Intelligent injection positioning method for fire monitor

Abstract

The invention relates to the technical field of ship fire fighting, and discloses an intelligent injection positioning method for a fire monitor, which comprises the following steps: acquiring a distance L between an origin O and an ignition point P of an on-fire ship, an included angle alpha formed by a connecting line of the ignition point P and the origin O and an X-Y plane, and an included angle beta formed by the connecting line of the ignition point P and the origin O and an X-Z plane through a photoelectric tracker; the original point of the coordinate system UCS0 is translated to the position of a fire monitor O1, a coordinate system UCS01 is established, position information between an ignition point and the fire monitor is calculated, the included angle alpha 1'between the spraying elevation angle alpha 1 of the fire monitor and the horizontal plane is determined, and the correction amount of the spraying elevation angle alpha 1 and the correction amount of the spraying horizontal rotation angle beta 1 of the fire monitor are calculated according to the wind speed and the wind direction included angle between the wind speed and the bow direction; according to the invention, the positions and orientations of the fire monitor and an ignition point are dynamically and accurately monitored, the spraying angle of the fire monitor is automatically and dynamically adjusted and controlled, accurate fire extinguishment is realized, and the fire extinguishment working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of ship fire fighting, and in particular to an intelligent spray positioning method for a fire monitor. Background Art

[0002] At present, most fire boats are equipped with multiple fire monitors for firefighting of different types or levels. When carrying out firefighting operations, each fire monitor used for firefighting needs to be individually controlled by firefighters (remote control or local manual).

[0003] When a fireboat or a ship on fire is affected by wind and waves, the ship will shift or sway. According to the spraying of the water column from the water cannon, firefighters need to manually and continuously adjust the spray elevation angle and horizontal rotation angle of the fire cannon to spray the fire water as accurately as possible to the source of the fire on site.

[0004] According to the current configuration of fire-fighting facilities on fire-fighting boats and the manual control method of fire-fighting operations, there are the following deficiencies or defects:

[0005] 1. Firefighters rely on visual inspection to determine whether the distance to the fire location is within the range of the fire monitor. This results in large errors and often requires multiple adjustments to the position of the fire boat, affecting the timeliness and speed of firefighting and disaster relief.

[0006] 2. The position and sight line of the fire monitor operator are basically in the same vertical plane as the direction of the water column sprayed by the water monitor. This kind of vertical viewing angle makes it difficult to judge whether the fire monitor accurately sprays the fire water to the fire source, and the accuracy is difficult to guarantee;

[0007] 3. Both the fireboat and the ship on fire will be affected by wind and waves and will be displaced. The variability of the displacement of the ship requires firefighters to constantly adjust the spray elevation angle and horizontal rotation angle of the water cannon. In addition, the judgment and operation of the firefighters are delayed, and the accuracy of the fire water spray is difficult to guarantee, which affects the efficiency and effect of fire fighting. In addition, the work of firefighters is highly tense and the intensity is extremely high. Summary of the invention

[0008] The purpose of the present invention is to provide a fire monitor intelligent spray positioning method, which can automatically and dynamically adjust and control the spray angle of the fire monitor, achieve precise fire extinguishing, and improve work efficiency.

[0009] In order to achieve the above object, the present invention provides a fire cannon intelligent spray positioning method, the fire cannon is arranged on a fire boat, and the spray direction of the fire cannon is controlled by a fire control system. The fire cannon intelligent spray positioning method comprises the following steps:

[0010] Step 1, obtain the bow direction of the fireboat, establish a spatial rectangular coordinate system UCS0 with the location of the photoelectric tracker as the origin O, take the bow direction of the fireboat as the X-axis, and the XY plane of the spatial rectangular coordinate system UCS0 is parallel to the deck of the fireboat; obtain the distance L between the origin O and the ignition point P of the burning ship, the angle α formed by the line connecting the ignition point P and the origin O and the XY plane of the spatial rectangular coordinate system UCS0, and the angle β formed by the line connecting the ignition point P and the origin O and the XZ plane of the spatial rectangular coordinate system UCS0 through the photoelectric tracker, and calculate the coordinates (x, y, z) of the ignition point P, x = L*cosα*cosβ, y = L*cosα*sinβ, z = L*sinα;

[0011] Step 2: Input the installation position coordinates O1 (a 1 ,b 1 ,c 1 ); translate the origin of the spatial rectangular coordinate system UCS0 to the fire monitor O1 to form a new origin O ’ Establish the fire monitor space coordinate system UCS01. The coordinate of the fire point P in the fire monitor space coordinate system UCS01 is P 1 (x 1 ,y 1 ,z 1 ), where x 1 =xA 1 ,y 1 =yb 1 , z 1 =zc 1 ;

[0012] Step 3: Calculate the position information between the fire point and the fire monitor, the origin O ” With ignition source P 1 The distance between them is L 1 , Origin O ’ and ignition source P 1 The horizontal rotation angle of the spray formed by the line connecting and the XZ plane of the fire monitor space coordinate system UCS01 is β 1 , β 1 =arctan(y 1 ÷x 1 );

[0013] Step 4: Obtain the lateral tilt angle θ of the fire boat. The fire control system presets the trajectory parameters of the water column spray of the fire monitor. The trajectory of the water column spray of the fire monitor is established based on the horizontal plane. The fire monitor is used as the center of the circle and the distance L is 1 As the radius, make an auxiliary circle through the auxiliary circle and the ignition source P 1 z in the spatial rectangular coordinate system UCS011 The intersection point between the height values ​​determines the spray elevation angle α of the fire monitor 1 Angle α with the horizontal plane 1 ’ , the spray elevation angle α of the fire monitor 1 =α 1 ’ -θ;

[0014] Step 5: Calculate the fire monitor spray elevation angle α based on the wind speed and the angle between the wind speed and the bow direction. 1 The correction value and the jet horizontal rotation angle β 1 The correction amount is used to obtain the corrected fire monitor spray elevation angle value and the corrected spray horizontal rotation angle value.

[0015] As a preferred solution of the present invention, in step 1, the flame temperature, smoke conditions and fire range of the ignition point are obtained by a photoelectric tracker, and the fire control system determines the fire level to adjust the number of fire monitors to be opened and the fire mode.

[0016] As a preferred solution of the present invention, in step 1, the fire boat is guided to approach the burning ship by an optoelectronic tracker so that the range of the fire monitor is greater than the distance L.

[0017] As a preferred solution of the present invention, in step 1, the real-time bow direction of the fireboat is obtained by a gyro compass or a satellite compass.

[0018] As a preferred solution of the present invention, the step 4 is to obtain the real-time lateral tilt angle of the fireboat through the ship electronic inclinometer.

[0019] As a preferred solution of the present invention, the step 5 is to obtain the real-time wind speed and the angle between the actual wind direction and the bow direction through an anemometer.

[0020] As a preferred solution of the present invention, in step 5, the fire control system uses the wind direction angle with the bow direction and the spray horizontal rotation angle β 1 To obtain the wind direction angle γ between the actual wind direction and the water column of the fire monitor, and make the wind direction angle γ within the range of 90° to 270°, γ = the angle between the actual wind direction and the bow direction - β 1 The angle between the actual wind direction and the bow direction is the output signal of the anemometer.

[0021] As a preferred solution of the present invention, the wind direction angle γ is in the range of 150° to 210° and is close to 180°.

[0022] Compared with the prior art, the intelligent spray positioning method of a fire monitor in the embodiment of the present invention has the following beneficial effects:

[0023] The present invention can quickly guide the fire-fighting boat to quickly enter the service area of ​​the range of the fire-fighting gun through the ranging function of the photoelectric tracker, thereby improving the rapidity of the fire-fighting operation; establish a relative coordinate system between the photoelectric tracker and the fire point, and translate and rotate the coordinate system, and cooperate with the fire control system at the same time, can reduce the displacement influence of wind and waves on the fire-fighting boat and the fire-catching boat, and reduce the lateral tilt displacement influence of the fire-fighting boat caused by the recoil of the fire-fighting gun and the ship thrust device for maintaining the bow direction when the fire-fighting boat starts the fire-fighting gun to extinguish the fire, and eliminate the influence of wind speed and wind direction on the spray water column of the fire-fighting gun, realize dynamic and accurate monitoring of the position and orientation of the fire-fighting gun and the fire point, automatically and dynamically adjust and control the spray angle of the fire-fighting gun, realize accurate fire-fighting, improve work efficiency, avoid the influence of the hysteresis of human operation on the accuracy of the fire-fighting operation, avoid the subjective error caused by the visual judgment of the fire-fighting personnel, and improve the accuracy of the fire-fighting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0025] Figure 1 A relationship diagram between the photoelectric tracker and the ignition point when the spatial rectangular coordinate system UCS0 is established with the location of the photoelectric tracker as the origin O provided by the present invention;

[0026] Figure 2 for Figure 1 A magnified view of the fireboat in

[0027] Figure 3 A relationship diagram between the fire monitor and the fire point when the space rectangular coordinate system UCS01 is established with the fire monitor as the origin O1 provided by the present invention;

[0028] Figure 4 for Figure 3 A magnified view of the fireboat in

[0029] Figure 5 A schematic diagram of the arrangement and intersection of the auxiliary circle and the fire source provided by the present invention;

[0030] In the figure, fire boat 1; fire cannon 2; photoelectric tracker 3; fire boat 4; fire point 5. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “top” and “bottom” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0033] like Figures 1 to 5 As shown, a fire monitor intelligent spray positioning method of a preferred embodiment of the present invention is provided. The fire monitor is arranged on a fire boat. The spray direction of the fire monitor is controlled by a fire control system. When a fire alarm is received, the crew drives the fire boat to the location of the fire boat to perform intelligent spray positioning of the fire monitor. The fire monitor intelligent spray positioning method includes the following steps:

[0034] Step 1, obtain the bow direction of the fire boat and dynamically feed it back to the fire control system, establish a spatial rectangular coordinate system UCS0 with the location of the photoelectric tracker as the origin O, take the bow direction of the fire boat as the X-axis, and the XY plane of the spatial rectangular coordinate system UCS0 is parallel to the deck of the fire boat; obtain the distance L between the origin O and the ignition point P of the burning boat, the angle α formed by the line connecting the ignition point P and the origin O and the XY plane of the spatial rectangular coordinate system UCS0 (in this embodiment, in the spatial rectangular coordinate system UCS0, the X-axis is oriented forward as the positive direction, the Y-axis is oriented left as the positive direction, and the Z-axis is oriented upward as the positive direction), and the angle β formed by the line connecting the ignition point P and the origin O and the XZ plane of the spatial rectangular coordinate system UCS0, and calculate the coordinates (x, y, z) of the ignition point P, x = L*cosα*cosβ, y = L*cosα*sinβ, z = L*sinα;

[0035] Step 2: Dynamically input the fire monitor installation position coordinates O1 (a) in the space rectangular coordinate system UCS0 in the fire control system 1 ,b 1 ,c 1 ); translate the origin of the spatial rectangular coordinate system UCS0 to the fire monitor O1 to form a new origin O ’ Establish the fire monitor space coordinate system UCS01. The coordinate of the fire point P in the fire monitor space coordinate system UCS01 is P 1 (x 1 ,y 1 ,z 1 ), where x 1 =xA 1 ,y 1 =yb 1 , z 1 =zc 1 ;

[0036] Step 3: Calculate the position information between the fire point and the fire monitor, the origin O ’ (Location of fire monitor) and fire source P 1 The distance between them is L 1 , Origin O ’ and ignition source P 1 The horizontal rotation angle of the spray formed by the line connecting the XZ plane (i.e. the bow direction) of the fire monitor space coordinate system UCS01 is β 1 , β 1 =arctan(y 1 ÷x 1 );

[0037] Step 4: Obtain the transverse tilt angle θ of the fireboat and dynamically feed it back to the fire control system. The transverse tilt angle θ of the ship is the angle between the deck of the fireboat (i.e., the XY plane of the spatial rectangular coordinate system UCS0 or the XY plane of the spatial rectangular coordinate system UCS01) and the horizontal plane. The fire control system presets the trajectory parameters of the spray water column of the fire monitor. The spray water column trajectory of the fire monitor is established based on the horizontal plane. The fire monitor is used as the center of the circle and the distance L is the center of the circle. 1 As the radius, make an auxiliary circle through the auxiliary circle and the ignition source P 1 z in the spatial rectangular coordinate system UCS01 1 The intersection point between the height values ​​determines the spray elevation angle α of the fire monitor 1 Angle α with the horizontal plane 1 ’ , the spray elevation angle α of the fire monitor 1 =α 1 ’ -θ;

[0038] Step 5: Calculate the fire monitor spray elevation angle α based on the dynamically obtained wind speed and the wind direction angle with the bow direction (i.e., the XZ plane of the spatial rectangular coordinate system UCS0 or the XZ plane of the spatial rectangular coordinate system UCS01). 1 The correction value and the jet horizontal rotation angle β 1 The correction amount is used to obtain the corrected fire monitor spray elevation angle value and the corrected spray horizontal rotation angle value.

[0039] Exemplarily, in step 1, the flame temperature, smoke conditions and fire range of the ignition point are obtained through a photoelectric tracker, and the fire control system determines the fire level to adjust the number of fire monitors opened and the fire mode (switch to water fire mode or foam fire mode). Each fire monitor needs to perform steps 2 to 5 to improve the fire extinguishing efficiency.

[0040] Specifically, in step 1, the photoelectric tracker is used to guide the fireboat to approach the burning ship, so that the range of the fire monitor is greater than the distance L, and the crew is guided to drive the fireboat to a favorable position so that the fire point of the burning ship is within the range of each fire monitor.

[0041] In this embodiment, in step 1, the real-time bow direction of the fireboat is obtained by an electric compass or a satellite compass; in step 4, the real-time ship lateral tilt angle θ of the fireboat is obtained by a ship electronic inclinometer; in step 5, the real-time wind speed and the angle between the actual wind direction and the bow direction are obtained by a wind speed and direction meter.

[0042] Exemplarily, in step 5, the fire control system uses the wind direction angle with the bow direction and the jet horizontal rotation angle β 1 To obtain the wind direction angle γ between the actual wind direction and the water column of the fire monitor, and make the wind direction angle γ within the range of 90° to 270°, γ = the angle between the actual wind direction and the bow direction (the wind direction angle output by the wind speed and direction instrument) - β 1 (Horizontal rotation angle of spray); specifically, the wind direction angle γ is in the range of 150° to 210° and is close to 180°, so that the spray water column of the fire monitor is in the most advantageous position for the downwind spray operation; it should be noted that according to the output signal of the anemometer, the angle between the actual wind direction and the bow direction is 180°, which is downwind (the bow direction is in the same direction as the actual wind direction). Therefore, for the consistency of the crew's operating concepts, the wind direction angle γ between the actual wind direction and the spray water column of the fire monitor is 180°, which is downwind.

[0043] The fire control system has built-in water column trajectory parameters for different types of fire monitors with different water spray volumes, and different ranges of water spray volumes for different types of fire monitors at different wind speeds and different wind direction angles. γ The corresponding injection angle correction (including the injection elevation angle α 1 The correction value and the jet horizontal rotation angle β 1 correction amount).

[0044] In summary, the present invention can quickly guide the fire-fighting boat to quickly enter the service area within the range of the fire-fighting gun through the ranging function of the photoelectric tracker, thereby improving the rapidity of the fire-fighting operation; establish a relative coordinate system between the photoelectric tracker and the fire point, and translate and rotate the coordinate system, and cooperate with the fire control system to reduce the displacement effect of wind and waves on the fire-fighting boat and the fire-catching boat, and reduce the lateral tilt displacement effect of the fire-fighting boat caused by the recoil of the fire-fighting gun and the ship thrust device for maintaining the bow direction when the fire-fighting boat starts the fire-fighting gun to extinguish the fire, and eliminate the influence of wind speed and wind direction on the spray water column of the fire-fighting gun, so as to realize dynamic and accurate monitoring of the position and orientation of the fire-fighting gun and the fire point, dynamically adjust and control the spray angle of the fire-fighting gun, realize accurate fire-fighting, improve work efficiency, avoid the influence of the lag of human operation on the accuracy of the fire-fighting operation, avoid the subjective error caused by the visual judgment of the fire-fighting personnel, and improve the accuracy of the fire-fighting operation.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A fire monitor intelligent spray positioning method, characterized in that: The fire monitor is arranged on the fire boat, and the spraying direction of the fire monitor is controlled by the fire control system. The fire monitor intelligent spraying positioning method comprises the following steps: Step 1, obtain the bow direction of the fireboat, establish a spatial rectangular coordinate system UCS0 with the location of the photoelectric tracker as the origin O, take the bow direction of the fireboat as the X-axis, and the XY plane of the spatial rectangular coordinate system UCS0 is parallel to the deck of the fireboat; obtain the distance L between the origin O and the ignition point P of the burning ship, the angle α formed by the line connecting the ignition point P and the origin O and the XY plane of the spatial rectangular coordinate system UCS0, and the angle β formed by the line connecting the ignition point P and the origin O and the XZ plane of the spatial rectangular coordinate system UCS0 through the photoelectric tracker, and calculate the coordinates (x, y, z) of the ignition point P, x = L*cosα*cosβ, y = L*cosα*sinβ, z = L*sinα; Step 2: Input the installation position coordinates O1 (a1, b1, c1) of the fire monitor in the spatial rectangular coordinate system UCS0; translate the origin of the spatial rectangular coordinate system UCS0 to the fire monitor O1 to form a new origin O ’ Establish the fire monitor space coordinate system UCS01. The coordinates of the ignition point P in the fire monitor space coordinate system UCS01 are P1(x1, y1, z1), where x1=x-a1, y1=y-b1, z1=z-c1; Step 3: Calculate the position information between the fire point and the fire monitor, the origin O ’ The distance from the fire source P1 is L1, Origin O ’ The horizontal rotation angle of the spray formed by the line connecting the ignition source P1 and the XZ plane of the fire monitor space coordinate system UCS01 is β1, β1 = arctan (y1 ÷ x1); Step 4, obtain the lateral tilt angle θ of the fire boat. The fire control system presets the trajectory parameters of the water column of the fire monitor. The trajectory of the water column of the fire monitor is established based on the horizontal plane. An auxiliary circle is made with the fire monitor as the center and the distance L1 as the radius. The intersection between the auxiliary circle and the z1 height value of the fire source P1 in the spatial rectangular coordinate system UCS01 determines the angle α1 between the spray elevation angle α1 of the fire monitor and the horizontal plane. ’ , the spray elevation angle of the fire monitor α1=α1 ’ -θ; Step 5: Calculate the correction amount of the fire monitor spray elevation angle α1 and the correction amount of the spray horizontal rotation angle β1 according to the wind speed and the wind direction angle with the bow direction, and obtain the corrected fire monitor spray elevation angle value and the corrected spray horizontal rotation angle value.

2. The fire monitor intelligent spray positioning method according to claim 1, characterized in that: In step 1, the flame temperature, smoke conditions and fire range of the ignition point are obtained by a photoelectric tracker, and the fire control system determines the fire level to adjust the number of fire monitors to be opened and the fire mode.

3. The fire monitor intelligent spray positioning method according to claim 1, characterized in that: In step 1, the fire boat is guided to approach the burning boat by the photoelectric tracker so that the range of the fire monitor is greater than the distance L.

4. The fire monitor intelligent spray positioning method according to claim 1, characterized in that: In step 1, the real-time bow direction of the fireboat is obtained by using a gyro compass or a satellite compass.

5. The fire monitor intelligent spray positioning method according to claim 1, characterized in that: In step 4, the real-time transverse tilt angle of the fireboat is obtained by using the ship electronic inclinometer.

6. The fire monitor intelligent spray positioning method according to claim 1, characterized in that: In step 5, the real-time wind speed and the angle between the actual wind direction and the bow direction are obtained through an anemometer.

7. The fire monitor intelligent spray positioning method according to claim 6, characterized in that: In step 5, the fire control system obtains the wind direction angle γ between the actual wind direction and the spray water column of the fire monitor through the wind direction angle with the bow direction and the spray horizontal rotation angle β1, and the wind direction angle γ is within the range of 90° to 270°, γ = the angle between the actual wind direction and the bow direction - β1, and the angle between the actual wind direction and the bow direction is the output signal of the anemometer.

8. The intelligent spray positioning method for fire monitors according to claim 7, characterized in that: The wind direction angle γ is in the range of 150° to 210° and is close to 180°.

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