Flame avoidance system for turbofan cannon fire vehicle

Abstract

The present application relates to a flame obstacle avoidance system for a turbofan cannon fire truck. It comprises a fire truck, a flame identification mechanism, a flame positioning system, a fire extinguishing mechanism, and an automatic driving system. The fire truck comprises a vehicle body, which is equipped with wheels and a water tank. The wheels are equipped with brakes. The fire truck is equipped with an automatic driving system, which is used to control the fire truck to reach a preset fire extinguishing position along a preset route. The flame identification mechanism collects images in front of the fire truck during its travel and determines whether there is a flame in front of the fire truck according to the collected image information. When a flame is determined, the flame positioning system is triggered to start. The flame positioning system analyzes the position of the flame on the route according to the image sent by the flame identification mechanism and sends a command to the brakes to control the fire truck to stop outside a safe distance. The fire extinguishing mechanism is used to extinguish the flame, and the automatic driving system controls the fire truck to continue traveling after the fire is extinguished. The fire truck of the present application has strong obstacle avoidance function.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of fire fighting vehicles, and particularly relates to a flame obstacle avoidance system for a turbofan cannon fire fighting vehicle. BACKGROUND

[0002] Large oil-filled equipment such as transformers is an important carrier of power transmission as a core component of China's ultra-high voltage power transmission. Once a fire occurs, it will cause huge economic losses. The turbofan cannon fire fighting vehicle is an important equipment for fighting fires and is widely used in the field of intelligent fire fighting. The turbofan cannon has the ability to simultaneously spray foam and fine water mist as two kinds of fire extinguishing media. Tests have proved that the foam-fine water mist mixed fire extinguishing medium has a stronger fire extinguishing effect than a single fire extinguishing medium.

[0003] The automatic driving function of the turbofan cannon fire fighting vehicle can drive from the parking point to the fire extinguishing position without people on the vehicle. However, the journey to the fire extinguishing position is not safe, especially when multiple transformers are on fire. During the journey of the fire fighting vehicle to the transformer at a remote position, there are often oil burning flames and flowing flames sprayed by nearby transformers on the driving route, which can easily damage the fire fighting vehicle.

[0004] The obstacle avoidance function of the previous automatic driving relies on laser radar and millimeter wave radar to judge the obstacle distance and calculate the return time of laser or millimeter wave. However, the flame is intangible, and laser or millimeter wave cannot return to the surface of the flame. Therefore, the obstacle avoidance function cannot work in this case, which can cause the wheels to be burned and affect the fire extinguishing operation of the transformer. In addition, even if there is a driver on the fire fighting vehicle, the driver needs to manually judge the flame in the middle of the road. However, since the turbofan cannon fire fighting vehicle does not have a front-mounted fire extinguishing device, the driver also needs to manually provide a fire extinguishing device, which can also bring difficulties to extinguish the flame on the way and greatly delay the best opportunity for extinguishing the transformer.

[0005] In summary, the existing flame obstacle avoidance system of the turbofan cannon fire fighting vehicle has weak obstacle avoidance function. SUMMARY

[0006] The purpose of the present application is to provide a flame obstacle avoidance system for a turbofan cannon fire fighting vehicle, which has strong obstacle avoidance function.

[0007] To achieve this purpose, the present application adopts the following technical solutions:

[0008] A flame obstacle avoidance system for a turbofan cannon fire fighting vehicle, comprising a fire fighting vehicle, a flame recognition mechanism, a flame positioning system, a fire extinguishing mechanism, and an automatic driving system. The fire fighting vehicle comprises a vehicle body, the vehicle body is provided with wheels and a water tank, the wheels are provided with a brake, the fire fighting vehicle is provided with the automatic driving system, and the automatic driving system is used to control the fire fighting vehicle to reach a preset fire extinguishing position along a preset route.

[0009] The flame identification mechanism collects images in front of the fire truck during driving, and judges whether there is flame in front of the fire truck according to the collected image information, and triggers the flame positioning system to start when it is judged that there is flame; the flame positioning system analyzes the position of the flame on the route according to the image sent by the flame identification mechanism and sends a command to the brake to control the fire truck to stop outside the safe distance; the fire extinguishing mechanism is used for extinguishing the flame, and the automatic driving system controls the fire truck to continue driving after extinguishing the flame.

[0010] Preferably, the flame identification mechanism is a camera, which is installed on the front end surface of the vehicle head of the vehicle body, and the camera head of the camera is inclined downward.

[0011] Preferably, the flame positioning system calculates the width distance of the flame from the road edge, and compares the width distance with the width required for the fire truck to pass, to judge whether the fire truck can pass the width distance, and sends a command to the brake to control the fire truck to stop outside the safe distance after judging that the fire truck cannot pass the width distance.

[0012] Preferably, the fire extinguishing mechanism includes a spray head connected to the water tank through a pipeline.

[0013] Preferably, the spray head is arranged on the front end surface of the vehicle head of the vehicle body, and the angle is adjustable.

[0014] Preferably, the number of spray heads is at least two, and each spray head works independently.

[0015] Preferably, it further comprises a remote control system, which is installed in the control room.

[0016] Preferably, the remote control system includes a display for displaying the images collected by the flame identification mechanism in real time.

[0017] Preferably, the display is also used to display the state information of the fire truck.

[0018] Preferably, the remote control system is used to remotely control the start and stop of the fire truck.

[0019] The flame obstacle avoidance system for the turbofan cannon fire truck has the beneficial effects that the flame identification mechanism is used to judge whether there is flame in front of the fire truck during driving, and the flame positioning system is used to judge the position of the flame, so that the fire truck stops outside the safe distance, and after the fire extinguishing mechanism extinguishes the flame, the fire truck continues to drive to the preset fire extinguishing position safely, so that the preset fire extinguishing position can be extinguished in time.

[0020] The fire truck of the present application has strong obstacle avoidance function, which not only protects the fire truck itself, but also timely extinguishes fire at the preset fire extinguishing position. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 is a system block diagram of a flame obstacle avoidance system of a turbofan cannon fire truck according to an embodiment of the present application;

[0022] Fig. 2 is a side view of a flame obstacle avoidance system of a turbofan cannon fire truck according to an embodiment of the present application;

[0023] Fig. 3 is a layout diagram of a flame identification mechanism and a fire extinguishing mechanism according to an embodiment of the present application.

[0024] Names and numbers of components in the figure are as follows:

[0025] Fire truck (10), vehicle body (11), cab (111), water tank (12), wheel (13), flame identification mechanism (20), flame positioning system (30), fire extinguishing mechanism (50), spray head (51), automatic driving system (40), brake (14), remote control system (60). DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0027] As shown in Figs. 1-3 , the present embodiment discloses a flame obstacle avoidance system for a turbofan cannon fire truck. The flame obstacle avoidance system for a turbofan cannon fire truck includes a fire truck 10, a flame identification mechanism 20, a flame positioning system 30, a fire extinguishing mechanism 50, and an automatic driving system 40.

[0028] The fire truck 10 includes a vehicle body 11, which is configured with four or more wheels 13 and a water tank 12. The wheels 13 are configured with brakes 14. The brakes 14 are used to brake the wheels 13 to stop the fire truck 10. The brakes 14 of the present embodiment are controlled by electricity.

[0029] The fire truck 10 of the present embodiment is configured with an automatic driving system 40. After receiving a fire extinguishing instruction, the automatic driving system 40 is started. The automatic driving system 40 is used to control the fire truck 10 to reach a preset fire extinguishing position along a preset route. The automatic driving system 40 can control the fire truck 10 to go straight and turn.

[0030] The flame recognition mechanism 20 collects images in front of the fire truck 10 in real time during driving, and judges whether there is a flame in front of the fire truck 10 according to the collected image information, and triggers an alarm and triggers the flame positioning system 30 to start when it is judged that there is a flame. The flame positioning system 30 analyzes the position of the flame on the route according to the image sent by the flame recognition mechanism 20 and sends a command to the brake 14 to control the fire truck 10 to stop outside the safe distance. The fire extinguishing mechanism 50 is used for extinguishing the flame, and the fire extinguishing mechanism 50 stops the fire extinguishing work after the flame recognition mechanism 20 judges that the flame is extinguished. The automatic driving system 40 controls the fire truck 10 to continue driving after extinguishing the fire.

[0031] The embodiment judges whether there is a flame in front of the fire truck 10 during driving through the flame recognition mechanism 20, and judges the position of the flame through the flame positioning system 30, so that the fire truck 10 stops outside the safe distance, and the fire truck 10 continues to drive to the preset fire extinguishing position after the fire extinguishing mechanism 50 extinguishes the flame, so that the preset fire extinguishing position can be extinguished in time.

[0032] The fire truck 10 of the application has strong obstacle avoidance function, which not only protects the fire truck 10 itself, but also extinguishes the preset fire extinguishing position in time.

[0033] As a preferred scheme, the flame recognition mechanism 20 is a camera, the camera is installed at the front end surface of the vehicle head of the vehicle body 11, and the camera head of the camera is inclined downward. The camera can be specifically installed at the position directly below the windshield of the vehicle body 11. The camera is used to obtain images in front of the fire truck 10 during driving, to judge whether there is a flame in front of the fire truck 10 and whether the flame is extinguished.

[0034] As a preferred scheme, the flame positioning system 30 calculates the width distance of the flame and the road edge, and compares the width distance with the width required for the fire truck 10 to pass, to judge whether the fire truck 10 can pass the width distance, and sends a command to the brake 14 to control the fire truck 10 to stop outside the safe distance after judging that the fire truck 10 cannot pass the width distance. If it is judged that the fire truck 10 can pass the width distance, the fire truck 10 passes through the space between the flame and the road edge and continues to drive. The advantage of this setting is that time can be saved and the time of arriving at the preset fire extinguishing position can be avoided.

[0035] Specifically, the automatic driving system 40 measures the speed in real time and feeds back the speed to the flame positioning system 30 in real time. The flame positioning system 30 determines the specific position of the flame on the route and the distance between the flame and the fire truck 10 by analyzing the image information transmitted by the flame recognition mechanism 20. The flame positioning system 30 transmits the specific position of the flame on the route, the distance between the flame and the fire truck 10, and the width distance of the flame and the road edge to the automatic driving system 40 in real time.

[0036] The flame recognition mechanism 20 of the embodiment is connected to the computer of the cab 111. The flame recognition mechanism 20 has a flame recognition algorithm. The braking timing can be calculated according to the braking distance of the brake 14 and the distance between the camera and the fire truck 10. When the camera detects the flame in the camera field of view, the camera drives the alarm mechanism to send an alarm signal in cooperation with the flame recognition algorithm. When the camera does not detect the flame, the alarm mechanism is released. The alarm mechanism continuously sends an alarm signal during the existence of the flame.

[0037] When the angle of the camera is fixed, the position of the flame is the uppermost position of the camera field of view. Only the distance between the uppermost position of the camera field of view and the fire truck 10 needs to be measured to estimate the distance between the flame and the fire truck 10.

[0038] The flame positioning system 30 has an image processing positioning algorithm and is installed in the computer of the cab 111. The flame positioning system 30 receives the image transmitted by the flame recognition mechanism 20. The built-in algorithm can filter the image and perform gradient edge detection calculation, and then segment the image to extract the flame edge shape. Then, the distance between the flame edge and the road edge in the image is taken as a reference to calculate the width distance between the flame and the road edge according to the road width, and to determine whether the fire truck 10 can pass through. The road width can be measured in advance and input manually.

[0039] As a preferred solution, the fire extinguishing mechanism 50 includes a spray head 51 connected to the water tank 12 through a pipeline. The spray head 51 of the embodiment is an atomizing spray head. An electric valve or a pneumatic valve is arranged on the pipeline.

[0040] As a preferred solution, the spray head 51 is arranged at the front end surface of the vehicle head of the vehicle body 11 and has an automatically adjustable angle to extinguish the flame in front of the fire truck 10. The fire extinguishing mechanism 50 of the embodiment has a spray pump, which can work independently of the water supply pump of the fire truck 10 in a non-starting state to extinguish the flame on the route.

[0041] As a preferred solution, the number of spray heads 51 is at least two, and each spray head 51 works independently to avoid waste of water resources and ensure sufficient water for subsequent fire extinguishing at the preset fire extinguishing position. For example, the number of spray heads 51 of the embodiment is two. The two spray heads 51 are symmetrically arranged below the windshield.

[0042] As a preferred solution, the embodiment further includes a remote control system 60 wirelessly connected to the flame recognition mechanism 20. The remote control system 60 is installed in the control room.

[0043] As a preferred solution, the remote control system 60 includes a display for displaying the video image collected by the flame recognition mechanism 20 in real time.

[0044] As a preferred solution, the display is also used to display various state information of the fire truck 10.

[0045] As a preferred solution, the remote control system 60 is used to remotely control the start and stop of the fire truck 10. When the computer makes a mistake, the staff in the control room can remotely take emergency measures, forming a double guarantee.

[0046] In other embodiments, the fire truck 10 can also be driven by the driver. At this time, the driver can brake by brake, manually controlled.

[0047] The overall working process is as follows:

[0048] After receiving the fire alarm signal, the automatic driving system 40 starts, and the fire truck 10 travels along the preset route to the preset fire extinguishing position. At the same time, the camera starts to collect the road condition picture in front of the fire truck 10 in real time, and starts to identify the fire. When the fire is judged, the alarm is triggered and the fire positioning system 30 is triggered. The fire positioning system 30 calculates the brake time according to the received image and the driving speed and the brake distance, and stops the fire truck 10 by the brake 14 before the fire truck 10 travels to the dangerous distance. The fire positioning system 30 judges whether the width distance between the fire and the road edge can be passed by the fire truck 10, if it can be passed, the fire truck 10 bypasses the fire and continues to move forward. If it cannot be passed, the fire extinguishing mechanism 50 extinguishes the fire, and then the fire truck 10 continues to move forward to the preset fire extinguishing position.

[0049] The staff in the control room can watch the driving of the fire truck 10 in real time, and can also manually judge whether the fire is extinguished, and control the start, stop and other actions of the fire truck 10.

[0050] Obviously, the above embodiments of the present application are only examples for the purpose of clear illustration, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the scope of the present application. It is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent substitution and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A flame obstacle avoidance system for a turbofan fire truck, characterized in that, The system includes a fire truck (10), a flame recognition mechanism (20), a flame positioning system (30), a fire extinguishing mechanism (50), and an automatic driving system (40). The fire truck (10) includes a vehicle body (11), which is equipped with wheels (13) and a water tank (12). The wheels (13) are equipped with brakes (14). The fire truck (10) is equipped with the automatic driving system (40), which is used to control the fire truck (10) to reach a preset fire extinguishing position along a preset route. The flame recognition mechanism (20) collects images of the front of the fire truck (10) during its journey and determines whether there are flames in front of the fire truck (10) based on the collected image information. When flames are detected, the flame positioning system (30) is activated. The flame positioning system (30) analyzes the position of the flames on the route based on the images sent by the flame recognition mechanism (20) and sends a command to the brake (14) to control the fire truck (10) to stop at a safe distance. The fire extinguishing mechanism (50) is used to extinguish the flames. The automatic driving system (40) controls the fire truck (10) to continue moving forward after the fire is extinguished. The flame positioning system (30) calculates the width distance between the flame and the edge of the road and compares the width distance with the width required for the fire truck (10) to pass, so as to determine whether the fire truck (10) can pass the width distance. After determining that the fire truck (10) cannot pass the width distance, it sends a command to the brake (14) to control the fire truck (10) to stop at a safe distance. The fire extinguishing mechanism (50) includes a nozzle (51) which is connected to the water tank (12) via a pipe; The nozzle (51) is arranged on the front end face of the front of the vehicle body (11) and the angle is adjustable; It also includes a remote control system (60), which is installed in a control room; The remote control system (60) is used to remotely control the starting and stopping of the fire truck (10).

2. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The flame recognition mechanism (20) is a camera, which is installed on the front end of the vehicle body (11) and the camera lens is tilted downward.

3. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The number of nozzles (51) is at least two, and each nozzle (51) operates independently.

4. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The remote control system (60) includes a display for displaying images acquired by the flame recognition mechanism (20) in real time.

5. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The display is also used to show the status information of the fire truck (10).

6. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The flame positioning system (30) extracts the shape of the flame edge through image filtering, gradient edge detection and image segmentation algorithms.

7. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The angle of the nozzle (51) is adjusted in real time by the automatic driving system (40) according to the position of the flame.

8. The flame obstacle avoidance system for a turbofan fire truck according to claim 1, characterized in that: The remote control system (60) is wirelessly connected to the flame identification mechanism (20) and can be manually controlled during the fire extinguishing process.

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