Fire-fighting jetting method, device and equipment and unmanned aerial vehicle

Abstract

The invention provides a fire-fighting jetting method, device and equipment and an unmanned aerial vehicle. The method comprises the steps that jetting mode information is determined according to a target instruction; the spraying mode information comprises detection mode information and follow-up mode information; wherein the detection mode information comprises at least one of angle adjustment information of the photoelectric pod and angle adjustment information of the fire fighting equipment; the follow-up mode information comprises angle adjustment information during follow-up between the photoelectric pod and the fire fighting equipment; the angle adjustment information comprises at least one of azimuth angle information and pitch angle information; and according to the spraying mode information, the angle of the photoelectric pod and the angle of the fire fighting equipment are adjusted, so that the photoelectric pod shoots fire source information according to the adjusted angle, and the fire fighting equipment sprays a fire extinguishing agent according to the adjusted angle. According to the method provided by the embodiment of the invention, the fire extinguishing efficiency and accuracy can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of fire fighting technology, and in particular to a fire fighting spraying method, device, equipment and unmanned aerial vehicle. Background Art

[0002] With the development of urbanization, high-rise buildings are increasing. Once a high-rise fire occurs, it is difficult to launch fire rescue quickly and efficiently in a dense urban environment.

[0003] In the related technologies, when using drones for aerial firefighting and rescue, it is often necessary to adjust the posture and angle of the drone itself to carry out aerial operations, which is very complex and leads to low firefighting efficiency. Therefore, how to effectively improve firefighting efficiency and reduce fire losses is a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0004] The present invention provides a fire spraying method, device, equipment and drone, which can effectively improve the efficiency and accuracy of fire extinguishing.

[0005] The present invention provides a fire-fighting spraying method, comprising: Determine the spray mode information according to the target instruction; the spray mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of the angle adjustment information of the optoelectronic pod and the angle adjustment information of the fire-fighting equipment; the follow-up mode information includes the angle adjustment information when the optoelectronic pod and the fire-fighting equipment follow each other; the angle adjustment information includes at least one of the azimuth angle information and the pitch angle information; According to the spray mode information, the angle of the photoelectric pod and the angle of the fire-fighting equipment are adjusted so that the photoelectric pod captures the fire source information according to the adjusted angle, and the fire-fighting equipment sprays the fire extinguishing agent according to the adjusted angle.

[0006] According to the fire-fighting spraying method provided by an embodiment of the present application, when it is determined according to the target instruction that the spraying mode information is the detection mode information, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spraying mode information includes at least one of the following: Adjusting the azimuth angle and / or the pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the injection unit, and sent to the azimuth electric push rod and the pitch electric push rod for adjustment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating parts in the injection unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch angle adjustment of the fire-fighting equipment.

[0007] According to the fire-fighting spraying method provided by an embodiment of the present application, when it is determined according to a target instruction that the spraying mode information is the follow-up mode information, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spraying mode information includes: The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the spray unit, and sent to the azimuth electric push rod and the pitch electric push rod for adjustment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating part in the spray unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch angle adjustment of the fire-fighting equipment; According to the angle adjustment information of the fire-fighting equipment, the angle of the optoelectronic pod is adjusted so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment.

[0008] According to the fire-fighting spraying method provided by an embodiment of the present application, when it is determined according to a target instruction that the spraying mode information is the follow-up mode information, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spraying mode information includes: Adjusting the azimuth angle and / or the pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; According to the angle adjustment information of the optoelectronic pod, the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the injection unit are determined and sent to the azimuth electric push rod and the pitch electric push rod for adjustment, so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating part and the azimuth adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch adjustment of the fire-fighting equipment.

[0009] According to the fire-fighting spraying method provided in an embodiment of the present application, after adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spraying mode information, the method further includes: Based on the preset angle difference, the fire-fighting equipment is controlled to adjust its angle so that the spraying point of the fire-fighting equipment falls within the position of the shooting center of the optoelectronic pod.

[0010] The present invention also provides a fire-fighting spraying device, comprising a photoelectric pod and a spraying unit on which the fire-fighting device is fixed, and is used to execute the above-mentioned fire-fighting spraying method.

[0011] The present invention also provides a fire-fighting spray device, which is applied to fire-fighting spray equipment, comprising: A determination module, used to determine the spray mode information according to the target instruction; the spray mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of the angle adjustment information of the optoelectronic pod and the angle adjustment information of the fire-fighting equipment fixed on the spray unit; the follow-up mode information includes the angle adjustment information when the optoelectronic pod and the fire-fighting equipment fixed on the spray unit are followed; the angle adjustment information includes at least one of the azimuth angle information and the pitch angle information; The adjustment module is used to adjust the angle of the photoelectric pod and the angle of the fire-fighting equipment according to the spraying mode information, so that the photoelectric pod can shoot the fire source information according to the adjusted angle, and the fire-fighting equipment can spray the fire extinguishing agent according to the adjusted angle.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described drone-based fire-fighting spraying methods.

[0013] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned drone-based fire-fighting spraying methods.

[0014] The present invention also provides an unmanned aerial vehicle, comprising the fire-fighting spraying equipment or the fire-fighting spraying device as described above.

[0015] The fire-fighting spraying method of the unmanned aerial vehicle provided by the present invention can adjust the angles of the photoelectric pod and the fire-fighting equipment based on the spraying mode information after the fire-fighting spraying equipment determines the spraying mode information according to the target instruction, so that the photoelectric pod can accurately capture the fire source information, and the spraying unit can accurately carry out fire-fighting, thereby effectively improving the efficiency and accuracy of fire-fighting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1The present invention is a schematic flow chart of the fire-fighting spraying method provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the fire-fighting spraying equipment provided by the present invention.

[0019] Figure 3 Schematic diagram of the injection unit provided by the present invention.

[0020] Figure 4 It is another schematic flow chart of the fire-fighting spraying method provided by the present invention.

[0021] Figure 5 It is a schematic diagram of the fire-fighting spray device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Combine the following Figure 1-Figure 5 The invention describes a fire-fighting spraying method, a device, a equipment and a drone for drones.

[0024] Figure 1 The figure is a flow chart of a fire-fighting spraying method provided by the present invention, which is applied to a fire-fighting spraying device and comprises the following steps: Step 101, determine the spray mode information according to the target instruction; the spray mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of the angle adjustment information of the optoelectronic pod and the angle adjustment information of the fire-fighting equipment; the follow-up mode information includes the angle adjustment information when the optoelectronic pod and the fire-fighting equipment are followed; the angle adjustment information includes at least one of the azimuth angle information and the pitch angle information.

[0025] Specifically, the fire-fighting spraying equipment in the embodiment of the present application includes an optoelectronic pod and a spraying unit to which the fire-fighting equipment is fixed. Among them, the optoelectronic pod is responsible for acquiring the fire scene image in real time and providing accurate fire source location information to the ground control equipment. The spraying unit includes an azimuth electric push rod, a pitch electric push rod, a rotating component, a first fixed component and a second fixed component, which are used to control the spraying direction and angle of the fire-fighting equipment. Optionally, the optoelectronic pod and the spraying unit communicate via a serial port, or communicate via other means, which is not specifically limited in the embodiment of the present application.

[0026] For example, Figure 2As shown, the optoelectronic pod communicates normally with the injection unit, the optoelectronic pod and the injection unit are fixed to the tethered UAV through the second fixing component, and the optoelectronic pod communicates with the ground control equipment. Figure 3 As shown, one end of the azimuth electric push rod in the spray unit is connected to the rotating part, and the other end is connected to the second fixed part; the first fixed part is used to fix the fire-fighting equipment; the second fixed part is connected to the drone; the azimuth electric push rod and the rotating part are used to control the rotation angle of the fire-fighting equipment. That is, after the azimuth electric push rod is extended and retracted, the rotating part will rotate, and the rotation of the rotating part will change the azimuth angle of the fire-fighting equipment. It should be noted that if the motor is used directly to drive the rotation of the spray unit, it is easy to cause motor gear sweep and other faults, and the power and power consumption of the motor are also greater, which cannot be effectively applied in actual scenarios. Therefore, in the embodiment of the present application, the azimuth angle of the fire-fighting equipment is controlled by the azimuth electric push rod and the rotating part. Optionally, one end of the pitch electric push rod in the spray unit is connected to the first fixed part, and the other end is connected to the rotating part; the pitch angle of the fire-fighting equipment can be adjusted by using the pitch electric push rod.

[0027] In the embodiment of the present application, the fire-fighting spray equipment determines the spray mode information by receiving the target instruction sent by the ground control equipment, so as to efficiently and accurately complete the fire-fighting task, save the operator from the complicated operation of the aircraft, and effectively improve the fire-fighting efficiency. Optionally, the spray mode information in the embodiment of the present application includes detection mode information and follow-up mode information; wherein, in the detection mode, the angle adjustment of the photoelectric pod and the angle adjustment of the fire-fighting equipment are independent, and the fire-fighting spray equipment adjusts the angles of the photoelectric pod and the fire-fighting equipment respectively based on the instructions of the ground control equipment. In the follow-up mode, the angle adjustment of the photoelectric pod and the angle adjustment of the fire-fighting equipment are related, and the fire-fighting spray equipment only needs to adjust the angle of the photoelectric pod based on the instructions of the ground control equipment, and the fire-fighting equipment will follow the photoelectric pod to adjust the angle; or only needs to adjust the angle of the fire-fighting equipment, and the photoelectric pod will follow the fire-fighting equipment to adjust the angle. Optionally, the angle adjustment information includes at least one of the azimuth information and the pitch angle information.

[0028] Step 102: adjust the angle of the photoelectric pod and the angle of the fire-fighting equipment according to the spraying mode information, so that the photoelectric pod captures the fire source information according to the adjusted angle, and the fire-fighting equipment sprays the fire extinguishing agent according to the adjusted angle.

[0029] Specifically, after the fire-fighting spray equipment determines the spray mode information according to the target instruction, it can adjust the angle of the photoelectric pod and the fire-fighting equipment based on the spray mode information, so that the photoelectric pod can accurately capture the fire source information, and the spray unit can accurately extinguish the fire, greatly improving the fire-fighting efficiency.

[0030] It should be noted that in the related art, when using drones for aerial firefighting and rescue, it is often necessary to adjust the posture and angle of the drone itself to carry out aerial operations, which is highly complex and inefficient. In the embodiment of the present application, the firefighting spraying equipment adjusts the angle of the photoelectric pod and the angle of the firefighting equipment according to the spraying mode information, which saves the operator from the complex operation of the aircraft and effectively improves the firefighting efficiency; and the photoelectric pod can accurately obtain the image of the fire scene and accurately control the angle of the spraying unit, effectively improving the firefighting effect.

[0031] According to the method of the above embodiment, after the fire-fighting spray equipment determines the spray mode information according to the target instruction, the angle of the photoelectric pod and the fire-fighting equipment can be adjusted based on the spray mode information, so that the photoelectric pod can accurately capture the fire source information, and the spray unit can accurately extinguish the fire, effectively improving the efficiency and accuracy of fire-fighting.

[0032] In one embodiment, when the spray mode information is determined as detection mode information according to the target instruction, adjusting the angle of the optoelectronic pod and the angle of the fire fighting equipment according to the spray mode information includes at least one of the following: Adjusting the azimuth angle and / or pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric linear actuator and the pitch electric linear actuator in the injection unit, and sent to the azimuth electric linear actuator and the pitch electric linear actuator for adjustment; the extension and retraction of the azimuth electric linear actuator is used to trigger the rotation of the rotating parts in the injection unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric linear actuator is used to trigger the pitch angle adjustment of the fire-fighting equipment.

[0033] Specifically, when the spray mode information is determined to be the detection mode information according to the target instruction, the fire spray equipment can independently control the angle of the photoelectric pod or the angle of the spray unit. That is, in the detection mode, the angle adjustment of the photoelectric pod and the angle adjustment of the fire equipment are independent. The fire spray equipment adjusts the angles of the photoelectric pod and the fire equipment respectively based on the instructions of the ground control equipment, so as to flexibly capture the target point in the fire scene and carry out fire fighting efficiently and accurately.

[0034] For example, when the fire-fighting spray equipment determines that the spray mode information is the detection mode information according to the target instruction, it adjusts the azimuth angle and pitch angle of the photoelectric pod, so that it can accurately capture the situation at the fire scene and the spray position and fire-fighting effect of the fire-fighting equipment, providing effective information for the formulation of subsequent fire-fighting plans. The fire-fighting spray equipment can also control the extension and retraction of the azimuth electric push rod and the pitch electric push rod in the spray unit, thereby triggering the rotation of the rotating parts in the spray unit and the angle adjustment of the fire-fighting equipment, achieving precise control of the spray unit and improving the accuracy of the fire-fighting agent spray and the fire-fighting efficiency.

[0035] Optionally, the detection mode of the embodiment of the present application can be used to conduct a survey and overall control of the fire situation in the early stage of fire extinguishing, and achieve a large-scale viewing angle adjustment and angle adjustment by separately controlling the photoelectric pod or the spray unit, so as to quickly capture the target point in the fire scene and extinguish the fire efficiently and accurately. Optionally, it can also be used to check for fire hazard points at the end of fire extinguishing, and achieve a large-scale viewing angle adjustment and angle adjustment by separately controlling the photoelectric pod or the spray unit, so as to quickly find the fire hazard points and effectively avoid re-ignition. It can also be used for large-scale viewing angle adjustment and angle adjustment in other scenarios, which are not limited in the embodiment of the present application.

[0036] Exemplarily, the specific process of the fire spraying method in the embodiment of the present application is as follows: (1) The ground control equipment communicates with the optoelectronic pod in the fire-fighting equipment through optical fiber or wireless links, and receives information such as images, azimuth and pitch angles sent back by the pod.

[0037] (2) The optoelectronic pod communicates with the azimuth and pitch electric push rods of the jet unit, and internally processes the angle instructions for the electric push rods in the jet unit from the ground control equipment.

[0038] (3) After receiving the angle command, the optoelectronic pod calculates the extension and retraction amount (a value between 0 and 350,000) that the electric push rod of the injection unit should be at based on the conversion function between the angle and the extension and retraction amount.

[0039] (4) Based on the control protocol of the electric push rod motor, the pod sends a command to the electric push rod to extend or retract the azimuth electric push rod and / or the pitch electric push rod to the extension or retraction amount.

[0040] (5) The extension and retraction of the azimuth electric push rod causes the rotating parts to rotate, driving the change of the azimuth angle of the fire-fighting equipment. The extension and retraction of the pitch electric push rod causes the pitch of the fire-fighting equipment to change.

[0041] For example, due to different design requirements and manufacturing processes of rotating parts, the relationship between the rotation angle and the extension amount of the electric push rod needs to be calculated according to the actual situation, so as to accurately calculate how much the extension amount of the azimuth electric push rod is converted to, how much the azimuth angle is converted to, how much the extension amount of the azimuth electric push rod is converted to, how much the extension amount of the pitch electric push rod is converted to, and how much the extension amount of the pitch electric push rod is converted to. Optionally, the extension amount of the electric push rod can be fitted with the rotation angle to obtain the conversion relationship between the extension amount of the electric push rod and the rotation angle.

[0042] For example, in the embodiment of the present application, the telescopic range of the electric push rod is 0~350000cnt, and the angle range is -15 degrees~+15 degrees. After fitting, the conversion relationship between the angle and the telescopic range when the rotating component is installed is: The extension and retraction of the azimuth electric linear actuator is converted into the azimuth angle. The input x is the extension and retraction amount, and the output y is the angle. The details are as follows: double LengToAngle_fw(double x) { double y; double z; z = x * 0.00015143; y = acos((83984 - (226.5 + z) * (226.5 + z)) / 54400) - 68.433; return y; } The extension amount of the pitch electric linear actuator is converted into the pitch angle. The input x is the extension amount, and the output y is the angle, as follows: double LengToAngle_fy(double x) { double y; double z; z = x * 0.00015143; y = 67.166 - acos((76406.197 - (226.5 + z) * (226.5 + z)) / 51538.8); return y; } The azimuth angle is converted into the extension amount of the azimuth electric push rod. The input x is the angle and the output y is the extension amount, as follows: double AngleToLeng_fw(double x) { double y; y = (sqrt(83984 - cos(x + 68.433) * 200 * 272) - 226.5)*6603.773; return y; } The pitch angle is converted to the extension amount of the pitch electric linear actuator. The input x is the angle and the output y is the extension amount. The details are as follows: double AngletoLeng_fy(double x) { double y; y = (sqrt(66406.198 - cos(67.166 - x) * 51538.8) - 226.5) * 6603.773; return y; } According to the method of the above embodiment, when the spray mode information is determined as detection mode information according to the target instruction, the fire spray unit can independently control the angle of the optoelectronic pod and the fire-fighting equipment, so as to quickly capture the target point in the fire scene, carry out fire fighting efficiently and accurately, and improve the fire fighting efficiency.

[0043] In one embodiment, when the spray mode information is determined as follow-up mode information according to the target instruction, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spray mode information includes: The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric linear actuator and the pitch electric linear actuator in the spray unit, and sent to the azimuth electric linear actuator and the pitch electric linear actuator for adjustment; the extension and retraction of the azimuth electric linear actuator is used to trigger the rotation of the rotating parts in the spray unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric linear actuator is used to trigger the pitch angle adjustment of the fire-fighting equipment; According to the angle adjustment information of the fire-fighting equipment, the angle of the optoelectronic pod is adjusted so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment.

[0044] Specifically, when the spray mode information is determined to be the follow-up mode information according to the target instruction, the fire-fighting spray equipment only needs to adjust the angle of the fire-fighting equipment based on the instruction of the ground control equipment, and the optoelectronic pod will follow the fire-fighting equipment to adjust the angle. That is, in the follow-up mode, the angle adjustment of the optoelectronic pod and the angle adjustment of the fire-fighting equipment are related. For example, after the fire-fighting spray equipment controls the spray unit to adjust to the appropriate azimuth angle and pitch angle based on the instruction of the ground control equipment, the optoelectronic pod will automatically follow the spray unit to rotate in real time, and complete the same azimuth angle and pitch angle adjustment as the spray unit, so that the shooting angle of the optoelectronic pod and the spray angle of the spray unit are consistent, which effectively improves the control efficiency and control consistency of the optoelectronic pod and the spray unit, and improves the accuracy and efficiency of the fire-fighting operation.

[0045] Optionally, after completing the investigation and overall control of the fire situation, the follow-up method in the embodiment of the present application can be used for refined adjustment and control, and the photoelectric pod automatically follows the rotation of the spray unit in real time, so that the shooting angle of the photoelectric pod and the spray angle of the spray unit are consistent, effectively improving the control efficiency and control consistency of the photoelectric pod and the spray unit, and improving the fire extinguishing efficiency. It should also be noted that in the embodiment of the present application, the photoelectric pod automatically follows the rotation of the spray unit in real time, so there is no need for multiple people to control the photoelectric pod and the spray unit separately. Only one person is required to control the spray unit, which effectively reduces the complexity of control, reduces the number of personnel, and improves control efficiency.

[0046] Exemplarily, the specific process of the fire spraying method in the embodiment of the present application is as follows: (1) The optoelectronic pod periodically obtains the extension and retraction amount of the electric push rod (a value between 0 and 350,000).

[0047] (2) Based on the conversion function between angle and extension amount, calculate the current azimuth and pitch adjustment angle of the injection unit.

[0048] (3) The jet unit sends the same angle adjustment command to the optoelectronic pod in real time, so that it moves to the same angle in real time, thereby realizing the working mode of the optoelectronic pod following the jet unit.

[0049] According to the method of the above embodiment, when the spray mode information is determined to be the follow-up mode information according to the target instruction, the fire-fighting spray equipment only needs to adjust the angle of the fire-fighting equipment in the spray unit, and the photoelectric pod will automatically follow the rotation of the spray unit in real time, so that the shooting angle of the photoelectric pod and the spray angle of the spray unit are consistent, which effectively improves the control efficiency and control consistency of the photoelectric pod and the spray unit, and improves the fire extinguishing efficiency.

[0050] In one embodiment, when the spray mode information is determined as follow-up mode information according to the target instruction, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spray mode information includes: Adjusting the azimuth angle and / or pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; According to the angle adjustment information of the optoelectronic pod, the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the injection unit are determined and sent to the azimuth electric push rod and the pitch electric push rod for adjustment so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating part and the azimuth adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch adjustment of the fire-fighting equipment.

[0051] Specifically, when the spray mode information is determined to be the follow-up mode information according to the target instruction, the fire spray equipment only needs to adjust the angle of the photoelectric pod based on the instruction of the ground control device, and the spray unit will follow the photoelectric pod to adjust the angle. That is, in the follow-up mode, the angle adjustment of the spray unit and the angle adjustment of the photoelectric pod are related. For example, after the fire spray equipment controls the photoelectric pod to adjust to the appropriate azimuth angle and pitch angle based on the instruction of the ground control device, the spray unit will automatically follow the photoelectric pod to rotate in real time, and complete the same azimuth angle and pitch angle adjustment as the photoelectric pod, so that the shooting angle of the photoelectric pod and the spray angle of the spray unit are consistent, which effectively improves the control efficiency and control consistency of the photoelectric pod and the spray unit, and improves the accuracy and efficiency of the fire extinguishing operation.

[0052] Exemplarily, the specific process of the fire spraying method in the embodiment of the present application is as follows: (1) The fire-fighting spray equipment controls the rotation of the pod based on the communication protocol between the ground control equipment and the optoelectronic pod.

[0053] (2) The optoelectronic pod converts its own angle information into the extension and retraction amount of the electric push rod in real time through the conversion function between the angle and the extension and retraction amount, and sends it to the electric push rod in the injection unit.

[0054] (3) The azimuth and pitch electric push rods in the ejector unit are extended and retracted to the specified extension amount according to the control instructions of the optoelectronic pod, so that the azimuth and pitch angles always remain the same as those of the pod, thereby realizing the working mode of the ejector unit following the optoelectronic pod.

[0055] According to the method of the above embodiment, when the spray mode information is determined to be the follow-up mode information according to the target instruction, the fire-fighting spray equipment only needs to adjust the angle of the photoelectric pod, and the spray unit will automatically follow the rotation of the photoelectric pod in real time, so that the shooting angle of the photoelectric pod and the spray angle of the spray unit are consistent, which effectively improves the control efficiency and control consistency of the photoelectric pod and the spray unit, and improves the fire extinguishing efficiency.

[0056] In one embodiment, after adjusting the angle of the optoelectronic pod and the angle of the firefighting equipment according to the spray pattern information, the method further comprises: Based on the preset angle difference, the fire-fighting equipment is controlled to adjust the angle so that the spraying point of the fire-fighting equipment falls into the position of the shooting center of the optoelectronic pod.

[0057] Specifically, in the scenario where the spray unit follows the photoelectric pod, or in the scenario where the photoelectric pod follows the spray unit, due to the difference in height and position between the spray unit and the photoelectric pod, after the photoelectric pod and the spray unit adjust the same angle, the shooting center of the photoelectric pod and the spray unit may not be consistent with the spray point of the spray unit, but there is a certain deviation. In the embodiment of the present application, by setting the angle difference between the photoelectric pod and the spray unit, after the azimuth angle and / or pitch angle adjustment of the photoelectric pod and the spray unit is completed, the spray unit performs azimuth angle correction and / or pitch angle correction again based on the preset angle difference, so that the spray point of the spray unit falls into the position of the shooting center of the photoelectric pod, thereby improving the efficiency and accuracy of fire extinguishing. That is, after the azimuth angle and / or pitch angle adjustment of the photoelectric pod and the spray unit is completed, the fire-fighting spray equipment adjusts the azimuth angle and / or pitch angle of the fire-fighting equipment based on the preset angle difference, so that the spray point of the fire-fighting equipment falls into the position of the shooting center of the photoelectric pod.

[0058] For example, a byte is reserved in the communication protocol between the ground control device and the optoelectronic pod to set the angle difference, and a buffer is set in the optoelectronic pod internal control program to store the set angle difference. In the follow-up mode, when the optoelectronic pod and the spray unit follow to the same angle, the angle difference in the buffer is added, so that the two always maintain this angle difference when following, so that the spray point of the spray unit falls into the position of the shooting center of the optoelectronic pod, improving the efficiency and accuracy of fire extinguishing.

[0059] The method of the above embodiment, after adjusting the angle of the photoelectric pod and the angle of the fire-fighting equipment, can make the injection point of the injection unit fall into the center of the pod screen through the angle difference between the photoelectric pod and the injection unit, which greatly improves the accuracy of fire extinguishing agent injection and fire extinguishing efficiency.

[0060] For example, Figure 4The fire-fighting spraying method based on drones shown in the figure realizes efficient and accurate spraying of fire-extinguishing agents in a combined working mode by precisely controlling the azimuth and pitch angle of the spraying unit and the rotation of the optoelectronic pod; and by innovating three control strategies, the efficiency and accuracy of fire-fighting operations are improved. The control method of the present application can significantly improve the efficiency and accuracy of tethered fire-fighting drones in fire-fighting operations, reduce fire-fighting costs, and reduce the risk of casualties. At the same time, the method has strong versatility and adaptability, and can be widely used in various fire scenes, providing strong support for fire safety.

[0061] Illustratively, an embodiment of the present application also provides a fire-fighting spraying device, including an optoelectronic pod and a spraying unit to which the fire-fighting device is fixed.

[0062] The fire-fighting spraying device provided by the present invention is described below. The fire-fighting spraying device described below and the fire-fighting spraying method described above can be referred to in correspondence with each other. Figure 5 As shown, including: The determination module 510 is used to determine the spray mode information according to the target instruction; the spray mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of angle adjustment information of the optoelectronic pod and angle adjustment information of the fire-fighting equipment fixed on the spray unit; the follow-up mode information includes angle adjustment information when the optoelectronic pod and the fire-fighting equipment fixed on the spray unit are followed; the angle adjustment information includes at least one of azimuth angle information and pitch angle information; The adjustment module 520 is used to adjust the angle of the photoelectric pod and the angle of the fire-fighting equipment according to the spraying mode information, so that the photoelectric pod can capture the fire source information according to the adjusted angle, and the fire-fighting equipment can spray the fire extinguishing agent according to the adjusted angle.

[0063] Optionally, the adjustment module 520 is specifically used to adjust the azimuth angle and / or pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric linear actuator and the pitch electric linear actuator in the injection unit, and sent to the azimuth electric linear actuator and the pitch electric linear actuator for adjustment; the extension and retraction of the azimuth electric linear actuator is used to trigger the rotation of the rotating parts in the injection unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric linear actuator is used to trigger the pitch angle adjustment of the fire-fighting equipment.

[0064] Optionally, the adjustment module 520 is specifically used to convert the angle adjustment information of the fire-fighting equipment into the extension amount of the azimuth electric push rod and the extension amount of the pitch electric push rod in the spray unit, and send them to the azimuth electric push rod and the pitch electric push rod for adjustment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating parts in the spray unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch angle adjustment of the fire-fighting equipment; According to the angle adjustment information of the fire-fighting equipment, the angle of the optoelectronic pod is adjusted so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment.

[0065] Optionally, the adjustment module 520 is specifically used to adjust the azimuth angle and / or pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; According to the angle adjustment information of the optoelectronic pod, the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the injection unit are determined and sent to the azimuth electric push rod and the pitch electric push rod for adjustment so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating part and the azimuth adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch adjustment of the fire-fighting equipment.

[0066] Optionally, the adjustment module 520 is specifically configured to control the fire-fighting equipment to adjust its angle based on a preset angle difference, so that the spraying point of the fire-fighting equipment falls within the position of the shooting center of the optoelectronic pod.

[0067] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the fire-fighting spraying method provided by the above-mentioned methods, which method includes: determining the spraying mode information according to the target instruction; the spraying mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of the angle adjustment information of the optoelectronic pod and the angle adjustment information of the fire-fighting equipment; the follow-up mode information includes the angle adjustment information when the optoelectronic pod and the fire-fighting equipment are followed; the angle adjustment information includes at least one of the azimuth angle information and the pitch angle information; according to the spraying mode information, adjust the angle of the optoelectronic pod and the angle of the fire-fighting equipment so that the optoelectronic pod shoots the fire source information according to the adjusted angle, and the fire-fighting equipment sprays the fire extinguishing agent according to the adjusted angle.

[0068] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the fire-fighting spraying method provided by the above-mentioned methods, the method comprising: determining the spraying mode information according to the target instruction; the spraying mode information comprises detection mode information and follow-up mode information; wherein the detection mode information comprises at least one of the angle adjustment information of the optoelectronic pod and the angle adjustment information of the fire-fighting equipment; the follow-up mode information comprises the angle adjustment information when the optoelectronic pod and the fire-fighting equipment are following each other; the angle adjustment information comprises at least one of the azimuth angle information and the pitch angle information; according to the spraying mode information, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment, so that the optoelectronic pod shoots the fire source information according to the adjusted angle, and the fire-fighting equipment sprays the fire-extinguishing agent according to the adjusted angle.

[0069] The present invention also provides an unmanned aerial vehicle, comprising the fire-fighting spraying equipment or the fire-fighting spraying device as described above.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fire spraying method, characterized in that: Applied to fire-fighting spray equipment, the fire-fighting spray equipment includes a photoelectric pod and a spray unit fixed with the fire-fighting equipment, the method includes: Determine the spray mode information according to the target instruction; the spray mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of the angle adjustment information of the optoelectronic pod and the angle adjustment information of the fire-fighting equipment; the follow-up mode information includes the angle adjustment information when the optoelectronic pod and the fire-fighting equipment follow each other; the angle adjustment information includes at least one of the azimuth angle information and the pitch angle information; According to the spray mode information, the angle of the photoelectric pod and the angle of the fire-fighting equipment are adjusted so that the photoelectric pod captures the fire source information according to the adjusted angle, and the fire-fighting equipment sprays the fire extinguishing agent according to the adjusted angle.

2. The fire spraying method according to claim 1, characterized in that: In the case where the spray mode information is determined to be the detection mode information according to the target instruction, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spray mode information includes at least one of the following: Adjusting the azimuth angle and / or the pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the injection unit, and sent to the azimuth electric push rod and the pitch electric push rod for adjustment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating parts in the injection unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch angle adjustment of the fire-fighting equipment.

3. The fire spraying method according to claim 1, characterized in that: In the case where the spray mode information is determined to be the follow-up mode information according to the target instruction, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spray mode information includes: The angle adjustment information of the fire-fighting equipment is converted into the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the spray unit, and sent to the azimuth electric push rod and the pitch electric push rod for adjustment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating part in the spray unit and the azimuth angle adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch angle adjustment of the fire-fighting equipment; According to the angle adjustment information of the fire-fighting equipment, the angle of the optoelectronic pod is adjusted so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment.

4. The fire spraying method according to claim 1, characterized in that: In the case where the spray mode information is determined to be the follow-up mode information according to the target instruction, adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spray mode information includes: Adjusting the azimuth angle and / or the pitch angle of the optoelectronic pod according to the angle adjustment information of the optoelectronic pod; According to the angle adjustment information of the optoelectronic pod, the extension and retraction amount of the azimuth electric push rod and the pitch electric push rod in the injection unit are determined and sent to the azimuth electric push rod and the pitch electric push rod for adjustment, so that the angle of the optoelectronic pod is the same as the angle of the fire-fighting equipment; the extension and retraction of the azimuth electric push rod is used to trigger the rotation of the rotating part and the azimuth adjustment of the fire-fighting equipment; the extension and retraction of the pitch electric push rod is used to trigger the pitch adjustment of the fire-fighting equipment.

5. The fire-fighting spraying method according to claim 3 or 4, characterized in that: After adjusting the angle of the optoelectronic pod and the angle of the fire-fighting equipment according to the spray mode information, the method further comprises: Based on the preset angle difference, the fire-fighting equipment is controlled to adjust its angle so that the spraying point of the fire-fighting equipment falls within the position of the shooting center of the optoelectronic pod.

6. A fire-fighting spraying device, comprising a photoelectric pod and a spraying unit fixed with the fire-fighting device, characterized in that: Execute the fire-fighting spraying method as described in any one of claims 1 to 5.

7. A fire-fighting spray device, used in fire-fighting spray equipment, the fire-fighting spray equipment comprising a photoelectric pod and a spray unit with a fire-fighting device fixed thereon, characterized in that: include: A determination module, used for determining injection mode information according to a target instruction; The spray mode information includes detection mode information and follow-up mode information; wherein the detection mode information includes at least one of angle adjustment information of the optoelectronic pod and angle adjustment information of the fire-fighting equipment fixed on the spray unit; the follow-up mode information includes angle adjustment information when the optoelectronic pod and the fire-fighting equipment fixed on the spray unit are followed; the angle adjustment information includes at least one of azimuth angle information and pitch angle information; The adjustment module is used to adjust the angle of the photoelectric pod and the angle of the fire-fighting equipment according to the spray mode information, so that the photoelectric pod can shoot the fire source information according to the adjusted angle, and the fire-fighting equipment can spray the fire extinguishing agent according to the adjusted angle.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fire-fighting spraying method according to any one of claims 1 to 5 is implemented.

9. A computer program product having executable instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor implements the fire spraying method according to any one of claims 1 to 5.

10. A drone, characterized in that: It comprises the fire-fighting spraying equipment as claimed in claim 6, or the fire-fighting spraying device as claimed in claim 7.

Images