Intelligent fire monitor fire extinguishing control method and control system

Abstract

The invention relates to the technical field of fire fighting, and particularly discloses an intelligent fire monitor fire extinguishing control method and a control system. The method comprises the following steps: S1, carrying out fire monitoring on a large shopping mall; S2, calculating a fire three-dimensional coordinate by adopting a binocular vision technology; S3, determining a fire monitor to position the fire three-dimensional coordinate; S4, carrying out fire position coordinate coincidence degree judgment, S5, carrying out precision adjustment on a fire monitor injection direction, S6, controlling the flow of the fire monitor according to a fire behavior condition, and S7, carrying out fire monitoring on the large shopping mall; performing information interaction display; according to the invention, the image fire detector and the image fire detection positioner on the fire monitor head are combined, and the binocular vision and laser radar technologies are utilized to accurately calculate the three-dimensional coordinates of the fire, so that fixed-point fire extinguishing is realized. Meanwhile, through fire coordinate coincidence degree judgment, comprehensive analysis of multi-detector data and real-time adjustment of the spraying direction of the fire monitor, the fire extinguishing efficiency and accuracy are improved, and it is ensured that the fire behavior can be rapidly and effectively controlled in a complex fire scene.

Description

Technical Field

[0001] The present invention relates to the field of fire fighting technology, and in particular to an intelligent fire fighting cannon controlled fire extinguishing method and control system. Background Art

[0002] With the acceleration of urbanization, large shopping malls have become an indispensable part of people's daily life. However, due to the large flow of people and dense accumulation of goods, once a fire accident occurs, it will not only cause huge property losses, but also may cause serious casualties. Therefore, it is particularly important to improve the fire safety management level of shopping malls, especially the rapid response capability in the early stage of fire.

[0003] As a new type of firefighting equipment, the intelligent fire monitor integrates advanced sensing technology and control algorithms. It can automatically detect fires without human intervention, determine the location of the fire source, and automatically adjust the rotation and elevation angles of the fire monitor so that its nozzle is aimed at the fire point, and carry out firefighting operations. The traditional intelligent fire monitor control fire extinguishing method is mainly based on sensors and automatic control technology. Fire signals are monitored through fire detectors or sensor devices. Once the fire source is detected, the sensor will transmit the signal to the central processor. After the processor analyzes the signal, it drives the fire monitor to locate and point to the fire source, and then starts the fire pump and electric valve to spray water to extinguish the fire.

[0004] Although the traditional intelligent fire cannon control fire extinguishing method has improved the fire extinguishing response speed to a certain extent, it still has some obvious shortcomings in practical applications. On the one hand, due to technical limitations, the traditional method cannot accurately locate the specific fire source and can only provide regional coverage. This fire extinguishing method results in a large amount of water consumption and wastes water resources; on the other hand, after locating the fire, the traditional fire cannon often lacks a mechanism for automatically adjusting the accuracy and cannot adjust the spray direction in real time according to slight changes in the fire location; in addition, the traditional method only relies on detectors and sensors to monitor and determine the location of the fire, and does not combine the fire location information provided by the fire cannon locator to adjust the spray direction of the fire cannon, resulting in inaccurate positioning and low fire extinguishing efficiency. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a method and a control system for controlling fire extinguishing by an intelligent fire monitor to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent fire cannon control fire extinguishing method and control system, the fire extinguishing control method comprising the following steps: S1: fire monitoring of large shopping malls, S2: using binocular vision technology to calculate the three-dimensional coordinates of the fire, S3: determining the three-dimensional coordinates of the fire located by the fire cannon, S4: judging the overlap of the fire position coordinates, S5: adjusting the accuracy of the fire cannon spraying direction, S6: controlling the fire cannon flow according to the fire situation, and S7: performing information interactive display.

[0007] S1: Fire monitoring in large shopping malls: Multi-detector fusion technology is used to monitor fires in large shopping malls. When the detector detects a fire signal, the signal is immediately transmitted to the control system and a fire cannon fire extinguishing command is issued;

[0008] S2: Using binocular vision technology to calculate the three-dimensional coordinates of the fire: The image fire detectors installed in large shopping malls capture the images of the fire scene, and use binocular vision technology to analyze and calculate the position coordinates of the fire in three-dimensional space;

[0009] S3: Determine the three-dimensional coordinates of the fire located by the fire monitor: The fire scene image is obtained by the image fire detection locator installed on the head of the fire monitor, and the laser radar technology is used to analyze and calculate the position coordinates of the fire located by the fire monitor in three-dimensional space;

[0010] S4: judging the coincidence of the fire position coordinates: using an image matching algorithm, the image of the fire scene captured by the image fire detector and the fire image acquired by the fire monitor positioning detector are subjected to coincidence matching analysis, and the coincidence of the fire position coordinates is judged and analyzed, and the fire coordinate coincidence coefficient is calculated;

[0011] S5: Adjust the accuracy of the fire monitor spray direction: Analyze and determine the accuracy of the fire position coordinates based on the fire coordinate coincidence coefficient in S4, adjust the fire monitor spray direction based on the determination result, start the water pump, and open the valve to spray water to extinguish the fire;

[0012] S6: Control the flow of fire monitors according to the fire situation: Use thermal imaging technology to measure the temperature distribution and change analysis of the fire scene to obtain the fire situation at the fire scene, and automatically adjust the water output and spray intensity of the fire monitor according to the fire situation;

[0013] S7: Perform information interactive display: Establish a human-computer interactive interface to display the fire location information and fire extinguishing process of the fire monitor, and set and display the parameters of the fire monitor to facilitate operator monitoring and intervention.

[0014] Preferably, the multiple detectors include dual-band infrared fire detectors, linear beam smoke detectors and image-type fire detectors.

[0015] Preferably, the steps for obtaining the position coordinates of the fire in three-dimensional space are specifically as follows:

[0016] S21: Get the intrinsic parameter matrices of the left and right cameras as K L and K R , the expression is as follows:

[0017] Where fx, fy represent the focal length of the camera, (cx, cy) and (c′x, c′y) represent the coordinates of the center point of the image;

[0018] S22: Obtain the pixel coordinates of the fire area in the left and right images respectively (U L , V L ) and (U R , V R ), and convert pixel coordinates to normalized coordinates (X L , Y L ) and (X R , Y R ), specifically:

[0019] For the left camera:

[0020] For the right camera:

[0021] S23: Calculate the depth information, i.e., the distance Z from the fire point to the camera. The calculation model is as follows:

[0022] Among them, B represents the baseline distance between the left and right cameras, that is, the distance between the optical centers of the two cameras, and U L and U R They are represented as the pixel horizontal coordinates of the fire area in the left and right images respectively;

[0023] S24: Calculate the position coordinates of the fire in three-dimensional space, specifically:

[0024] The fire's coordinates in 3D space (X, Y, Z) relative to the left camera coordinate system:

[0025] X=Z×X L ;

[0026] Y=Z×Y L ;

[0027] Z = Z;

[0028] That is, (X, Y, Z) represents the position coordinates of the fire in three-dimensional space.

[0029] Preferably, the specific method for obtaining the pixel coordinates of the fire area in the left and right images in S22 is: pre-processing the images by using grayscale, filtering and edge detection technology, detecting and separating the fire area by threshold segmentation and morphological operations, extracting feature points from the fire area by using feature point detection algorithm SIFT, and finding corresponding feature points between the left and right images by using feature matching algorithm BFMatcher, and finally obtaining the pixel coordinates of corresponding points in the fire area in the left and right images through matching results.

[0030] Preferably, the method for obtaining the position coordinates of the fire located by the fire monitor in three-dimensional space is as follows:

[0031] S31: When a flame is detected, the current horizontal rotation angle θ of the fire monitor is recorded, and the current vertical tilt angle of the fire monitor is also recorded. That is, the angle relative to the horizontal plane;

[0032] S32: Using laser radar technology to obtain the distance r from the image fire detection locator to the flame;

[0033] S33: Calculate the position coordinates of the fire located by the fire monitor in three-dimensional space, specifically:

[0034]

[0035] That is, (X0, Y0, Z0) represents the position coordinates of the fire located by the fire monitor in three-dimensional space.

[0036] Preferably, the calculation steps of the fire coordinate coincidence coefficient are as follows:

[0037] S41: Calculate the distance D between the position coordinates of the fire in three-dimensional space and the position coordinates of the fire located by the fire monitor in three-dimensional space. The calculation model is as follows:

[0038] Among them, (X, Y, Z) represents the position coordinates of the fire in three-dimensional space, and (X0, Y0, Z0) represents the position coordinates of the fire located by the fire monitor in three-dimensional space;

[0039] S42: Calculate the fire coordinate coincidence coefficient. The calculation model is as follows:

[0040] Among them, CRF represents the fire coordinate coincidence coefficient, e represents the natural constant, R represents the position coordinate detection error range, and σ represents the standard deviation parameter.

[0041] Preferably, the specific content of analyzing and judging the fire coordinate coincidence coefficient in S5 is:

[0042] A: When the distance D between the two position coordinates is exactly equal to the position coordinate detection error range R, the fire coordinate coincidence coefficient reaches the maximum value of 1, that is, the two position coordinates completely coincide;

[0043] B: When the distance D between the two position coordinates is far away from the position coordinate detection error range R, the value of the fire coordinate coincidence coefficient approaches 0, that is, the two position coordinates hardly coincide with each other. The fire monitor spray direction is adjusted accurately until the two coordinates completely coincide with each other, indicating that the fire location is determined, and the water pump is started and the valve is opened to spray water to extinguish the fire.

[0044] Preferably, the parameters of the fire monitor include spray pressure, flow rate, range, spray angle, and elevation angle and horizontal rotation angle.

[0045] Preferably, an intelligent fire monitor control fire extinguishing system comprises:

[0046] Large shopping mall fire monitoring module: It uses multi-detector fusion technology to monitor fires in large shopping malls. When the detector detects a fire signal, it immediately transmits the signal to the control system and issues a fire cannon fire extinguishing command;

[0047] Module for calculating the three-dimensional coordinates of fire: used to capture images of the fire scene through image fire detectors installed in large shopping malls, and use binocular vision technology to analyze and calculate the position coordinates of the fire in three-dimensional space;

[0048] Module for determining the fire coordinates of the fire monitor: used to obtain the fire scene image through the image fire detection locator installed on the head of the fire monitor, and use the laser radar technology to analyze and calculate the position coordinates of the fire located by the fire monitor in three-dimensional space;

[0049] Fire coordinate coincidence judgment module: used to perform coincidence matching analysis based on the picture image of the fire scene of the fire three-dimensional coordinate calculation module and the fire picture image of the fire cannon positioning fire coordinate determination module, and perform coincidence judgment analysis on the fire position coordinates, calculate the fire coordinate coincidence coefficient, and transmit it to the fire cannon accuracy adjustment module;

[0050] Fire monitor accuracy adjustment module: used to analyze and determine the fire position coordinate accuracy based on the fire coordinate coincidence coefficient calculated by the fire coordinate coincidence judgment module, adjust the spray direction of the fire monitor according to the judgment result, start the water pump, and open the valve to spray water to extinguish the fire;

[0051] Fire monitor flow control module: Use thermal imaging technology to measure the temperature distribution and change analysis of the fire scene to obtain the fire situation at the fire scene, and automatically adjust the water output and spray intensity of the fire monitor according to the fire situation;

[0052] Information interaction module: used to establish a human-computer interaction interface, to display the fire location information and fire extinguishing process of the fire monitor, and to set and display the parameters of the fire monitor to facilitate operator monitoring and intervention.

[0053] Technical effects and advantages of the present invention:

[0054] 1. The present invention combines the data of the image fire detector and the image fire detection locator installed on the fire monitor head, and uses binocular vision technology and laser radar technology to accurately calculate the position coordinates of the fire in three-dimensional space; this not only improves the accuracy of positioning, but also can carry out targeted fire extinguishing according to the specific location of the fire, reduces the waste of water resources, and reduces the risk of damage to non-affected areas;

[0055] 2. The present invention introduces the fire coordinate coincidence judgment, which can perform comprehensive analysis based on the data of multiple detectors, calculate the fire coordinate coincidence coefficient, and adjust the spray direction of the fire monitor accordingly. The fire monitor can adjust the spray strategy in real time according to the slight change of the fire location, improve the fire extinguishing efficiency and accuracy, and ensure that the fire can be quickly and effectively controlled in complex and changeable fire scenes;

[0056] 3. The present invention improves the reliability and robustness of the system by integrating data from multiple sensors and detectors and adopting advanced image processing and data analysis technologies. Even under harsh environmental conditions, the system can still accurately identify the location of the fire source and take appropriate fire-fighting measures, thereby enhancing the system's anti-interference ability and ability to cope with emergencies. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0058] Figure 1 It is a schematic diagram of the method flow of the present invention.

[0059] Figure 2 It is a schematic diagram of the overall structure of the system of the present invention. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0061] See also Figure 1As shown, the present invention provides an intelligent fire cannon control fire extinguishing method, comprising the following steps: S1: fire monitoring of a large shopping mall, S2: using binocular vision technology to calculate the three-dimensional coordinates of the fire, S3: determining the three-dimensional coordinates of the fire located by the fire cannon, S4: judging the coincidence of the fire position coordinates, S5: adjusting the accuracy of the fire cannon spraying direction, S6: controlling the fire cannon flow according to the fire situation, and S7: performing information interactive display.

[0062] S1: Fire monitoring in large shopping malls: Multi-detector fusion technology is used to monitor fires in large shopping malls. When the detector detects a fire signal, the signal is immediately transmitted to the control system and a fire cannon fire extinguishing command is issued;

[0063] In this embodiment, it should be specifically explained that the multiple detectors include a dual-band infrared fire detector, a linear beam smoke detector and an image-type fire detector.

[0064] S2: Using binocular vision technology to calculate the three-dimensional coordinates of the fire: The image fire detectors installed in large shopping malls capture the images of the fire scene, and use binocular vision technology to analyze and calculate the position coordinates of the fire in three-dimensional space;

[0065] In this embodiment, it should be specifically explained that the steps of obtaining the position coordinates of the fire in three-dimensional space are as follows:

[0066] S21: Get the intrinsic parameter matrices of the left and right cameras as K L and K R , the expression is as follows:

[0067] Where fx, fy represent the focal length of the camera, (cx, cy) and (c′x, c′y) represent the coordinates of the center point of the image;

[0068] S22: Obtain the pixel coordinates of the fire area in the left and right images respectively (U L , V L ) and (U R , V R ), and convert pixel coordinates to normalized coordinates (X L , Y L ) and (X R , Y R ), specifically:

[0069] For the left camera:

[0070] For the right camera:

[0071] In this embodiment, it should be specifically explained that the specific method of obtaining the pixel coordinates of the fire area in the left and right images in S22 is: pre-processing the images by using grayscale, filtering and edge detection technology, detecting and separating the fire area by threshold segmentation and morphological operation, extracting feature points from the fire area by using the feature point detection algorithm SIFT, and finding corresponding feature points between the left and right images by using the feature matching algorithm BFMatcher, and finally obtaining the pixel coordinates of the corresponding points of the fire area in the left and right images by matching results;

[0072] S23: Calculate the depth information, i.e., the distance Z from the fire point to the camera. The calculation model is as follows:

[0073] Among them, B represents the baseline distance between the left and right cameras, that is, the distance between the optical centers of the two cameras, and U L and U R They are represented as the pixel horizontal coordinates of the fire area in the left and right images respectively;

[0074] S24: Calculate the position coordinates of the fire in three-dimensional space, specifically:

[0075] The fire's coordinates in 3D space (X, Y, Z) relative to the left camera coordinate system:

[0076] X=Z×X L ;

[0077] Y=Z×Y L ;

[0078] Z = Z;

[0079] That is, (X, Y, Z) represents the position coordinates of the fire in three-dimensional space.

[0080] Convert to the world coordinate system and transform using the rotation matrix R and translation vector T:

[0081] Among them, (Xw, Yw, Zw) represents the coordinates of the fire in the world coordinate system.

[0082] S3: Determine the three-dimensional coordinates of the fire located by the fire monitor: The fire scene image is obtained by the image fire detection locator installed on the head of the fire monitor, and the laser radar technology is used to analyze and calculate the position coordinates of the fire located by the fire monitor in three-dimensional space;

[0083] In this embodiment, it should be specifically explained that the method for obtaining the position coordinates of the fire located by the fire monitor in three-dimensional space is as follows:

[0084] S31: When a flame is detected, the current horizontal rotation angle θ of the fire monitor is recorded, and the current vertical tilt angle of the fire monitor is also recorded. That is, the angle relative to the horizontal plane;

[0085] S32: Using laser radar technology to obtain the distance r from the image fire detection locator to the flame;

[0086] S33: Calculate the position coordinates of the fire located by the fire monitor in three-dimensional space, specifically:

[0087]

[0088]

[0089] That is, (X0, Y0, Z0) represents the position coordinates of the fire located by the fire monitor in three-dimensional space.

[0090] S4: judging the coincidence of the fire position coordinates: using an image matching algorithm, the image of the fire scene captured by the image fire detector and the fire image acquired by the fire monitor positioning detector are subjected to coincidence matching analysis, and the coincidence of the fire position coordinates is judged and analyzed, and the fire coordinate coincidence coefficient is calculated;

[0091] In this embodiment, it should be specifically explained that the calculation steps of the fire coordinate coincidence coefficient are as follows:

[0092] S41: Calculate the distance D between the position coordinates of the fire in three-dimensional space and the position coordinates of the fire located by the fire monitor in three-dimensional space. The calculation model is as follows:

[0093] Among them, (X, Y, Z) represents the position coordinates of the fire in three-dimensional space, and (X0, Y0, Z0) represents the position coordinates of the fire located by the fire monitor in three-dimensional space;

[0094] S42: Calculate the fire coordinate coincidence coefficient. The calculation model is as follows:

[0095] Among them, CRF represents the fire coordinate coincidence coefficient, e represents the natural constant, R represents the position coordinate detection error range, and σ represents the standard deviation parameter.

[0096] S5: Adjust the accuracy of the fire monitor spray direction: Analyze and determine the accuracy of the fire position coordinates based on the fire coordinate coincidence coefficient in S4, adjust the fire monitor spray direction based on the determination result, start the water pump, and open the valve to spray water to extinguish the fire;

[0097] In this embodiment, it should be specifically explained that the specific content of analyzing and judging the fire coordinate coincidence coefficient in S5 is:

[0098] A: When the distance D between the two position coordinates is exactly equal to the position coordinate detection error range R, the fire coordinate coincidence coefficient reaches the maximum value of 1, that is, the two position coordinates completely coincide;

[0099] B: When the distance D between the two position coordinates is far away from the position coordinate detection error range R, the value of the fire coordinate coincidence coefficient approaches 0, that is, the two position coordinates hardly coincide with each other. The fire monitor spray direction is adjusted accurately until the two coordinates completely coincide with each other, indicating that the fire location is determined, and the water pump is started and the valve is opened to spray water to extinguish the fire.

[0100] S6: Control the flow of fire monitors according to the fire situation: Use thermal imaging technology to measure the temperature distribution and change analysis of the fire scene to obtain the fire situation at the fire scene, and automatically adjust the water output and spray intensity of the fire monitor according to the fire situation;

[0101] S7: Perform information interactive display: Establish a human-computer interactive interface to display the fire location information and fire extinguishing process of the fire monitor, and set and display the parameters of the fire monitor to facilitate operator monitoring and intervention.

[0102] In this embodiment, it should be specifically explained that the parameters of the fire monitor include injection pressure, flow rate, range, spray angle, and elevation and horizontal rotation angle; by reasonably setting the injection pressure, flow rate and range parameters, it can be ensured that the fire monitor operates in the best state during the fire extinguishing process, thereby improving the fire extinguishing efficiency; by adjusting the spray angle, elevation angle and horizontal rotation angle parameters, the coverage of the fire monitor can be expanded to ensure that the fire source is fully covered and effectively extinguished; reasonable parameter settings can extend the service life of the fire monitor, reduce equipment failures and maintenance costs; at the same time, it can also improve the stability and reliability of the equipment, ensuring rapid response and effective fire extinguishing in emergency situations.

[0103] See also Figure 2 As shown, the present invention provides an intelligent fire cannon control fire extinguishing system, including a large shopping mall fire monitoring module, a fire three-dimensional coordinate calculation module, a fire cannon positioning fire coordinate determination module, a fire coordinate coincidence judgment module, a fire cannon accuracy adjustment module, a fire cannon flow control module and an information interaction module.

[0104] The large shopping mall fire monitoring module adopts multi-detector fusion technology to monitor the fire in the large shopping mall. When the detector detects a fire signal, it immediately transmits the signal to the control system and issues a fire cannon fire extinguishing command;

[0105] The fire three-dimensional coordinate calculation module is used to capture the image of the fire scene through the image fire detector installed in the large shopping mall, and use binocular vision technology to analyze and calculate the position coordinates of the fire in three-dimensional space;

[0106] The module for determining the fire coordinates of the fire monitor is used to obtain the fire scene image through the image fire detection locator installed on the fire monitor head, and use the laser radar technology to analyze and calculate the position coordinates of the fire located by the fire monitor in three-dimensional space;

[0107] The fire coordinate coincidence judgment module is used to perform coincidence matching analysis based on the picture image of the fire scene of the fire three-dimensional coordinate calculation module and the fire picture image of the fire cannon positioning fire coordinate determination module, and perform coincidence judgment analysis on the fire position coordinates, calculate the fire coordinate coincidence coefficient, and transmit it to the fire cannon accuracy adjustment module;

[0108] The fire monitor accuracy adjustment module is used to analyze the fire coordinate coincidence coefficient calculated by the fire coordinate coincidence judgment module to judge the accuracy of the fire position coordinates, adjust the spray direction of the fire monitor according to the judgment result, and start the water pump and open the valve to spray water to extinguish the fire;

[0109] The fire monitor flow control module uses thermal imaging technology to measure the temperature distribution and change analysis of the fire scene to obtain the fire situation at the fire scene, and automatically adjusts the water output and spray intensity of the fire monitor according to the fire situation;

[0110] The information interaction module is used to establish a human-computer interaction interface, to display the fire location information and fire extinguishing process of the fire monitor, and to set and display the parameters of the fire monitor to facilitate operator monitoring and intervention.

[0111] 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.

[0112] 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 method for controlling fire extinguishing by using an intelligent fire monitor, characterized in that: The following steps are involved: S1: Fire monitoring in large shopping malls: Multi-detector fusion technology is used to monitor fires in large shopping malls. When the detector detects a fire signal, the signal is immediately transmitted to the control system and a fire cannon fire extinguishing command is issued; S2: Using binocular vision technology to calculate the three-dimensional coordinates of the fire: The image fire detector installed in the large shopping mall captures the image of the fire scene, and uses binocular vision technology to analyze and calculate the position coordinates of the fire in three-dimensional space; S3: Determine the three-dimensional coordinates of the fire located by the fire monitor: The fire scene image is obtained by the image fire detection locator installed on the head of the fire monitor, and the laser radar technology is used to analyze and calculate the position coordinates of the fire located by the fire monitor in three-dimensional space; S4: judging the coincidence of the fire position coordinates: using an image matching algorithm, the image of the fire scene captured by the image fire detector and the fire image acquired by the fire monitor positioning detector are subjected to coincidence matching analysis, and the coincidence of the fire position coordinates is judged and analyzed, and the fire coordinate coincidence coefficient is calculated; S5: Adjust the accuracy of the fire monitor spray direction: Analyze and determine the accuracy of the fire position coordinates based on the fire coordinate coincidence coefficient in S4, adjust the fire monitor spray direction based on the determination result, start the water pump, and open the valve to spray water to extinguish the fire; S6: Control the flow of fire monitors according to the fire situation: Use thermal imaging technology to measure the temperature distribution and change analysis of the fire scene to obtain the fire situation at the fire scene, and automatically adjust the water output and spray intensity of the fire monitor according to the fire situation; S7: Perform information interactive display: Establish a human-computer interactive interface to display the fire location information and fire extinguishing process of the fire monitor, and set and display the parameters of the fire monitor to facilitate operator monitoring and intervention.

2. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 1, characterized in that: The multiple detectors include dual-band infrared fire detectors, linear beam smoke detectors and image-type fire detectors.

3. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 1, characterized in that: The steps for obtaining the position coordinates of the fire in three-dimensional space are specifically as follows: S21: Get the intrinsic parameter matrices of the left and right cameras as K L and K R , the expression is as follows: Where fx, fy represent the focal length of the camera, (cx, cy) and (c′x, c′y) represent the coordinates of the center point of the image; S22: Obtain the pixel coordinates of the fire area in the left and right images respectively (U L , V L ) and (U R , V R ), and convert pixel coordinates to normalized coordinates (X L , Y L ) and (X R , Y R ), specifically: For the left camera: For the right camera: S23: Calculate the depth information, i.e., the distance Z from the fire point to the camera. The calculation model is as follows: Among them, B represents the baseline distance between the left and right cameras, that is, the distance between the optical centers of the two cameras, and U L and U R They are represented as the pixel horizontal coordinates of the fire area in the left and right images respectively; S24: Calculate the position coordinates of the fire in three-dimensional space, specifically: The fire's coordinates in 3D space (X, Y, Z) relative to the left camera coordinate system: X=Z×X L ; Y=Z×Y L ; Z = Z; That is, (X, Y, Z) represents the position coordinates of the fire in three-dimensional space.

4. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 3 is characterized in that: The specific method of obtaining the pixel coordinates of the fire area in the left and right images in S22 is: pre-processing the images by using grayscale, filtering and edge detection technology, detecting and separating the fire area by threshold segmentation and morphological operations, extracting feature points from the fire area by using the feature point detection algorithm SIFT, and finding corresponding feature points between the left and right images by using the feature matching algorithm BFMatcher, and finally obtaining the pixel coordinates of the corresponding points in the fire area in the left and right images through the matching results.

5. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 1, characterized in that: The method for obtaining the position coordinates of the fire monitor in three-dimensional space is as follows: S31: When a flame is detected, the current horizontal rotation angle θ of the fire monitor is recorded, and the current vertical tilt angle of the fire monitor is also recorded. That is, the angle relative to the horizontal plane; S32: Using laser radar technology to obtain the distance r from the image fire detection locator to the flame; S33: Calculate the position coordinates of the fire located by the fire monitor in three-dimensional space, specifically: That is, (X0, Y0, Z0) represents the position coordinates of the fire located by the fire monitor in three-dimensional space.

6. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 1, characterized in that: The calculation steps of the fire coordinate coincidence coefficient are as follows: S41: Calculate the distance D between the position coordinates of the fire in three-dimensional space and the position coordinates of the fire located by the fire monitor in three-dimensional space. The calculation model is as follows: Among them, (X, Y, Z) represents the position coordinates of the fire in three-dimensional space, and (X0, Y0, Z0) represents the position coordinates of the fire located by the fire monitor in three-dimensional space; S42: Calculate the fire coordinate coincidence coefficient. The calculation model is as follows: Among them, CRF represents the fire coordinate coincidence coefficient, e represents the natural constant, R represents the position coordinate detection error range, and σ represents the standard deviation parameter.

7. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 1, characterized in that: The specific content of analyzing and judging the fire coordinate coincidence coefficient in S5 is: A: When the distance D between the two position coordinates is exactly equal to the position coordinate detection error range R, the fire coordinate coincidence coefficient reaches the maximum value of 1, that is, the two position coordinates completely coincide; B: When the distance D between the two position coordinates is far away from the position coordinate detection error range R, the value of the fire coordinate coincidence coefficient approaches 0, that is, the two position coordinates hardly coincide with each other. The fire monitor spray direction is adjusted accurately until the two coordinates completely coincide with each other, indicating that the fire location is determined, and the water pump is started and the valve is opened to spray water to extinguish the fire.

8. The method for controlling fire extinguishing by using an intelligent fire monitor according to claim 1, characterized in that: The parameters of the fire monitor include spray pressure, flow rate, range, spray angle, elevation angle and horizontal rotation angle.

9. An intelligent fire monitor control fire extinguishing system, used to implement an intelligent fire monitor control fire extinguishing method as described in any one of claims 1 to 8, characterized in that: include: Large shopping mall fire monitoring module: It uses multi-detector fusion technology to monitor fires in large shopping malls. When the detector detects a fire signal, it immediately transmits the signal to the control system and issues a fire cannon fire extinguishing command; Module for calculating the three-dimensional coordinates of fire: used to capture images of the fire scene through image fire detectors installed in large shopping malls, and use binocular vision technology to analyze and calculate the position coordinates of the fire in three-dimensional space; Module for determining the fire coordinates of the fire monitor: used to obtain the fire scene image through the image fire detection locator installed on the head of the fire monitor, and use the laser radar technology to analyze and calculate the position coordinates of the fire located by the fire monitor in three-dimensional space; Fire coordinate coincidence judgment module: used to perform coincidence matching analysis based on the picture image of the fire scene of the fire three-dimensional coordinate calculation module and the fire picture image of the fire cannon positioning fire coordinate determination module, and perform coincidence judgment analysis on the fire position coordinates, calculate the fire coordinate coincidence coefficient, and transmit it to the fire cannon accuracy adjustment module; Fire monitor accuracy adjustment module: used to analyze and determine the fire position coordinate accuracy based on the fire coordinate coincidence coefficient calculated by the fire coordinate coincidence judgment module, adjust the spray direction of the fire monitor according to the judgment result, start the water pump, and open the valve to spray water to extinguish the fire; Fire monitor flow control module: Use thermal imaging technology to measure the temperature distribution and change analysis of the fire scene to obtain the fire situation at the fire scene, and automatically adjust the water output and spray intensity of the fire monitor according to the fire situation; Information interaction module: used to establish a human-computer interaction interface, to display the fire location information and fire extinguishing process of the fire monitor, and to set and display the parameters of the fire monitor to facilitate operator monitoring and intervention.

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