Water cannon control method and device, storage medium and electronic equipment, water cannon

Abstract

The application discloses a water cannon control method and device, a storage medium, an electronic device and a water cannon. The method comprises the following steps: acquiring a fire source position, environment parameters and system parameters of the water cannon; calculating a water jet path of the water cannon according to the fire source position, the environment parameters and the system parameters, and correcting a pitch angle and an azimuth angle of the water cannon according to the water jet path to obtain a target pitch angle and a target azimuth angle; and controlling the water cannon according to the target pitch angle and the target azimuth angle, so that a water jet landing point of the water cannon covers the fire source position. According to the method, the water jet path of the water cannon is calculated according to the fire source position, the environment parameters and the system parameters of the water cannon, and the pitch angle and the azimuth angle of the water cannon are corrected according to the water jet path, so that the water cannon can automatically correct the pitch angle and the azimuth angle after receiving fire information, and accurately jet according to the corrected pitch angle and the azimuth angle, and the water jet landing point of the water cannon can accurately cover the fire source point.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water cannon, and in particular to a water cannon control method and device, a storage medium, an electronic device and a water cannon. BACKGROUND

[0002] Water cannon can be used for continuous large-flow long-range operation at fire sites. With the progress of science and technology, industrial equipment tends to be large and huge, especially in fire sites in special places such as chemical industry areas and wharfs. Firefighting water cannon has become one of the few equipment that can effectively implement fire extinguishing operation.

[0003] Related water cannon generally uses manual control to control the direction of the cannon barrel or automatically locates the fire source through an image fire system, so as to open the jet flow to cover the fire source to achieve the purpose of fire extinguishing. The path calculation of the jet flow is usually a simple straight line space calculation, or a pre-marked space position information is used to calculate the pitch angle and azimuth angle of the cannon barrel. When the water cannon is far away from the fire source, or the environmental wind is large, or the angle between the environmental wind direction and the jet flow plane is close to 90°, the path of the jet flow will change greatly due to the influence of gravity and environmental wind. The straight line calculation or the marked position information cannot effectively calculate the landing point of the jet flow, resulting in that the jet flow of the water cannon cannot cover the fire source point. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, one object of the present application is to provide a water cannon control method to calculate the jet flow path of the water cannon and correct the pitch angle and azimuth angle of the cannon barrel, so that the landing point of the jet flow of the water cannon can accurately cover the fire source point.

[0005] A second object of the present application is to provide a water cannon control device.

[0006] A third object of the present application is to provide a computer readable storage medium.

[0007] A fourth object of the present application is to provide an electronic device.

[0008] A fifth object of the present application is to provide a water cannon.

[0009] To achieve the above-mentioned objects, the first aspect of the present application provides a water cannon control method, which comprises: acquiring a fire source position, environmental parameters and system parameters of the water cannon; calculating a jet flow path of the water cannon according to the fire source position, the environmental parameters and the system parameters, and correcting the pitch angle and azimuth angle of the water cannon according to the jet flow path to obtain a target pitch angle and a target azimuth angle; and controlling the water cannon according to the target pitch angle and the target azimuth angle, so that the landing point of the jet flow of the water cannon covers the fire source position.

[0010] The control method of the water cannon according to the embodiment of the present application calculates the jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters of the water cannon, and corrects the elevation angle and the azimuth angle of the water cannon according to the jet path, so that the water cannon can automatically calculate the jet path and correct the elevation angle and the azimuth angle of the cannon tube according to the position of the water cannon, the system parameters of the water cannon and the environmental parameters after receiving the fire information, and automatically control the accurate jet of the water cannon according to the corrected elevation angle and the azimuth angle, so that the water cannon can accurately cover the fire source point with the jet drop point.

[0011] In addition, the control method of the water cannon according to the above-mentioned embodiments of the present application can further have the following additional technical features:

[0012] According to one embodiment of the present application, the calculation of the jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters comprises: calculating the jet path of the water cannon in three-dimensional directions by using the forward difference method according to the fire source position, the environmental parameters and the system parameters.

[0013] According to one embodiment of the present application, the environmental parameters include the wind resistance coefficient, the environmental wind speed and the environmental wind direction, and the system parameters include the position of the water cannon and the water cannon firing speed, and the calculation of the jet path of the water cannon in three-dimensional directions by using the forward difference method according to the fire source position, the environmental parameters and the system parameters comprises: setting the time step according to the fire source position and the position of the water cannon, and determining the total number of point sets in each direction; calculating the initial elevation angle and the initial azimuth angle according to the fire source position and the position of the water cannon; calculating the position coordinates of the second time step according to the position coordinates of the first time step, the time step, the water cannon firing speed, the initial elevation angle and the initial azimuth angle, wherein the position coordinates of the first time step are the position of the water cannon; for the nth time step, calculating the position coordinates of the nth time step according to the position coordinates of the (n-1)th time step, the position coordinates of the (n-2)th time step, the time step, the wind resistance coefficient, the environmental wind speed, the environmental wind direction, the water cannon firing speed, the initial elevation angle and the initial azimuth angle, wherein n is an integer greater than 2; and obtaining the jet path matrix corresponding to the initial elevation angle and the initial azimuth angle according to the position coordinates of each time step.

[0014] According to one embodiment of the present application, the position coordinates x n , y n , z n in the jet path matrix [x(n), y(n), z(n)] corresponding to the nth time step in three-dimensional directions are respectively:

[0015]

[0016]

[0017]

[0018] wherein x n is the position coordinate in the length direction of the n th time step; y n is the position coordinate in the height direction of the n th time step; z n is the position coordinate in the width direction of the n th time step; Δt is the time step; c is the wind resistance coefficient, V wind，x is the component of the environmental wind speed in the x direction, wherein V wind，x = V wind *cos(a wind *3.14 / 180), V wind is the environmental wind speed, a wind is the environmental wind direction; V wind，z is the component of the environmental wind speed in the z direction, wherein V wind，z = V wind *sin(a wind *3.14 / 180); n is the time tag, n is an integer greater than 2, and g represents the gravitational acceleration.

[0019] According to one embodiment of the present application, the inclination angle and the azimuth angle of the gun barrel are corrected according to the jet path, including: obtaining a jet landing point according to the jet path; calculating a landing point offset according to the fire source position and the jet landing point; judging whether the landing point offset is less than or equal to a preset threshold; if yes, recording the current inclination angle and the current azimuth angle as the target inclination angle and the target azimuth angle; if no, correcting the inclination angle and the azimuth angle according to the landing point offset, and correcting the jet landing point according to the corrected inclination angle and the corrected azimuth angle, until the landing point offset is less than or equal to the preset threshold.

[0020] According to one embodiment of the present application, when the inclination angle and the azimuth angle are corrected according to the landing point offset, the correction amount of the inclination angle and the azimuth angle is calculated by the following formula:

[0021]

[0022]

[0023] wherein A is the fire source position, A0 is the jet landing point, AA0 is the landing point offset, B is the water cannon position, AB is the distance between the fire source position and the water cannon position, ΔTH0 is the correction amount of the inclination angle, ΔTL0 is the correction amount of the azimuth angle, is the projection vector of the vector from the water cannon position to the fire source position in the horizontal plane; A projection vector of the vector from the water cannon position to the fire source position in a vertical plane.

[0024] To achieve the above object, the second aspect of the present application provides a control device of a water cannon, the device comprising: an acquisition module configured to acquire a fire source position, an environmental parameter and a system parameter of the water cannon; a calculation module configured to calculate a jet path of the water cannon according to the fire source position, the environmental parameter and the system parameter, and correct a pitch angle and an azimuth angle of the water cannon according to the jet path to obtain a target pitch angle and a target azimuth angle; and a control module configured to control the water cannon according to the target pitch angle and the target azimuth angle, so that a landing point of a jet of the water cannon covers the fire source position.

[0025] To achieve the above object, the third aspect of the present application provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the control method of the water cannon according to the first aspect of the present application.

[0026] To achieve the above object, the fourth aspect of the present application provides an electronic device comprising a memory and a processor, the memory having a computer program stored thereon, the computer program being executed by the processor to implement the control method of the water cannon according to the first aspect of the present application.

[0027] To achieve the above object, the fifth aspect of the present application provides a water cannon comprising a two-degree-of-freedom main body holder and the electronic device according to the fourth aspect of the present application.

[0028] Additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic diagram of a water cannon according to an embodiment of the present application;

[0030] Figure 2 is a flowchart of a control method of a water cannon according to an embodiment of the present application;

[0031] Figure 3 is a flowchart of a calculation of a jet path of a water cannon in three-dimensional directions according to an embodiment of the present application;

[0032] Figure 4 is a simulation effect diagram of a jet path of a water cannon according to an embodiment of the present application;

[0033] Figure 5 is a flowchart of a correction of a pitch angle and an azimuth angle of a cannon barrel according to an embodiment of the present application;

[0034] Figure 6 is a schematic diagram of a control device of a water cannon according to an embodiment of the present application;

[0035] Figure 7 is a structural block diagram of an electronic device according to an embodiment of the present application;

[0036] Figure 8 is a schematic diagram of a water cannon according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like or similar elements or components are denoted by like reference numbers throughout the figures. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0038] The control method and device of a water cannon, storage medium, electronic device and water cannon according to an embodiment of the present application are described in detail below in combination with description 1-8 and specific embodiments.

[0039] Figure 1 is a structural schematic diagram of a water cannon according to an embodiment of the present application. As shown in Figure 1 , the water cannon can include a hot-wire anemometer 200, a wind vane 300, a two-degree-of-freedom holder 600 and a water cannon main body 400. The hot-wire anemometer 200 and the wind vane 300 are arranged on the two-degree-of-freedom holder 600, wherein the hot-wire anemometer 200 is configured to collect environmental wind speed, and the wind vane 300 is configured to collect environmental wind direction. The water cannon main body 400 is arranged on the two-degree-of-freedom holder 600, and the two-degree-of-freedom holder 600 is configured to change the pitch angle and the azimuth angle of the water cannon main body 400.

[0040] The water cannon according to an embodiment of the present application can automatically locate the fire source position through an image fire system when a fire occurs. It should be noted that the way of locating the fire source position is not limited to the above way, and the present application does not limit the way of obtaining the fire source position by the water cannon.

[0041] Figure 2 is a flowchart of a control method of a water cannon according to an embodiment of the present application. As shown in 2, the control method of the water cannon can include:

[0042] S101, obtaining the fire source position, the environmental parameters and the system parameters of the water cannon.

[0043] In order to make the jet of the water cannon accurately cover the fire source point, the environmental parameters are obtained at the same time when the fire source position and the system parameters of the water cannon are obtained, so as to calculate the jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters of the water cannon, and improve the accuracy of controlling the jet path of the water cannon.

[0044] S102, calculate the jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters, and correct the pitch angle and the azimuth angle of the water cannon according to the jet path to obtain a target pitch angle and a target azimuth angle.

[0045] In an embodiment of the present application, the calculation of the jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters can include:

[0046] According to the fire source position, the environmental parameters and the system parameters, the jet path of the water cannon in three-dimensional directions is calculated by using the forward difference method.

[0047] In an embodiment of the present application, the jet path of the water cannon in three-dimensional directions is calculated by using the forward difference method according to the fire source position, the environmental parameters and the system parameters of the water cannon. The drop point deviation between the drop point in the calculated jet path and the fire source position is calculated, and the pitch angle and the azimuth angle of the water cannon are corrected according to the drop point deviation to obtain the target pitch angle and the target azimuth angle that make the jet drop point accurately cover the fire source point.

[0048] S103, control the water cannon according to the target pitch angle and the target azimuth angle to make the jet drop point of the water cannon cover the fire source position.

[0049] Specifically, after obtaining the target pitch angle and the target azimuth angle that make the jet drop point accurately cover the fire source point, the water cannon is controlled to work at the target pitch angle and the target azimuth angle, so that the jet drop point of the water cannon covers the fire source position.

[0050] In an embodiment of the present application, as shown in Figure 3 The environmental parameters can include the wind resistance coefficient, the environmental wind speed and the environmental wind direction, and the system parameters can include the water cannon position and the water cannon firing speed. The jet path of the water cannon in three-dimensional directions is calculated by using the forward difference method according to the fire source position, the environmental parameters and the system parameters, which includes:

[0051] S201, set a time step according to the fire source position and the water cannon position, and determine the total number of point sets in each direction.

[0052] Specifically, when the jet path of the water cannon in three-dimensional directions is calculated by using the forward difference method, the time step is set according to the distance between the fire source position and the water cannon position, and the total number of point sets in each direction is determined according to the water cannon firing speed. The jet path of the water cannon in three-dimensional directions is obtained by calculating the position coordinates of each point in all point sets.

[0053] S202, calculate an initial pitch angle and an initial azimuth angle according to the fire source position and the water cannon position.

[0054] Specifically, the initial pitch angle and the initial azimuth angle of the water cannon barrel are determined according to the fire source position and the water cannon position. The initial jet is controlled according to the initial pitch angle and the initial azimuth angle of the water cannon barrel.

[0055] S203, calculating the position coordinate of the second time step according to the position coordinate of the first time step, the time step, the water cannon firing speed, the initial pitch angle and the initial azimuth angle, wherein the position coordinate of the first time step is the water cannon position.

[0056] In the embodiment of the application, the position coordinate of the first time step is set as the water cannon position, wherein the water cannon position is (0, H, 0), and H is the height of the water cannon barrel muzzle relative to the reference horizontal plane.

[0057] Specifically, when calculating the position coordinate of the second time step, the firing speed of the jet in the x direction is calculated according to the water cannon firing speed, the initial pitch angle and the initial azimuth angle. The firing speed of the jet in the y direction is calculated according to the water cannon firing speed and the initial pitch angle. The firing speed of the jet in the z direction is calculated according to the water cannon firing speed, the initial pitch angle and the initial azimuth angle. The position of the second time step in the x direction is calculated according to the position of the first time step in the x direction, the firing speed of the jet in the x direction and the time step. The position of the second time step in the y direction is calculated according to the position of the first time step in the y direction, the firing speed of the jet in the y direction and the time step. The position of the second time step in the z direction is calculated according to the position of the first time step in the z direction, the firing speed of the jet in the z direction and the time step. The position coordinate of the second time step is obtained according to the calculated positions of the second time step in the x, y and z directions.

[0058] S204, for the nth time step, calculating the position coordinate of the nth time step according to the position coordinate of the (n-1)th time step, the position coordinate of the (n-2)th time step, the time step, the wind resistance coefficient, the environmental wind speed, the environmental wind direction, the water cannon firing speed, the initial pitch angle and the initial azimuth angle, wherein n is an integer greater than 2.

[0059] Specifically, when calculating the position coordinate of the third time step, the position coordinate of the first time step, the position coordinate of the second time step, the time step, the wind resistance coefficient, the environmental wind speed, the environmental wind direction, the water cannon firing speed, the initial pitch angle and the initial azimuth angle are used to calculate the position coordinate of the third time step. When calculating the position coordinate of the third time step according to the above parameters, the following formula can be used for calculation:

[0060] In this embodiment, the positions corresponding to the position coordinates x n , y n , z n in the jet path matrix [x(n), y(n), z(n)] in the three-dimensional direction of the nth time step are respectively:

[0061]

[0062]

[0063]

[0064] wherein x n is the position coordinate in length direction of the n-th time step; y n is the position coordinate in height direction of the n-th time step; z n is the position coordinate in width direction of the n-th time step; Δt is the time step; c is the wind resistance coefficient, V wind，x is the component of the environmental wind speed in x direction, wherein V wind，x = V wind *cos(a wind *3.14 / 180), V wind is the environmental wind speed, a wind is the environmental wind direction; V wind，z is the component of the environmental wind speed in z direction, wherein V wind，z = V wind *sin(a wind *3.14 / 180); n is the time label, n is an integer greater than 2, and g represents the gravity acceleration.

[0065] After the position coordinates of the third time step are calculated by using the above formula, the position coordinates of the corresponding time steps are calculated in sequence by using the above steps and formula to obtain the position coordinates of all points in each direction point set.

[0066] S205, obtaining the initial jet path matrix corresponding to the initial pitch angle and the initial azimuth angle according to the position coordinates of each time step.

[0067] Specifically, the initial jet path matrix corresponding to the initial pitch angle and the initial azimuth angle is obtained according to the position coordinates of each time step calculated above. According to the jet path matrix, the jet landing point coordinates can be obtained.

[0068] As a specific example, when the wind resistance coefficient c is 0.01, the time step is dt = 0.1 s, the initial jet speed V is 56 m / s, the initial height of the water cannon H is 0, the initial pitch angle th is 20°, the initial azimuth angle tha is 25°, the total number of point sets in each direction NT is 300, the environmental wind speed is vwind = 10 m / s, and the environmental direction (angle with the x direction) awind is 15°, the jet path of the water cannon in three directions under this environment is calculated by using the simulation software matlab according to the above steps.

[0069] The specific matlab code is as follows:

[0070] clc; clear;

[0071] c = 0.01; % wind resistance coefficient

[0072] dt = 0.1; % time step s

[0073] V = 56; % initial velocity m / s

[0074] H = 0; % initial height

[0075] th = 20; % elevation angle deg

[0076] tha = 25; % azimuth angle deg

[0077] NT = 300; % total number of points in each direction

[0078] vwind = 10; % wind speed m / s

[0079] awind = 15; % wind direction angle (with x direction)

[0080] define 3D point set

[0081] X = zeros(NT, 1); % horizontal

[0082] Y = zeros(NT, 1); % vertical

[0083] Z = zeros(NT, 1); % azimuth

[0084] % difference calculation

[0085] X(1) = 0;

[0086] Y(1) = H;

[0087] Z(1) = 0;

[0088] VX = V*cos(th*3.14 / 180)*sin(tha*3.14 / 180);

[0089] VY = V*sin(th*3.14 / 180);

[0090] VZ = V*cos(th*3.14 / 180)*cos(tha*3.14 / 180);

[0091] X(2) = VX*dt+X(1);

[0092] Y(2) = VY*dt+Y(1);

[0093] Z(2) = VZ*dt+Z(1);

[0094] for i = 3:NT

[0095] X(i) = -c*(X(i-1)-X(i-2)-dt*vwind*cos(awind*3.14 / 180))^2+(2*X(i-1)-X(i-2));

[0096] Y(i) = c*(Y(i-1)-Y(i-2))^2+(2*Y(i-1)-Y(i-2))-9.8*dt^2;

[0097] Z(i) = -c*(Z(i-1)-Z(i-2)-dt*vwind*sin(awind*3.14 / 180))^2+(2*Z(i-1)-Z(i-2));

[0098] end

[0099] % plot the jet path curve

[0100] plot3(X,Z,Y);

[0101] The jet path of the water cannon is calculated and plotted according to the above code, and the plotted jet path is shown in Figure 4 the left curve (the jet path corresponding to an environmental wind direction angle of 15°).

[0102] The jet path corresponding to an environmental wind direction angle of 5° is calculated and plotted by the above code when other parameters are unchanged, and the plotted jet path is shown in Figure 4 the right curve (the jet path corresponding to an environmental wind direction angle of 5°).

[0103] In an embodiment of the present application, as Figure 5 shown, correcting the elevation angle and the azimuth angle of the cannon barrel according to the jet path can include:

[0104] S301, obtaining a jet landing point according to the jet path;

[0105] S302, calculating a landing point offset according to the fire source position and the jet landing point;

[0106] S303, judging whether the landing point offset is less than or equal to a preset threshold;

[0107] S304, if yes, recording the current elevation angle and the current azimuth angle as a target elevation angle and a target azimuth angle;

[0108] S305, if no, correcting the elevation angle and the azimuth angle according to the landing point offset, and correcting the jet landing point according to the corrected elevation angle and the corrected azimuth angle, until the landing point offset is less than or equal to the preset threshold.

[0109] Specifically, the initial jet drop point is obtained according to the jet path matrix corresponding to the initial pitch angle and the initial azimuth angle, the current drop point offset is calculated according to the fire source position and the initial jet drop point, and it is judged whether the current drop point offset is less than or equal to the preset threshold.

[0110] If less than or equal to, the current pitch angle and the current azimuth angle are recorded as the target pitch angle and the target azimuth angle. If greater than, the pitch angle and the azimuth angle are corrected according to the current drop point offset, and the corrected jet path is calculated according to the corrected pitch angle and the corrected azimuth angle by using the above steps of the water cannon jet path, so as to obtain the corrected jet drop point. It is judged whether the drop point offset between the corrected jet drop point and the fire source position is less than or equal to the preset threshold. If less than or equal to, the current pitch angle and the current azimuth angle are recorded as the target pitch angle and the target azimuth angle. If greater than, the jet drop point is corrected again according to the above steps until the drop point offset between the corrected jet drop point and the fire source position is less than or equal to the preset threshold.

[0111] In an embodiment of the present application, when the pitch angle and the azimuth angle are corrected according to the drop point offset, the correction amount of the pitch angle and the correction amount of the azimuth angle are calculated by using the following formula:

[0112]

[0113]

[0114] Wherein, A is the fire source position, A0 is the jet drop point, AA0 is the drop point offset, B is the water cannon position, AB is the distance between the fire source position and the water cannon position, ΔTH0 is the correction amount of the pitch angle, ΔTL0 is the correction amount of the azimuth angle, is the projection vector of the vector from the water cannon position to the fire source position in the horizontal plane; is the projection vector of the vector from the water cannon position to the fire source position in the vertical plane.

[0115] Specifically, when the pitch angle and the azimuth angle are corrected according to the drop point offset, the correction amount of the pitch angle and the correction amount of the azimuth angle are calculated by using the above formula, the corrected pitch angle is obtained based on the current pitch angle and the correction amount of the pitch angle, and the corrected azimuth angle is obtained based on the current azimuth angle and the correction amount of the azimuth angle.

[0116] In the embodiment of the present application, a DSP (Digital Signal Processing) calculation unit can be used to iteratively calculate a target elevation angle and a target azimuth angle according to the fire source position, the environmental parameters and the system parameters of the water cannon.

[0117] The control method of the water cannon according to the embodiment of the present application uses a forward difference method to calculate a jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters of the water cannon, and corrects the elevation angle and the azimuth angle of the water cannon according to the jet path, so that the water cannon can automatically calculate the jet path and correct the elevation angle and the azimuth angle of the cannon tube according to the water cannon position, the system parameters of the water cannon and the environmental parameters after receiving the fire information, and automatically control the water cannon to accurately jet according to the corrected elevation angle and the azimuth angle, so that the jet landing point of the water cannon accurately covers the fire source point.

[0118] The present application provides a control device of a water cannon.

[0119] Figure 6 Fig. 1 is a schematic diagram of the control device of the water cannon according to an embodiment of the present application. Figure 6 As shown in Fig. 1, the control device 100 of the water cannon can include an acquisition module 10, a calculation module 20 and a control module 30.

[0120] The acquisition module 10 is configured to acquire the fire source position, the environmental parameters and the system parameters of the water cannon. The calculation module 20 is configured to calculate a jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters, and correct the elevation angle and the azimuth angle of the water cannon according to the jet path, to obtain a target elevation angle and a target azimuth angle. The control module 30 is configured to control the water cannon according to the target elevation angle and the target azimuth angle, so that the jet landing point of the water cannon covers the fire source position.

[0121] In an embodiment of the present application, the calculation module 20 is configured to calculate the jet path of the water cannon in three-dimensional directions according to the fire source position, the environmental parameters and the system parameters, using a forward difference method.

[0122] It should be noted that other specific embodiments of the control device of the water cannon provided by the present application can refer to the other specific embodiments of the control method of the water cannon of the above-mentioned embodiments of the present application.

[0123] The control device of the water cannon according to the embodiment of the application calculates the jet path of the water cannon according to the fire source position, the environmental parameters and the system parameters of the water cannon by using the forward difference method, and corrects the elevation angle and the azimuth angle of the water cannon according to the jet path, so that the water cannon can automatically calculate the jet path and correct the elevation angle and the azimuth angle of the cannon tube according to the water cannon position, the system parameters of the water cannon and the environmental parameters after receiving the fire information, and automatically control the accurate jet of the water cannon according to the corrected elevation angle and the azimuth angle, so that the jet drop point of the water cannon can accurately cover the fire source point.

[0124] The application provides a computer readable storage medium.

[0125] In the embodiment, the computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the control method of the water cannon.

[0126] The computer readable storage medium according to the embodiment of the application uses the control method of the water cannon to calculate the jet path of the water cannon and correct the elevation angle and the azimuth angle of the cannon tube, so that the jet drop point of the water cannon can accurately cover the fire source point.

[0127] The application provides an electronic device.

[0128] In the embodiment, the electronic device can include a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to implement the control method of the water cannon.

[0129] Figure 7 Figure 1 is a structural block diagram of the electronic device according to an embodiment of the application. Figure 7 As shown in Figure 1, the electronic device 500 includes a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, for example, through a bus 502. Optionally, the electronic device 500 can further include a transceiver 504. It should be noted that the transceiver 504 is not limited to one in actual application, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of the application.

[0130] The processor 501 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in conjunction with the present disclosure. The processor 501 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0131] The bus 502 can include a path for transmitting information between the above-mentioned components. The bus 502 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 502 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0132] The memory 503 is used to store a computer program corresponding to the control method of the water cannon of the above-mentioned embodiments of the present application, which is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to realize the content shown in the foregoing method embodiments. Figure 7 The electronic device 500 shown is only an example and should not limit the functions and use range of the embodiments of the present application.

[0133] The electronic device of the embodiments of the present application uses the control method of the water cannon as above to realize the calculation of the water cannon jet path and the correction of the cannon tube pitch angle and azimuth angle, so that the jet drop point of the water cannon can accurately cover the fire source point.

[0134] The present application provides a water cannon.

[0135] Figure 8 is a schematic diagram of a water cannon according to an embodiment of the present application. As Figure 8 shown, the water cannon 1000 can include a two-degree-of-freedom main body holder 600 and an electronic device 500 as described above.

[0136] The water cannon implemented by the present application is provided with a wind speed sensor and a wind vane for collecting environmental parameters.

[0137] The water cannon implemented by the present application calculates the jet path of the water cannon according to the fire source position, environmental parameters and system parameters of the water cannon, corrects the pitch angle and azimuth angle of the cannon barrel, automatically corrects the pitch angle and azimuth angle of the water cannon, and realizes that the water cannon can automatically calculate the jet path and the pitch angle and azimuth angle of the cannon barrel according to the water cannon position, environmental wind speed and direction information after receiving the fire information, and then automatically control the pitch angle and azimuth angle of the cannon barrel to achieve the purpose of accurately covering the fire source point by the jet.

[0138] The water cannon implemented by the present application solves the problem that when the water cannon is far away from the fire source, or the environmental wind is large, or the angle between the environmental wind direction and the jet plane is close to 90°, the jet path is greatly changed by gravity and environmental wind, and the straight line calculation or the position information calibration method cannot effectively calculate the jet drop point, resulting in that the water cannon jet cannot cover the fire source point.

[0139] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from an instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instruction execution systems, apparatus or devices. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instruction execution systems, apparatus or devices. More specific examples (non-exhaustive list) of computer-readable medium include the following: electrical connections having one or more wires (electronic devices), portable computer disk boxes (magnetic devices), random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memories), optical fiber devices, and portable compact disc read-only memories (CDROMs). In addition, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, because the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by editing, interpretation or processing as necessary, or in other suitable manner, and then stored in the computer memory.

[0140] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the embodiments described above, various steps or methods can be implemented, for example, through software or firmware in storage media which are executable by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies, known in the art, or their combinations, can be employed: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application-specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field-programmable gate arrays (FPGA), and so on.

[0141] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present description, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0142] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0143] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0144] In the present application, unless specifically defined otherwise and limited, the terms "mounting", "connection", "connecting", "fixed", and the like should be construed as broadly as possible, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0145] In the present application, unless specifically defined otherwise and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0146] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those of ordinary skill in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method of controlling a water cannon, characterized by, The method comprises: acquiring a fire source position, environment parameters and system parameters of the water cannon; calculating a jet path of the water cannon according to the fire source position, the environment parameters and the system parameters, and correcting a pitch angle and an azimuth angle of the water cannon according to the jet path to obtain a target pitch angle and a target azimuth angle; controlling the water cannon according to the target pitch angle and the target azimuth angle so that a jet drop point of the water cannon covers the fire source position; calculating the jet path of the water cannon according to the fire source position, the environment parameters and the system parameters, comprising: calculating the jet path of the water cannon in three-dimensional directions by using a forward difference method according to the fire source position, the environment parameters and the system parameters; the environment parameters comprise a wind resistance coefficient, an environment wind speed and an environment wind direction, and the system parameters comprise a water cannon position and a water cannon firing speed, the jet path of the water cannon in three-dimensional directions is calculated by using the forward difference method according to the fire source position, the environment parameters and the system parameters, comprising: setting a time step according to the fire source position and the water cannon position, and determining a total number of point sets in each direction; calculating an initial pitch angle and an initial azimuth angle according to the fire source position and the water cannon position; calculating position coordinates of a second time step according to position coordinates of a first time step, the time step, the water cannon firing speed, the initial pitch angle and the initial azimuth angle, wherein the position coordinates of the first time step are the water cannon position; for the nth time step, calculating position coordinates of the nth time step according to position coordinates of an (n-1)th time step, position coordinates of an (n-2)th time step, the time step, the wind resistance coefficient, the environment wind speed, the environment wind direction, the water cannon firing speed, the initial pitch angle and the initial azimuth angle, wherein n is an integer greater than 2; obtaining a jet path matrix corresponding to the initial pitch angle and the initial azimuth angle according to the position coordinates of each time step.

2. The control method of a water cannon according to claim 1, characterized in that, The jet path matrix The position coordinates in three dimensions corresponding to the nth time step in the middle 、 、 are: wherein is a position coordinate in the length direction for the n-th time step; is a position coordinate in the height direction for the n-th time step; is a position coordinate in the width direction for the n-th time step; is a time step; is a wind resistance coefficient, is a component of the ambient wind speed in the x direction, wherein , is the ambient wind speed, is the ambient wind direction; is a component of the ambient wind speed in the z direction, wherein ; n is a time label, n is an integer greater than 2, and g represents the acceleration of gravity.

3. The control method of a water cannon according to claim 1, characterized in that, correcting the pitch angle and the azimuth angle of the water cannon according to the jet path, comprising: obtaining a jet drop point according to the jet path; calculating a drop point offset according to the fire source position and the jet drop point; judging whether the drop point offset is less than or equal to a preset threshold value; if yes, recording the current pitch angle and the current azimuth angle as the target pitch angle and the target azimuth angle; if no, correcting the pitch angle and the azimuth angle according to the drop point offset, and correcting the jet drop point according to the corrected pitch angle and the corrected azimuth angle until the drop point offset is less than or equal to the preset threshold value.

4. The control method of a water cannon according to claim 3, characterized in that, when correcting the pitch angle and the azimuth angle according to the drop point offset, the correction amounts of the pitch angle and the azimuth angle are calculated by using the following formula: wherein is the fire location, is the jet impact point, is the impact point offset, B is the water cannon location, AB is the distance between the fire location and the water cannon location, is the correction of the elevation angle, is the correction of the azimuth angle, is the projection of the vector from the water cannon location to the fire location in the horizontal plane; is the projection of the vector from the water cannon location to the fire location in the vertical plane.

5. A control device for a water cannon, characterized in that The device for implementing the control method of the water cannon as claimed in any one of claims 1-4, the device comprising: an acquisition module for acquiring a fire source position, environment parameters and system parameters of the water cannon; a calculating module, configured to calculate a jet path of the water cannon according to the fire source position, the environment parameter and the system parameter, and correct a pitch angle and an azimuth angle of the water cannon according to the jet path to obtain a target pitch angle and a target azimuth angle; a control module, configured to control the water cannon according to the target pitch angle and the target azimuth angle, so that a landing point of a jet of the water cannon covers the fire source position.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the water cannon according to any one of claims 1-4.

7. An electronic device comprising a memory, a processor, the memory having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the water cannon according to any one of claims 1-4.

8. A water cannon characterized in that The electronic device comprises a two-degree-of-freedom main body holder and the electronic device according to claim 7.

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