixel points are indexed and the fire monitor jet trajectory curve is obtained by the curve fitting method based on the least squares method. The curve search method is as follows:

[0056]

[0057] Where τ represents the fitted jet trajectory curve, n represents the number of pixels in the jet feature area, and δ is the data deviation. When the value of δ is the smallest, the jet trajectory curve τ can be determined.

[0058] Step S140: determining the intersection of the jet trajectory curve and the end of the jet area as the jet landing point.

[0059] Continuing with the above example, we select the intersection point (x w ,y w ) as the jet landing point.

[0060] Step S150: extracting the three-dimensional spatial position information of the jet landing point from the three-dimensional target fire point area point cloud data.

[0061] For example, the extracted jet impact point is mapped into a three-dimensional space based on the LiDAR point cloud data, where the mapping method from two-dimensional pixel coordinates to three-dimensional space coordinates is described in the above equation (1), thereby finding the three-dimensional coordinates of the impact point. In addition, the position coordinate information of this point can be fed back to the fire monitor control system to assist the fire monitor control system in completing the impact point positioning and subsequent fire extinguishing control.

[0062] In the first embodiment of the present invention, in response to the situation where external factors interfere with the jet state of the fire monitor, accurate landing point detection and positioning are achieved by combining the three-dimensional target fire point area point cloud data and jet trajectory image data, which helps to guide the adjustment of the fire monitor posture, reduce the deviation between the jet landing point position and the target fire point position, and improve the fire extinguishing effect.

[0063] Example 2

[0064] The second embodiment of the present invention provides a fire extinguishing control method of a fire monitor, such as Figure 3 As shown, the following steps S310-S330 may be included:

[0065] Step S310, obtaining the current fire point position.

[0066] For step S310, the main idea is: first, find the characteristics of the fire point in the visible light image and infrared image, evaluate according to the color feature information and motion characteristics of the fire point, find the flame area separately and perform feature matching to obtain the fire point detection result; then, use the lidar to collect the point cloud data of the fire point area, combine the fire point detection result with the three-dimensional information of the point cloud, obtain the three-dimensional spatial information of the fire point, and complete the positioning of the fire point.

[0067] Based on this main idea, Figure 4 As shown, in a preferred embodiment, step S310 may include the following steps S311-S314:

[0068] Step S311: Obtain visible light image data, infrared image data, and three-dimensional fire point area point cloud data for the current fire point.

[0069] For example, a visible light image acquisition device, an infrared image acquisition device, and a lidar sensor, adapted for use with the fire monitor, can collect visible light image data, infrared image data, and three-dimensional point cloud data of the fire area for the current fire. The visible light image acquisition device and the infrared image acquisition device can be, for example, a visible light camera and an infrared camera, respectively, or both can be implemented using a visible light / infrared dual-spectrum camera. This multi-sensor fusion data detection approach offers redundancy and adaptability to a wider range of scenarios.

[0070] Step S312 : extracting a first flame candidate region and a second flame candidate region from the visible light image data and the infrared image data respectively.

[0071] In this example, for the collected visible light image data, the visible light image is converted into a grayscale image, all pixels of the image are traversed, and the first flame candidate region F1 is extracted using the evaluation rule shown in the following formula (6).

[0072] f(x,y)>ε1 (6)

[0073] Wherein, f(x, y) represents the grayscale value of the pixel at (x, y) of the image, ε1 is the threshold, and ε1 is set according to the grayscale value sorting distribution of the grayscale image.

[0074] For the collected infrared image data, all pixels are traversed and the second flame candidate region F2 is extracted using the evaluation rules shown in the following equations (7) and (8) based on the color space features and the evaluation rule shown in the following equation (9) based on the motion difference features of adjacent frames.

[0075] f R (x, y)>f G (x, y)>f B (x, y) and f R (x, y)>ε2 (7)

[0076] ε4>f H (x, y)>ε5 and ε6>f S (x, y)>ε7 and ε8>f I (x, y)>ε9 (8)

[0077] |f t (x, y)-f t-1 (x, y)|>ε 10 (9)

[0078] Among them, f R (x, y), f G (x, y), f B (x, y) represents the pixel value of the image at (x, y) in the R, G, and B color channels, f H (x, y), f S (x, y), f I (x, y) represents the pixel value of the image at (x, y) in the H, S, and I color channels, f t (x, y) and f t-1 (x, y) represents the pixel value of the current frame and the previous frame at (x, y), ε2, ε3, ε4, ε5, ε6, ε7, ε8, ε9, ε 10 is the threshold.

[0079] Step S313 : Fusing the first flame candidate region and the second flame candidate region to extract an intersection region as a fire point region.

[0080] For example, the first flame candidate region is extracted from the visible light image data and can be recorded as a visible light feature region. The second flame candidate region is extracted from the infrared image data and can be recorded as an infrared feature region. The visible light feature region and the infrared feature region are represented by pixel values ​​in the image (for example, the pixel value of the feature region is set to 255, and the pixel values ​​of other regions are set to 0). Based on this, the region fusion is to take the intersection region of the visible light feature map and the infrared feature map where the pixel value is 255. This intersection region is the fire point region to be extracted in this embodiment of the present invention.

[0081] Step S314: extracting the three-dimensional spatial position information of the fire point area from the three-dimensional target fire point area point cloud data.

[0082] In particular, the three-dimensional spatial position information of the center of gravity coordinates of the fire point area is mainly extracted, and the three-dimensional spatial position information of the entire fire point area is determined based on the extracted three-dimensional spatial position information.

[0083] Following the above example, the following formulas (10) and (11) are used to calculate the centroid coordinates (x F ,y F ):

[0084]

[0085]

[0086] Where n represents the number of pixels in the flame area F, f(x i ,y i ) represents the i-th pixel point (x i ,y i ) is the pixel value at .

[0087] Then, according to the mapping relationship shown in the above formula (1), the centroid coordinates (x F ,y F ) is converted into the three-dimensional spatial position information in the three-dimensional target fire point area point cloud data, that is, the current fire point position is obtained.

[0088] Step S320: Using the jet landing point detection method of the first embodiment, obtain the jet landing point position corresponding to the fire extinguishing by the fire monitor based on the initial posture parameters of the fire monitor.

[0089] For step S320, after obtaining the current fire point position, it is preferred to first determine the fire monitor posture parameters, wherein the fire monitor initial posture parameters are used to control the posture of the fire monitor.

[0090] In the example, the main idea of ​​determining the fire cannon posture parameters in step S320 is: after completing the fire point detection and positioning, first convert the fire point position coordinates into the fire cannon coordinate system, obtain the direction vector of the fire point relative to the fire cannon, and adjust the fire cannon pitch angle and horizontal angle according to the direction vector, so that the center direction of the fire cannon muzzle is aligned with the direction of the fire point; then, according to the spatial position of the target fire point relative to the fire cannon, the fire cannon posture solution is completed through the fire cannon jet model.

[0091] Based on this idea, Figure 5 As shown, in a preferred embodiment, step S320 may include:

[0092] Step S321: Obtain a fire monitor jet model showing the correlation between the fire point position, the fire monitor position and the fire monitor initial posture parameters.

[0093] The fire monitor jet model may be pre-constructed and stored in a storage medium, for example, and then directly obtained from the storage medium for application.

[0094] The fire monitor jet model is configured to output fire monitor posture parameters so that the direction of the fire monitor muzzle is aligned with the direction of the fire point and the fire monitor jet area can cover the fire point area. Accordingly, more preferably, the fire monitor jet model is configured to: based on the direction vector of the fire point position relative to the fire monitor, output the fire monitor pitch angle and the fire monitor horizontal angle so that the direction of the fire monitor muzzle is aligned with the direction of the fire point; and in the fire monitor coordinate system and when the direction of the fire monitor muzzle is aligned with the direction of the fire point, based on the spatial position of the fire point relative to the fire monitor, output the fire monitor pitch angle and the fire monitor muzzle water pressure so that the fire monitor jet area covers the fire point area.

[0095] In the example, refer to Figure 6 The plane view of the jet trajectory is shown, and the plane coordinate positions of the fire monitor and the fire point are defined as (0, Y M ) and (X F ,Y F ), β is the angle between the fire monitor muzzle and the horizontal direction when it is aimed at the fire point, and α is the angle between the fire monitor jet direction and the horizontal direction (recorded as the fire monitor horizontal angle or jet angle). Assuming the muzzle water flow velocity is v0, the constraints of the fire monitor jet model can be set as:

[0096]

[0097] Where μ is the discharge coefficient, P is the muzzle water pressure, and p is the fluid density.

[0098] Based on this, the jet model of the embodiment of the present invention is initially constructed as follows:

[0099]

[0100] Where m is the jet weight, k is the air resistance coefficient, and g is the acceleration due to gravity.

[0101] Further considering the resistance of the air to the jet trajectory during the jet process (proportional to the jet velocity), substitute the initial data (0, Y M ), the relationship model formula between the jet angle and the jet trajectory is as follows:

[0102]

[0103] In this example, because the jet trajectory can reach the maximum distance when α = 45°, the muzzle water pressure P is first set according to the distance to the fire point to control the initial jet velocity v0, so that the jet trajectory can be greater than the distance to the fire point. That is, the initial jet velocity v0 should also be defined as follows:

[0104]

[0105] Furthermore, if the fire point area cannot be reached at the maximum water pressure, it means that the distance to the fire point exceeds the fire extinguishing distance and the fire cannot be extinguished. If the jet distance under the set water pressure is greater than the fire point distance, there are two solutions for α (the solution when α = 45° and the solution when α < 45°). Based on the consideration of selecting a smaller solution, the solution when α < 45° can be selected to make the jet trajectory clearer and avoid excessive water diffusion in the jet landing area, which affects the subsequent landing point detection results.

[0106] Therefore, for the above jet model, the fire monitor pitch angle is:

[0107]

[0108] Thus, based on equations (12) to (16), the fire monitor jet model of the embodiment of the present invention is constructed. It should be noted that the fire monitor attitude parameters output by the fire monitor jet model can be the initial attitude parameters of the fire monitor or the optimized attitude parameters of the fire monitor described below, depending on different application scenarios.

[0109] Step S322: in the fire monitor coordinate system, based on the current fire point position, obtain the fire monitor initial posture parameters through the fire monitor jet model.

[0110] Here, the initial fire monitor posture parameters are used to control the monitor's posture. Continuing with the above example, the constructed fire monitor jet model can output parameters such as the monitor's muzzle direction, elevation angle, horizontal angle, and / or water pressure for monitor adjustment. These parameters can then be provided to the monitor control system, which issues the corresponding control instructions to align the monitor with the fire point and begin spraying water.

[0111] Step S330: When the positional deviation between the fire point position and the jet landing point position is greater than or equal to a preset deviation, the fire monitor posture is corrected.

[0112] It should be noted that, compared with step S320, step S330 is equivalent to a secondary adjustment of the fire monitor. This is because, when the fire monitor performs jetting based on the initial posture parameters of step S320, it may be affected by the environment and other factors, causing a landing point deviation, thereby affecting the fire extinguishing effect. Therefore, step S330 is required to further fine-tune the posture of the fire monitor based on the landing point position obtained in step S320. Among them, the factors affecting the landing point deviation include controllable factors ρ and uncontrollable factors σ. Controllable factors ρ, such as the equipment deflection angle error, can be manually corrected, and uncontrollable factors σ include external wind force, etc., which cannot be well statistically analyzed. Therefore, based on the gradual adjustment of steps S320 and S330, the landing point of the fire monitor jet can be controlled to gradually approach the fire point, and precise fire extinguishing can be achieved on the basis of ensuring the landing point detection accuracy and fire extinguishing control rate.

[0113] like Figure 7 As shown, step S330 may include the following steps S331-S333:

[0114] Step S331, according to the three-dimensional spatial position coordinates of the fire point, the jet landing point and the fire monitor, determine the horizontal deflection angle that needs to be adjusted and the landing point position deviation distance that needs to be compensated for the fire monitor.

[0115] Following the above example, further reference Figure 8 The spatial position relationship between the fire monitor, jet landing point and fire point is shown. Assume (X F ,Y F ,Z F )、(X W ,Y W ,Z W )、(X M ,Y M ,Z M ) are the three-dimensional spatial coordinates of the fire point, jet landing point, and fire monitor respectively. At this time, the position deviation ω between the jet landing point and the fire point can be calculated by the following formula:

[0116]

[0117] If ω<ω0 at this time, it means that the jet landing point accurately covers the fire point. Otherwise, the jet landing point guidance compensation operation will be started to calculate the horizontal deflection angle that needs to be adjusted and the landing point position deviation distance that needs to be compensated. ω0 is the preset deviation, which is a constant.

[0118] In this example, the following formula (18) is used to calculate the horizontal deflection angle δ that needs to be corrected for the fire monitor:

[0119]

[0120] Here, for example, due to the influence of the side wind, there is a horizontal deviation between the jet landing point and the fire point obtained by using the initial attitude parameters. The embodiment of the present invention directly calculates the horizontal deflection angle δ according to formula (18) based on the coordinate positions of the fire point and the jet landing point on the horizontal plane (ignoring the height, that is, the influence of the Z axis).

[0121] Furthermore, the following formula (19) is used to calculate the landing position deviation distance that the fire monitor needs to compensate for:

[0122]

[0123] Step S332: determining the expected target fire point position of the fire monitor according to the determined landing point position deviation distance, and obtaining the fire monitor optimized posture parameters through the fire monitor jet model based on the expected target fire point position.

[0124] Following the above example, according to the landing position deviation distance Get a new target fire point (X aimF ,Y aimF ) is substituted into the fire monitor jet model shown in equations (12) to (16) to obtain the new fire monitor pitch angle change θ new , where X aimF is the sum of the original preset target position and the position deviation to be compensated, X aimF With Y aimF The calculation formula is as follows:

[0125]

[0126] Y aimF =Z F (twenty one)

[0127] Step S333, obtain the optimized position of the jet landing point corresponding to the fire extinguishing by the fire monitor based on the optimized posture parameters of the fire monitor. If the position deviation between the expected target fire point position and the optimized position of the jet landing point is less than the preset deviation, the correction is completed, otherwise repeat the above steps until the corresponding position deviation is less than the preset deviation.

[0128] Following the above example, the method of embodiment 1 is used to determine the target fire point (X aimF ,Y aimF ) Re-determine the jet landing point and recalculate the position deviation ω between the landing point and the fire point. If ω<ω0, it means that the jet landing point accurately covers the fire point. Otherwise, recalculate the deviation and adjust the fire monitor posture.

[0129] The second embodiment of the present invention implements a multi-sensor fusion fire point location solution and the high-precision impact point location solution of the first embodiment. It further repeatedly corrects the fire monitor's posture based on the deviation between the impact point and the fire point, achieving self-adjustment of the monitor's posture and thus improving firefighting effectiveness. Furthermore, the entire firefighting control process of the second embodiment of the present invention achieves fully automated firefighting operation without manual intervention, enhancing the intelligence level of the fire monitor and meeting the current requirements of digital construction.

[0130] Example 3

[0131] Embodiment 3 of the present invention provides a jet landing point detection device for a fire monitor, comprising: a memory storing a program that can be run on a processor; and the processor configured to implement the jet landing point detection method of embodiment 1 when executing the program.

[0132] The jet impact detection device can be implemented using a conventional controller with computing and data transmission capabilities, such as the controller included with a fire monitor. This makes the jet impact detection device, as a controller, suitable for installation on firefighting equipment such as fire trucks, as well as in factories, warehouses, and other locations, offering wide practicality.

[0133] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the landing point detection involved in the embodiment of the present invention can be implemented by adjusting kernel parameters.

[0134] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. In addition, the memory may include at least one memory chip.

[0135] For more implementation details and effects of the jet landing point detection device of the fire monitor in the third embodiment, please refer to the first embodiment, and will not be described in detail here.

[0136] Example 4

[0137] like Figure 9 As shown, the fourth embodiment of the present invention provides a fire extinguishing control device for a fire monitor, which may include the following data processing unit 100 and a fire monitor control unit 200.

[0138] Among them, the data processing unit 100 includes: a fire point detection module 110, which is used to obtain the current fire point position; a fire cannon posture solution module 120, which is used to determine the initial posture parameters of the fire cannon based on the fire point position; and a jet landing point detection module 130, which is configured as the jet landing point detection device described in Example 4, and is used to obtain the jet landing point position corresponding to the fire cannon extinguishing the fire based on the initial posture parameters of the fire cannon.

[0139] The fire monitor control unit 200 is configured to correct the monitor's posture if the positional deviation between the fire point and the jet impact point is greater than or equal to a preset deviation. Furthermore, depending on the specific control variables, the monitor control unit may include a monitor elevation angle control module, a monitor horizontal angle control module, and a monitor muzzle water pressure control module.

[0140] In a preferred embodiment, the fire extinguishing control device of the fire monitor may further include: a data acquisition unit 300. The data acquisition unit 300 includes a visible light image acquisition device, an infrared image acquisition device, and a laser radar adapted for installation on the fire monitor, and is used to respectively acquire visible light image data, infrared image data, and three-dimensional fire point area point cloud data for the current fire point.

[0141] Furthermore, the fire extinguishing control device can be configured as a controller including multiple functional modules or integrated into a fire cannon control system, which makes it easy to implement in practice. It can be built on fire-fighting equipment such as fire trucks, and can also be installed as part of a fire cannon control system (especially a remote system) in factories, warehouses and other scenarios, and has wide practicality.

[0142] For more implementation details and effects of the fire extinguishing control device of the fire monitor of the fourth embodiment, please refer to the second embodiment, which will not be described in detail here.

[0143] Another embodiment of the present invention further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the jet landing point detection method or fire extinguishing control method described in the above embodiment. The machine is, for example, a separately configured controller or a controller that comes with a fire monitor. In addition, the machine-readable storage medium includes but is not limited to phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (Flash Memory) or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage devices, and other media that can store program codes.

[0144] For more implementation details and effects of the machine-readable storage medium of this embodiment, please refer to the embodiments of the aforementioned corresponding methods, which will not be described in detail here.

[0145] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0146] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0147] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0149] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0150] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0151] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0152] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, the elements defined by the phrase "includes..." do not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the elements.

[0153] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

[0154] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner, unless they are inconsistent, such as by swapping the order of executing some steps. To avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0155] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A method for detecting the jet landing point of a fire monitor, characterized in that: include: Obtain three-dimensional target fire point area point cloud data when the fire monitor is not turned on, and obtain jet trajectory image data when the fire monitor is turned on and the jet trajectory is stable; extracting a jet area from the jet trajectory image data; Performing curve fitting on the jet region to obtain a jet trajectory curve; Determine the intersection of the jet trajectory curve and the end of the jet area as the jet landing point; as well as The three-dimensional spatial position information of the jet landing point is extracted from the three-dimensional target fire point area point cloud data.

2. The jet landing point detection method according to claim 1, characterized in that: The extracting of the jet area from the jet trajectory image data comprises: Performing transmittance feature extraction on the jet trajectory image data based on preset rules to extract a transmittance feature image as a first jet candidate area; performing motion feature extraction on the jet trajectory image data to extract a jet motion region as a second jet candidate region; and Similarity feature matching is performed on the first jet candidate region and the second jet candidate region to extract the jet region.

3. A fire extinguishing control method for a fire monitor, characterized in that: include: Get the current fire point location; The jet landing point detection method according to claim 1 or 2 is used to obtain the jet landing point position corresponding to the fire extinguishing of the fire monitor based on the initial posture parameters of the fire monitor; as well as When the positional deviation between the fire point position and the jet landing point position is greater than or equal to a preset deviation, the fire monitor posture is corrected.

4. The fire extinguishing control method according to claim 3, characterized in that: The obtaining of the current fire point position includes: Obtain visible light image data, infrared image data and three-dimensional fire point area point cloud data for the current fire point; extracting a first flame candidate region and a second flame candidate region from the visible light image data and the infrared image data respectively; fusing the first flame candidate region and the second flame candidate region to extract an intersection region as a fire point region; and The three-dimensional spatial position information of the fire point area is extracted from the three-dimensional target fire point area point cloud data.

5. The fire extinguishing control method according to claim 3, characterized in that: After obtaining the current fire point position, the method further includes: Obtaining a fire monitor jet model showing the correlation between the fire point position, the fire monitor position, and the fire monitor initial posture parameters, wherein the fire monitor jet model is configured to output the fire monitor posture parameters so that the fire monitor muzzle is aligned with the fire point and the fire monitor jet area can cover the fire point area; and In the fire monitor coordinate system, based on the current fire point position, the fire monitor initial posture parameters are obtained through the fire monitor jet model, wherein the fire monitor initial posture parameters are used to control the posture of the fire monitor.

6. The fire extinguishing control method according to claim 5, characterized in that: The fire monitor initial posture parameters include the fire monitor muzzle direction, the fire monitor pitch angle, the fire monitor horizontal angle and / or the fire monitor muzzle water pressure, and the fire monitor jet model is configured as follows: Based on the direction vector of the fire point position relative to the fire monitor, output the fire monitor pitch angle and the fire monitor horizontal angle so that the fire monitor muzzle is aligned with the fire point direction; as well as In the fire monitor coordinate system and when the fire monitor muzzle is aligned with the fire point, based on the spatial position of the fire point relative to the fire monitor, the fire monitor pitch angle and the fire monitor muzzle water pressure are output so that the fire monitor jet area covers the fire point area.

7. The fire extinguishing control method according to claim 5, characterized in that: The fire monitor posture correction includes: According to the three-dimensional spatial coordinates of the fire point, jet landing point and fire monitor, determine the horizontal deflection angle that needs to be adjusted for the fire monitor and the landing point position deviation distance that needs to be compensated; Determining the expected target fire point position of the fire monitor according to the determined landing point position deviation distance, and obtaining the fire monitor optimized posture parameters through the fire monitor jet model based on the expected target fire point position; and Obtain the optimized jet landing point position corresponding to the fire extinguishing by the fire monitor based on the optimized posture parameters of the fire monitor. If the position deviation between the expected target fire point position and the optimized jet landing point position is less than the preset deviation, the correction is completed. Otherwise, recalculate the landing point position deviation distance and adjust the fire monitor posture until the corresponding position deviation is less than the preset deviation.

8. The fire extinguishing control method according to claim 7, characterized in that: Use the following formula to calculate the horizontal deflection angle that the fire monitor needs to be corrected : Where, ( X F ,Y F ,Z F )、( X W ,Y W ,Z W )、( X M ,Y M ,Z M ) are the three-dimensional spatial coordinates of the fire point, jet landing point and fire monitor respectively.

9. A jet landing point detection device for a fire monitor, characterized in that: include: a memory storing a program that can be executed on the processor; as well as The processor is configured to implement the jet landing point detection method according to claim 1 or 2 when executing the program.

10. A fire extinguishing control device for a fire monitor, characterized in that: include: Data processing unit, including: Fire point detection module, used to obtain the current fire point location; A fire monitor posture calculation module is used to determine the initial posture parameters of the fire monitor based on the fire point position; A jet landing point detection module, configured as the jet landing point detection device according to claim 9, for obtaining the jet landing point position corresponding to the fire extinguishing by the fire monitor based on the initial posture parameters of the fire monitor; The fire monitor control unit is configured as: When the positional deviation between the fire point position and the jet landing point position is greater than or equal to a preset deviation, the fire monitor posture is corrected.

11. The fire extinguishing control device according to claim 10, characterized in that: It also includes a data acquisition unit, and the data acquisition unit includes a visible light image acquisition device, an infrared image acquisition device and a laser radar adapted for the installation of the fire monitor, which is used to respectively collect visible light image data, infrared image data and three-dimensional fire point area point cloud data for the current fire point.

12. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for enabling a machine to execute the jet landing point detection method according to claim 1 or 2 or the fire extinguishing control method according to any one of claims 3 to 8.

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