A control system for unmanned fire pump truck

Abstract

The present invention relates to the field of unmanned driving technology. The present invention discloses a control system for an unmanned fire pump truck, comprising: a fire source information identification module, a fire source target positioning module, a fire pump truck path planning module, a path deviation compensation control module and a fire command output module. The fire source information is identified by image processing technology, the position coordinates of the fire source are located in combination with geographic information system data, the unmanned fire pump truck is automatically allocated, and the optimal path is planned according to the fire source position coordinates and the position of the fire pump truck. The driving state of the fire pump truck is monitored in real time and compared with the path provided by the path planning module. When a deviation occurs, the path deviation compensation control is started, and the output of the fire command is completed according to the control result. The control system of the unmanned fire pump truck can realize highly intelligent operation, ensuring that the fire pump truck performs tasks accurately and without error in a complex environment.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and more specifically to a control system for an unmanned fire pump truck. Background Art

[0002] Fire rescue work often faces complex and changeable environments and fire conditions. When traditional fire trucks face dangerous environments such as high temperature, smoke, and explosions, the safety of firefighters is seriously threatened. The emergence of unmanned fire pump trucks can replace firefighters in these high-risk environments to perform firefighting operations, effectively reducing the risk of casualties. As one of the important directions for the intelligent development of fire trucks, the research and development and application of control systems for unmanned fire pump trucks has become an inevitable trend. By integrating advanced sensors, controllers, and actuators, unmanned fire pump trucks can autonomously navigate, avoid obstacles, and extinguish fires, greatly improving firefighting efficiency and safety.

[0003] However, the control system of the unmanned fire pump truck lacks compensation calculation for path deviation, which will cause the vehicle to be unable to accurately track the preset path during driving, thereby affecting the efficiency and accuracy of the fire-fighting operation. Path deviation compensation calculation is an important part of unmanned driving technology. It ensures that the vehicle can travel stably along the predetermined path by real-time detection, analysis and compensation of the deviation between the actual driving path of the vehicle and the preset path. The control system without compensation calculation cannot accurately identify and process the path deviation during vehicle driving, causing the vehicle to deviate from the preset path and affecting the smooth progress of the fire-fighting operation. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a control system for an unmanned fire pump truck to solve the problems existing in the above-mentioned background technology.

[0005] The present invention provides the following technical solution: a control system for an unmanned fire pump truck, comprising: a fire source information identification module, a fire source target positioning module, a fire pump truck path planning module, a path deviation compensation control module and a fire command output module;

[0006] The fire source information identification module receives the sensing data of the external sensor through the central processing unit, identifies the fire source information through image processing and data analysis technology, and transmits the identification result to the fire source target positioning module;

[0007] The fire source target positioning module receives the identification result transmitted by the fire source information identification module, locates the position coordinates of the fire source in combination with the geographic information system data, and transmits the position coordinates to the fire pump truck path planning module;

[0008] The fire pump truck path planning module automatically allocates an unmanned fire pump truck based on the fire source location coordinates transmitted by the fire source target positioning module, and plans the optimal path according to the fire source location coordinates and the location of the fire pump truck;

[0009] The path deviation compensation control module monitors the driving status of the fire pump truck in real time, compares it with the path provided by the path planning module, starts the path deviation compensation control when a deviation occurs, and transmits the control result to the fire command output module;

[0010] The fire command output module receives the control result transmitted by the path deviation compensation control module, and completes the output of the fire command according to the control result.

[0011] Preferably, in the fire source information identification module, the external sensor includes a thermal imaging camera and a smoke detector, the thermal imaging camera is used to capture the thermal radiation image of the fire source, and the potential fire source area is identified by analyzing the temperature distribution characteristics in the image; the smoke detector identifies the potential fire source area by detecting the concentration of smoke particles in the air;

[0012] The specific content of identifying the fire source information is: when the temperature distribution characteristics in the image exceed the preset threshold, the recognition result is the fire source area; when the concentration of smoke particles in the air exceeds the preset threshold, the recognition result is the fire source area.

[0013] Preferably, in the fire source target positioning module, the position coordinates of the fire source positioned are (x1, y1).

[0014] Preferably, in the fire pump truck path planning module, the specific contents of planning the optimal path according to the fire source location coordinates and the location of the fire pump truck are as follows:

[0015] Based on the fire source location coordinates transmitted by the fire source target positioning module, the unmanned fire pump truck is automatically allocated, and m driving routes are obtained by combining the geographic information system data;

[0016] Calculate the congestion coefficient of different paths, the calculation formula is: m1 =c×C m , where λ m1 represents the congestion coefficient of different paths, c represents the constant coefficient, C m Indicates the congestion level of different paths;

[0017] Calculate the restriction coefficient of different paths, the calculation formula is: where λ m2 represents the restriction coefficient of different paths, c represents the constant coefficient, W m represents the average width of different paths, G m Indicates the road grades for different paths;

[0018] The optimal index of different paths is calculated based on the current position (x2, y2) of the assigned unmanned fire pump truck. The calculation formula is: where ε m represents the optimal index of different paths, v m It represents the average driving speed of the fire pump truck on different paths;

[0019] The driving path corresponding to the maximum value of the calculated optimal index is the optimal path.

[0020] Preferably, in the path deviation compensation control module, the driving state of the fire pump truck is monitored in real time, and compared with the path provided by the path planning module. When a deviation occurs, the specific contents of starting the path deviation compensation control are as follows:

[0021] Analysis of the forward view point posture (X p , Y p ,θ) and the path trajectory point pose (X d , Y d ,θ d ), where X p Represents the horizontal coordinate of the foresight point position, Y p represents the ordinate of the foresight point posture, θ represents the angle between the foresight point posture and the horizontal direction, X d The horizontal coordinate of the path trajectory point, Y d The ordinate of the path trajectory point, θ d Indicates the angle between the path trajectory point position and the horizontal direction;

[0022] Calculate the lateral deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: Where Δy represents the lateral deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck;

[0023] Calculate the heading angle deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: Δθ=θ d -θ, where Δθ represents the heading angle deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck;

[0024] The compensation amount of the path deviation lateral compensation control is calculated based on the lateral deviation of the forward view point posture and the path trajectory point posture provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: where Δη y represents the compensation amount of path deviation lateral compensation control, k yaThe proportionality factor representing the lateral deviation, k yb Integral coefficient for lateral deviation, k yc represents the differential coefficient of the lateral deviation, i represents the number of different foresight points and corresponding path trajectory points, where i = 1, 2, 3, ..., n;

[0025] The compensation amount of the path deviation heading compensation control is calculated according to the heading angle deviation of the forward view point posture and the path trajectory point posture provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: where Δη θ represents the compensation amount of path deviation heading compensation control, k θa The proportional coefficient of heading deviation, k θb Integral coefficient representing heading deviation, k θc The differential coefficient representing the heading deviation;

[0026] When a deviation occurs, the path deviation compensation control is started for the fire pump truck according to the compensation amount of the path deviation lateral compensation control and the compensation amount of the path deviation heading compensation control.

[0027] Preferably, the fire command output module receives the control result transmitted by the path deviation compensation control module, combines the control result transmitted by the path deviation compensation control module with the real-time status data of the fire pump truck, generates a fire operation instruction, and sends the fire operation instruction to the actuator of the fire pump truck through wireless communication technology. The actuator of the fire pump truck receives and completes the fire operation instruction.

[0028] Technical effects and advantages of the present invention:

[0029] The present invention is provided with a fire source information identification module, a fire source target positioning module, a fire pump truck path planning module, a path deviation compensation control module and a fire command output module. The fire source information is identified by image processing technology, the position coordinates of the fire source are located in combination with geographic information system data, the unmanned fire pump truck is automatically allocated, and the optimal path is planned according to the fire source position coordinates and the position of the fire pump truck. The driving status of the fire pump truck is monitored in real time and compared with the path provided by the path planning module. When a deviation occurs, the path deviation compensation control is started, and the output of the fire command is completed according to the control result. The control system of the unmanned fire pump truck can realize highly intelligent operation, ensuring that the fire pump truck performs tasks accurately and without error in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a structural schematic diagram of a control system for an unmanned fire pump truck. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative. The control system for an unmanned fire pump truck involved in the present invention is not limited to the various structures recorded in the following embodiments. All other implementations obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0032] like Figure 1 As shown, the present invention provides a control system for an unmanned fire pump truck, comprising: a fire source information identification module, a fire source target positioning module, a fire pump truck path planning module, a path deviation compensation control module and a fire command output module;

[0033] The fire source information identification module receives the sensing data of the external sensor through the central processing unit, identifies the fire source information through image processing and data analysis technology, and transmits the identification result to the fire source target positioning module;

[0034] The fire source target positioning module receives the identification result transmitted by the fire source information identification module, locates the position coordinates of the fire source in combination with the geographic information system data, and transmits the position coordinates to the fire pump truck path planning module;

[0035] The fire pump truck path planning module automatically allocates an unmanned fire pump truck based on the fire source location coordinates transmitted by the fire source target positioning module, and plans the optimal path according to the fire source location coordinates and the location of the fire pump truck;

[0036] The path deviation compensation control module monitors the driving status of the fire pump truck in real time, compares it with the path provided by the path planning module, starts the path deviation compensation control when a deviation occurs, and transmits the control result to the fire command output module;

[0037] The fire command output module receives the control result transmitted by the path deviation compensation control module, and completes the output of the fire command according to the control result.

[0038] In this embodiment, it should be specifically explained that in the fire source information identification module, the external sensor includes a thermal imaging camera and a smoke detector, the thermal imaging camera is used to capture the thermal radiation image of the fire source, and the potential fire source area is identified by analyzing the temperature distribution characteristics in the image; the smoke detector identifies the potential fire source area by detecting the concentration of smoke particles in the air;

[0039] The specific content of identifying the fire source information is: when the temperature distribution characteristics in the image exceed the preset threshold, the recognition result is the fire source area; when the concentration of smoke particles in the air exceeds the preset threshold, the recognition result is the fire source area.

[0040] In this embodiment, it should be specifically explained that in the fire source target positioning module, the position coordinates of the fire source located are (x1, y1), wherein x1 represents the horizontal coordinate of the position coordinates of the fire source, and y1 represents the vertical coordinate of the position coordinates of the fire source.

[0041] In this embodiment, it should be specifically explained that in the fire pump truck path planning module, the specific content of planning the optimal path according to the fire source location coordinates and the location of the fire pump truck is as follows:

[0042] Based on the fire source location coordinates transmitted by the fire source target positioning module, the unmanned fire pump truck is automatically allocated, and m driving routes are obtained by combining the geographic information system data. Before allocating the unmanned fire pump truck, the central control system will check the status of the available vehicles, including the power, fuel, equipment integrity, etc.;

[0043] Calculate the congestion coefficient of different paths, the calculation formula is: m1 =c×C m , where λ m1 represents the congestion coefficient of different paths, c represents the constant coefficient, C m Indicates the congestion level of different paths;

[0044] Calculate the restriction coefficient of different paths, the calculation formula is: where λ m2 represents the restriction coefficient of different paths, c represents the constant coefficient, W m represents the average width of different paths, G m Indicates the road grades for different paths;

[0045] The optimal index of different paths is calculated based on the current position (x2, y2) of the assigned unmanned fire pump truck. The calculation formula is: where ε m represents the optimal index of different paths, v m It represents the average driving speed of the fire pump truck on different paths;

[0046] The driving path corresponding to the maximum value of the calculated optimal index is the optimal path.

[0047] In this embodiment, it should be specifically explained that in the path deviation compensation control module, the driving state of the fire pump truck is monitored in real time, and compared with the path provided by the path planning module. When a deviation occurs, the specific content of starting the path deviation compensation control is as follows:

[0048] Analysis of the forward view point posture (X p , Y p ,θ) and the path trajectory point pose (Xd , Y d ,θ d ), where X p Represents the horizontal coordinate of the foresight point position, Y p represents the ordinate of the foresight point posture, θ represents the angle between the foresight point posture and the horizontal direction, X d The horizontal coordinate of the path trajectory point, Y d The ordinate of the path trajectory point, θ d Indicates the angle between the path trajectory point position and the horizontal direction;

[0049] Calculate the lateral deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: Where Δy represents the lateral deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck;

[0050] Calculate the heading angle deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: Δθ=θ d -θ, where Δθ represents the heading angle deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck;

[0051] The compensation amount of the path deviation lateral compensation control is calculated based on the lateral deviation of the forward view point posture and the path trajectory point posture provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: where Δη y represents the compensation amount of path deviation lateral compensation control, k ya The proportionality factor representing the lateral deviation, k yb Integral coefficient for lateral deviation, k yc represents the differential coefficient of the lateral deviation, i represents the number of different foresight points and corresponding path trajectory points, where i = 1, 2, 3, ..., n;

[0052] The compensation amount of the path deviation heading compensation control is calculated according to the heading angle deviation of the forward view point posture and the path trajectory point posture provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: where Δη θ represents the compensation amount of path deviation heading compensation control, k θa The proportional coefficient of heading deviation, k θb Integral coefficient representing heading deviation, k θc The differential coefficient representing the heading deviation;

[0053] When a deviation occurs, the path deviation compensation control is started for the fire pump truck according to the compensation amount of the path deviation lateral compensation control and the compensation amount of the path deviation heading compensation control.

[0054] In this embodiment, it should be specifically explained that the fire command output module receives the control result transmitted by the path deviation compensation control module, combines the control result transmitted by the path deviation compensation control module with the real-time status data of the fire pump truck, and generates a fire operation command. The fire command includes: starting the water pump, adjusting the spray angle, controlling the water volume and pressure, etc., and sending the fire operation command to the actuator of the fire pump truck through wireless communication technology, and the actuator of the fire pump truck receives and completes the fire operation command.

[0055] In this embodiment, it should be specifically explained that the difference between this embodiment and the prior art is mainly that this embodiment is equipped with a fire source information identification module, a fire source target positioning module, a fire pump truck path planning module, a path deviation compensation control module and a fire command output module, and the fire source information is identified by image processing technology, and the location coordinates of the fire source are located in combination with the geographic information system data, and the unmanned fire pump truck is automatically allocated, and the optimal path is planned according to the fire source location coordinates and the location of the fire pump truck, and the driving status of the fire pump truck is monitored in real time and compared with the path provided by the path planning module. When a deviation occurs, the path deviation compensation control is started, and the output of the fire command is completed according to the control result. The control system of the unmanned fire pump truck can realize highly intelligent operation;

[0056] The fire source target positioning module uses GIS data to accurately locate the fire source. The fire pump truck path planning module plans the optimal path based on the fire source location and the current location of the fire pump truck to ensure that the fire pump truck can reach the fire source in the shortest time. The path deviation compensation control module monitors the driving status of the fire pump truck in real time. Once a deviation is found between the driving path and the planned path, the compensation control will be immediately activated to adjust the driving direction and speed of the fire pump truck to minimize the deviation and ensure that the fire pump truck can perform its tasks accurately in complex environments.

[0057] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0058] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control system for an unmanned fire pump truck, characterized in that: include: Fire source information identification module, fire source target positioning module, fire pump truck path planning module, path deviation compensation control module and fire command output module; The fire source information identification module receives the sensing data of the external sensor through the central processing unit, identifies the fire source information through image processing and data analysis technology, and transmits the identification result to the fire source target positioning module; The fire source target positioning module receives the identification result transmitted by the fire source information identification module, locates the position coordinates of the fire source in combination with the geographic information system data, and transmits the position coordinates to the fire pump truck path planning module; The fire pump truck path planning module automatically allocates an unmanned fire pump truck based on the fire source location coordinates transmitted by the fire source target positioning module, and plans the optimal path according to the fire source location coordinates and the location of the fire pump truck; The path deviation compensation control module monitors the driving status of the fire pump truck in real time, compares it with the path provided by the path planning module, starts the path deviation compensation control when a deviation occurs, and transmits the control result to the fire command output module; The fire command output module receives the control result transmitted by the path deviation compensation control module, and completes the output of the fire command according to the control result.

2. A control system for an unmanned fire pump truck according to claim 1, characterized in that: In the fire source information identification module, the external sensor includes a thermal imaging camera and a smoke detector. The thermal imaging camera is used to capture the thermal radiation image of the fire source, and the potential fire source area is identified by analyzing the temperature distribution characteristics in the image; the smoke detector identifies the potential fire source area by detecting the concentration of smoke particles in the air; The specific content of identifying the fire source information is: when the temperature distribution characteristics in the image exceed the preset threshold, the recognition result is the fire source area; when the concentration of smoke particles in the air exceeds the preset threshold, the recognition result is the fire source area.

3. A control system for an unmanned fire pump truck according to claim 1, characterized in that: In the fire source target positioning module, the position coordinates of the located fire source are (x1, y1).

4. A control system for an unmanned fire pump truck according to claim 1, characterized in that: In the fire pump truck path planning module, the specific contents of planning the optimal path according to the fire source location coordinates and the location of the fire pump truck are as follows: Based on the fire source location coordinates transmitted by the fire source target positioning module, the unmanned fire pump truck is automatically allocated, and m driving routes are obtained by combining the geographic information system data; Calculate the congestion coefficient of different paths, the calculation formula is: m1 =c×C m , where λ m1 represents the congestion coefficient of different paths, c represents the constant coefficient, C m Indicates the congestion level of different paths; Calculate the restriction coefficient of different paths, the calculation formula is: where λ m2 represents the restriction coefficient of different paths, c represents the constant coefficient, W m represents the average width of different paths, G m Indicates the road grades for different paths; The optimal index of different paths is calculated based on the current position (x2, y2) of the assigned unmanned fire pump truck. The calculation formula is: where ε m represents the optimal index of different paths, v m It represents the average driving speed of the fire pump truck on different paths; The driving path corresponding to the maximum value of the calculated optimal index is the optimal path.

5. The control system for an unmanned fire pump truck according to claim 1, characterized in that: In the path deviation compensation control module, the driving state of the fire pump truck is monitored in real time and compared with the path provided by the path planning module. When a deviation occurs, the specific contents of starting the path deviation compensation control are as follows: Analysis of the forward view point posture (X p , Y p ,θ) and the path trajectory point pose (X d , Y d ,θ d ), where X p Represents the horizontal coordinate of the foresight point position, Y p represents the ordinate of the foresight point posture, θ represents the angle between the foresight point posture and the horizontal direction, X d The horizontal coordinate of the path trajectory point, Y d The ordinate of the path trajectory point, θ d Indicates the angle between the path trajectory point position and the horizontal direction; Calculate the lateral deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: Where Δy represents the lateral deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck; Calculate the heading angle deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: Δθ=θ d -θ, where Δθ represents the heading angle deviation between the forward view point pose and the path trajectory point pose provided by the path planning module during the driving process of the fire pump truck; The compensation amount of the path deviation lateral compensation control is calculated based on the lateral deviation of the forward view point posture and the path trajectory point posture provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: where Δη y represents the compensation amount of path deviation lateral compensation control, k ya The proportionality factor representing the lateral deviation, k yb Integral coefficient representing lateral deviation, k yc represents the differential coefficient of the lateral deviation, i represents the number of different foresight points and corresponding path trajectory points, where i = 1, 2, 3, ..., n; The compensation amount of the path deviation heading compensation control is calculated according to the heading angle deviation of the forward view point posture and the path trajectory point posture provided by the path planning module during the driving process of the fire pump truck. The calculation formula is: where Δη θ represents the compensation amount of path deviation heading compensation control, k θa The proportional coefficient of heading deviation, k θb Indicates the integral coefficient of heading deviation, k θc The differential coefficient representing the heading deviation; When a deviation occurs, the path deviation compensation control is started for the fire pump truck according to the compensation amount of the path deviation lateral compensation control and the compensation amount of the path deviation heading compensation control.

6. A control system for an unmanned fire pump truck according to claim 1, characterized in that: The fire instruction output module receives the control result transmitted by the path deviation compensation control module, combines the control result transmitted by the path deviation compensation control module with the real-time status data of the fire pump truck, generates a fire operation instruction, and sends the fire operation instruction to the actuator of the fire pump truck through wireless communication technology. The actuator of the fire pump truck receives and completes the fire operation instruction.

Images