Fire monitor jet flow drop point prediction method and device based on random disturbance and controller
By molecularizing water jets into basic units and applying random perturbation corrections while considering the effects of wind speed and direction, the problem of low accuracy and efficiency in jet landing point prediction in existing technologies is solved, achieving higher accuracy and speed in jet landing point prediction.
Patent Information
- Application Number
- CN202510917471.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-03
- Publication Date
- 2025-11-07
AI Technical Summary
Existing methods for predicting the impact point of fire monitor jets suffer from low accuracy and low solution efficiency. In particular, when considering water jet breakup and atomization, existing methods struggle to accurately predict the impact point in a short time.
A random perturbation-based method is used to divide water jet molecules into basic units, taking into account the influence of environmental wind speed and direction on the velocity and position of water jet molecules. The velocity and position of water jet molecules are then corrected through random perturbation until all molecules reach the target position, thereby achieving jet landing point prediction.
It improves the accuracy and speed of jet trajectory prediction, enabling more accurate prediction of water jet landing points, and is suitable for high wind speed and high-altitude firefighting scenarios.
Smart Images
Figure CN120911338A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of fire fighting technology, in particular to a fire monitor jet drop point prediction method based on random disturbance, a fire monitor jet drop point prediction device based on random disturbance, a fire monitor controller, a computer readable storage medium and a terminal device. BACKGROUND
[0002] The intelligence of the fire monitor, i.e. automatic identification of the fire point position and automatic adjustment of the elevation angle of the monitor head, so as to realize automatic spraying for fire extinguishing. Among them, the trajectory model of the fire monitor jet and the drop point positioning are the premise of automatically adjusting the elevation angle of the monitor head, and whether the drop point prediction is accurate or not is related to whether the elevation angle is adjusted in place, and ultimately related to whether the fire monitor can accurately extinguish the fire. The existing jet trajectory prediction usually adopts the projectile motion equation as the main jet trajectory model, or constructs a prediction model based on MPS fluid dynamics simulation, or predicts the drop point based on a neural network. However, the trajectory modeling and drop point prediction method based on the projectile motion usually does not consider the influence of water jet breaking, atomization and the like on the range, resulting in large drop point prediction error, or after considering the influence of water jet breaking, atomization and the like, the solving efficiency is low, or the movement of each part of the water jet after breaking and atomization cannot be represented; the modeling process of the drop point prediction method based on MPS fluid dynamics simulation is complex, and the solving speed is very slow, which is difficult to respond to the fire monitor fire extinguishing work in a short time; the drop point prediction method based on neural network needs a large amount of training data, and the technical scheme is low in efficiency and practicality. SUMMARY
[0003] The purpose of the embodiments of the present application is to provide a fire monitor jet drop point prediction method based on random disturbance, a fire monitor jet drop point prediction device based on random disturbance, a fire monitor controller, a computer readable storage medium and a terminal device, so as to solve the problem of low solving efficiency and accuracy of water jet drop point prediction in the prior art.
[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a fire monitor jet drop point prediction method based on random disturbance, comprising: determining the initial speed of the water jet of the fire monitor nozzle under the current environmental wind speed and wind direction, and determining the initial direction of the water jet of the fire monitor nozzle; The water jet is taken as a basic unit of the water jet, the speed of each water jet molecule in the water jet at different time instants is determined under the initial speed and the initial orientation of the water jet, the position of each water jet molecule is determined according to the speed of each water jet molecule at different time instants, and in the case that the current position of each water jet molecule is at the edge of the water jet, the corresponding water jet molecule is randomly broken, the speed and the position of the corresponding water jet molecule are corrected according to the breaking result, until all water jet molecules reach the target position, and the predicted landing point of the water jet is obtained.
[0005] Optionally, the initial speed of the water jet of the fire water cannon nozzle under the influence of the current environmental wind speed and the wind direction is determined, comprising: The attribute parameters of the fire water cannon are acquired, the attribute parameters comprising the inner diameter of the pipe inlet, the inner diameter of the pipe outlet, the thickness of the water jet, the rated flow, the working pressure and the rated pressure of the fire water cannon nozzle; The speed of the water jet at the outlet of the fire water cannon nozzle is determined according to the attribute parameters; The speed of the water jet at the outlet of the fire water cannon nozzle is corrected in the jet direction, the vertical direction and the offset direction based on the influence of the current environmental wind speed on the speed of the water jet under the current wind direction and the initial orientation of the water jet, so as to obtain the initial speed of the water jet of the fire water cannon nozzle.
[0006] Optionally, the speed of the water jet at the outlet of the fire water cannon nozzle is corrected in the jet direction, the vertical direction and the offset direction based on the influence of the current environmental wind speed on the speed of the water jet under the current wind direction and the initial orientation of the water jet, comprising: The speed components of the current environmental wind speed in the jet direction, the vertical direction and the offset direction are determined according to the current wind direction and / or the initial orientation of the water jet; The speed of the water jet at the outlet of the fire water cannon nozzle is superimposed with the speed components in the jet direction, the vertical direction and the offset direction, so as to correct the speed of the water jet at the outlet of the fire water cannon nozzle.
[0007] Optionally, the speed of each water jet molecule in the water jet at different time instants under the initial speed and the initial orientation of the water jet is determined, comprising: The initial speed of the water jet of the fire water cannon nozzle is taken as the initial speed of each water jet molecule; The acceleration of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time instant is determined based on the influence of the corresponding environmental wind speed and the wind direction of the current water jet molecule at the last time instant on the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction; The velocity of the current water jet molecule in the jet direction, the vertical direction and the offset direction is determined according to the acceleration of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment and the velocity of the current water jet molecule at the previous moment.
[0008] Optionally, the velocity of the water jet molecule includes the velocity of the water jet molecule in the jet direction, the vertical direction and the offset direction; the position of each water jet molecule is determined according to the velocity of each water jet molecule at different moments, including: The initial position of each water jet molecule in the fire-fighting water cannon nozzle is determined. The velocity change trend of the current water jet molecule in the jet direction, the vertical direction and the offset direction is determined based on the velocity of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the previous moment and the velocity of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment. The position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment is determined according to the velocity change trend of the current water jet molecule in the jet direction, the vertical direction and the offset direction and the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the previous moment.
[0009] Optionally, the position of the water jet molecule includes the position of the water jet molecule in the jet direction, the vertical direction and the offset direction; the determination that the current position of each water jet molecule is at the edge of the water jet includes: The boundary position of the water jet in the jet direction, the vertical direction and the offset direction at the current moment is determined. The edge judgment factor of the water jet in the jet direction, the vertical direction and the offset direction is obtained. The position relationship between the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment and the boundary position of the water jet in the jet direction, the vertical direction and the offset direction at the current moment is determined respectively. If it is determined that the current water jet molecule is at the edge of the water jet in the jet direction according to the comparison result of the position relationship between the current water jet molecule and the water jet in the jet direction and the edge judgment factor of the jet direction, or it is determined that the current water jet molecule is at the edge of the water jet in the vertical direction according to the comparison result of the position relationship between the current water jet molecule and the water jet in the vertical direction and the edge judgment factor of the vertical direction, or it is determined that the current water jet molecule is at the edge of the water jet in the offset direction according to the comparison result of the position relationship between the current water jet molecule and the water jet in the offset direction and the edge judgment factor of the offset direction, it is determined that the current water jet molecule is at the edge of the water jet.
[0010] Optionally, the corresponding water jet molecule is randomly broken, and the speed of the corresponding water jet molecule is corrected according to the breaking result, including: The corresponding water jet molecule is broken with a preset probability. If the current water jet molecule is broken, the environmental wind speed in the current environmental wind direction is corrected by a first speed influence factor, and the speed of the current water jet molecule at the current time is superimposed with the corrected environmental wind speed to correct the speed of the current water jet molecule at the current time. If the current water jet molecule is not broken, the environmental wind speed in the current environmental wind direction is corrected by a second speed influence factor, and the speed of the current water jet molecule at the current time is superimposed with the corrected environmental wind speed to correct the speed of the current water jet molecule at the current time. The first speed influence factor is subject to a uniform distribution on a first interval, and the second speed influence factor is subject to a uniform distribution on a second interval. The range of the first interval is greater than the range of the second interval.
[0011] In a second aspect of the present application, a fire monitor jet drop point prediction device based on random disturbance is provided, including: A data processing module configured to determine the initial speed of the water jet of the fire water monitor nozzle under the current environmental wind speed and wind direction, and determine the initial direction of the water jet of the fire water monitor nozzle. A prediction module configured to take the water jet molecule as the basic unit of the water jet, determine the speed of each water jet molecule in the water jet at different times under the initial speed of the water jet and the initial direction of the water jet, and determine the position of each water jet molecule according to the speed of each water jet molecule at different times, and in the case that the current position of each water jet molecule is at the edge of the water jet, the corresponding water jet molecule is randomly broken, and the speed and position of the corresponding water jet molecule are corrected according to the breaking result, until all water jet molecules reach the target position, and the predicted drop point of the water jet is obtained.
[0012] In a third aspect of the present application, a fire water monitor controller is provided, including: The fire monitor jet drop point prediction device based on random disturbance as described above.
[0013] In a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to execute the fire monitor jet drop point prediction method based on random disturbance as described above.
[0014] In a fifth aspect, the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the random disturbance based fire monitor jet trajectory prediction method as described above when executing the computer program.
[0015] The embodiments provided by the present application have the following beneficial effects: The present application can effectively improve the water jet trajectory prediction accuracy and prediction speed by considering the influence of the environmental wind speed and direction on the speed and position of each water jet molecule in the water jet, and considering the breaking and atomization characteristics of the water jet, and by applying random disturbance to the water jet molecules at the edge of the water jet to correct the speed and position of the corresponding water jet molecules for water jet trajectory prediction.
[0016] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS
[0017] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings: Figure 1 A method flowchart of the random disturbance based fire monitor jet trajectory prediction method of the embodiments of the present application is schematically shown; Figure 2 A front view of the jet trajectory of the embodiments of the present application is schematically shown; Figure 3 A side view of the jet trajectory of the embodiments of the present application is schematically shown; Figure 4 A side view of the jet trajectory of the embodiments of the present application is schematically shown; Figure 5 A jet profile diagram of the embodiments of the present application is schematically shown; Figure 6 A jet trajectory simulation flowchart of the embodiments of the present application is schematically shown; Figure 7 A fire monitor parameter diagram of the embodiments of the present application is schematically shown; Figure 8 A random disturbance based fire monitor jet trajectory prediction device diagram of the embodiments of the present application is schematically shown; Figure 9 A terminal device structure diagram of the embodiments of the present application is schematically shown.
[0018] Explanation of reference signs 10 - terminal device, 100 - processor, 101 - memory, 102 - computer program. DETAILED DESCRIPTION
[0019] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.
[0020] It should be noted that the acquisition, transmission, storage, use, processing and the like of data in the technical solutions of the present application comply with the relevant provisions of laws and regulations. In the embodiments of the present application, some industry existing solutions such as software, components, models and the like may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the solution.
[0021] In order to solve the above problems, as shown in Figure 1 The first aspect of the present application provides a fire monitor jet drop point prediction method based on random disturbance, comprising: S100, determining the initial speed of the water jet of the fire monitor nozzle under the current environmental wind speed and wind direction, and determining the initial direction of the water jet of the fire monitor nozzle.
[0022] It can be understood that the fire truck mainly consists of a vehicle body, an arm support, a water tank, a fire monitor controller and a fire monitor main body, wherein the fire monitor main body is mounted on the arm tip of the arm support, the fire monitor can be lifted to different heights by the arm support, and the jet injection task of different heights, different distances and different directions can be completed by adjusting the working water pressure of the fire monitor, the jet pitch angle and the horizontal angle of the fire monitor, wherein the water jet is generated through the nozzle of the fire monitor, and the structure of the fire monitor nozzle is prior art, which is not limited here.
[0023] In the present application, the initial speed of the water jet can be calculated by the influence of the current environmental wind speed and wind direction on the water jet speed, and the initial direction of the water jet can be obtained in advance.
[0024] S200. Using water jet molecules as the basic units of the water jet, determine the velocity of each water jet molecule at different times under the initial velocity and initial orientation of the water jet, and determine the position of each water jet molecule based on the velocity of each water jet molecule at different times. Furthermore, when it is determined that the current position of each water jet molecule is at the edge of the water jet, cause the corresponding water jet molecule to break randomly, and correct the velocity and position of the corresponding water jet molecule based on the breakage result until all water jet molecules reach the target position, thereby obtaining the predicted landing point of the water jet.
[0025] The water jet ejection process is essentially a special type of projectile motion. When the water jet is concentrated, it can be considered a solid object, and its motion conforms to the basic characteristics of projectile motion. Therefore, without considering the effects of air buoyancy, water jet breakup into mist or droplets, etc., the water jet moving in the air is mainly affected by gravity and air resistance. Thus, the air resistance model proportional to velocity can be expressed as F = -kv. The water jet trajectory model considering air resistance proportional to velocity can be expressed as:
[0026] Where x0=0, y0=H0, v 0x =v out ·cosθ,v 0y ==v out ·sinθ, m represents the mass of the water jet micro-particle, in kg, v out Let θ represent the initial velocity of the water jet, θ represent the elevation angle of the fire monitor (where θ > 0 represents the elevation angle and θ < 0 represents the depression angle), k represent the air drag coefficient, Δt represent the unit time in seconds, and g n This represents the acceleration due to gravity, with a value of 9.81 m / s². 2 x t Let y represent the range in the x direction at time t. t v represents the altitude of the missile in the y-direction at time t. 0x Let v represent the initial velocity component of the water jet in the x-direction. 0y H represents the initial velocity component of the water jet in the y direction, and H0 represents the working height of the fire monitor.
[0027] However, in the above model, the jet trajectory is considered as the trajectory of a single point mass, represented as a two-dimensional curve, with the landing point being a single point. In reality, the jet trajectory presents a surface both laterally and frontally; therefore, the actual landing point is a region, not just a single point. Furthermore, this model only considers the effect of wind on the range x, but does not account for the wind's effect on the jet's deflection. The impact of wind speed is also significant; when the wind speed is high, the trajectory of the fire monitor jet changes dramatically.
[0028] likeFigures 2-4 As shown, the jet drop point is not only a point, but also a line, so the jet drop point is a region, the size of which is different under the influence of the environment. Through analysis of the jet image, the water jet molecules at the lower part of the jet are more likely to be separated from the jet body due to the influence of gravity and the pressure of the upper water jet molecules, and thus fall to the ground earlier; the water jet molecules on the upwind side of the jet are more likely to be separated from the jet body due to the influence of the wind and the pressure of the water jet molecules on the downwind side, thereby causing the jet to break, intensifying the influence of the wind on the jet, and further exacerbating the breaking. The above phenomenon is particularly evident in the scene of high-altitude fire extinguishing in strong wind. Therefore, the water jet trajectory model considering the air resistance proportional to the speed is improved as follows in the present application: The water jet is molecularized, and the water jet model is constructed with water jet molecules as the basic unit of the water jet. On the basis of considering gravity and air resistance, the influence of the environmental wind on the water jet in the jet direction and the offset direction is further combined, and the influence of water jet breaking and atomization is combined to determine the speed change and position change of each water jet molecule at each time, so as to obtain the predicted drop point of the water jet. It can be understood that, in the present application, the jet direction, i.e. the x direction, refers to the horizontal direction corresponding to the jet direction of the water jet, the vertical direction, i.e. the y direction, refers to the direction of gravity, which is perpendicular to the x direction, and the offset direction, i.e. the z direction, represents the offset of the water jet in the horizontal direction, and the z direction is perpendicular to the y direction and the x direction, respectively.
[0029] In this way, based on the molecularization of the water jet, by considering the influence of the environmental wind speed and direction on the speed and position of each water jet molecule in the water jet, and considering the breaking and atomization characteristics of the water jet, the water jet trajectory prediction is performed by applying random disturbance to the water jet molecules at the edge of the water jet to correct the speed and position of the corresponding water jet molecules, which can effectively improve the prediction accuracy and speed of the water jet trajectory.
[0030] In the present application, the initial speed of the water jet of the fire water cannon nozzle under the influence of the current environmental wind speed and direction is determined, including: obtaining the attribute parameters of the fire water cannon, the attribute parameters including the pipe inlet inner diameter, the pipe outlet inner diameter, the water jet thickness, the rated flow, the working pressure and the rated pressure of the fire water cannon nozzle; determining the water jet speed at the outlet of the fire water cannon nozzle according to the attribute parameters; under the current wind direction and the initial position of the water jet, correcting the water jet speed at the outlet of the fire water cannon nozzle based on the influence of the current environmental wind speed on the water jet speed in the jet direction, the vertical direction and the offset direction, to obtain the initial speed of the water jet of the fire water cannon nozzle.
[0031] The water jet speed at the outlet of the fire water cannon nozzle can be calculated by the following formula:
[0032] wherein, , represents the average velocity of the pipeline, in m / s, represents the inner diameter of the pipeline inlet, in mm, represents the thickness of the jet, in mm, represents the inner diameter of the pipeline outlet, in mm, represents the wind speed, in m / s, represents the rated flow, in L / s, represents the working pressure, in mPa, represents the rated pressure, in mPa.
[0033] As shown in Figure 5 , based on the structure of the fire water cannon nozzle, the shape of the water jet is not solid but hollow when it is ejected, and it is a surface rather than a point. In this application, the initial shape of the water jet is actually a circular ring, so there is a difference in force between different parts of the jet, which affects the trajectory of the jet. In view of this, the jet is molecularized, i.e. the jet is represented as a water jet molecule, which is uniformly distributed in the jet outlet area. The initial coordinates of the water jet molecule are determined based on the structure of the fire water cannon nozzle, and the initial position in the jet water column. It can be understood that the initial position of the jet water column refers to the position of the jet water column in the fire water cannon nozzle.
[0034] The initial coordinates of the water jet molecule can be represented as:
[0035] It can be understood that the molecularization of the jet does not change the speed of the jet itself, but the influence of the wind on the jet still needs to be considered. Therefore, the initial speed of the jet needs to be corrected. In this application, under the current wind direction and the initial orientation of the water jet, the water jet speed at the outlet of the fire water cannon nozzle is corrected based on the influence of the current environmental wind speed in the jet direction, the vertical direction and the offset direction on the water jet speed, including: determining the velocity components of the current environmental wind speed in the jet direction, the vertical direction and the offset direction according to the current wind direction and / or the initial orientation of the water jet; superimposing the velocity components in the jet direction, the vertical direction and the offset direction on the water jet speed at the outlet of the fire water cannon nozzle to correct the water jet speed at the outlet of the fire water cannon nozzle.
[0036] Specifically, the initial speed of the water jet is corrected by the following formula:
[0037] wherein, represents the velocity component of the initial speed in the x direction under the influence of the current wind speed, represents the velocity component of the initial velocity in the y direction, represents the velocity component of the initial velocity in the z direction under the influence of the current wind speed.
[0038] By superimposing the current wind speed and wind direction on the initial velocity of the water jet, the initial velocity under the influence of the current wind speed and wind direction is obtained.
[0039] In order to represent the deviation of water jet molecules and the trajectory of the broken water jet caused by uneven force during the movement of the water jet, the application uses random numbers in the iteration process of the water jet trajectory, so that each water jet molecule randomly breaks and the velocity of the corresponding water jet molecule changes slightly, thereby better simulating the influence of the broken water jet. As shown in Figure 6 The simulation process of the application is as follows: Step 1, determine the boundary value of the x, y, z coordinates of the water jet at time t, i.e. the maximum and minimum value:
[0040]
[0041]
[0042]
[0043]
[0044]
[0045] wherein, represents the minimum value of the water jet in the x direction at time t, represents the maximum value of the water jet in the x direction at time t, represents the minimum value of the water jet in the y direction at time t, represents the maximum value of the water jet in the y direction at time t, represents the minimum value of the water jet in the z direction at time t, represents the maximum value of the water jet in the z direction at time t.
[0046] Step 2, count the number of water jet molecules that have broken at time t .
[0047] Step 3, determine whether water jet molecule i has reached the target position at time t, i.e. whether it has landed or reached the target height, if so, execute step 8, if not, execute step 4; wherein the target height can be represented as: wherein h represents the target height that the water jet wants to hit, i.e. the height of the fire point, if the fire point is on the ground, then h = 0.
[0048] Step 4, updating the resistance, acceleration and speed of water jet molecule i at time t.
[0049] Therefore, in the present application, the speed of each water jet molecule in the water jet at different times under the initial speed of the water jet and the initial orientation of the water jet is determined, including: The initial speed of the water jet of the fire-fighting water cannon nozzle is taken as the initial speed of each water jet molecule, and specifically, the corrected initial speed is taken as the initial speed of each water jet molecule; Based on the influence of the corresponding environmental wind speed and wind direction of the current water jet molecule at the previous time on the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction, the acceleration of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time is determined, and specifically, the acceleration of each water jet molecule at the current time is updated through the following formula: , wherein , represents the resistance of water jet molecule i at time t, represents the resistance of water jet molecule i in the x direction at time t, represents the resistance of water jet molecule i in the y direction at time t, represents the resistance of water jet molecule i in the z direction at time t, and m represents the mass of the water jet molecule; According to the acceleration of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time and the speed of the current water jet molecule at the previous time, the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time is determined, and specifically, the speed of each water jet molecule at the current time is updated through the following formula: .
[0050] Step 5, calculating whether water jet molecule i at time t breaks.
[0051] In the present application, the position of the water jet molecule includes the position of the water jet molecule in the jet direction, the vertical direction and the offset direction; determining that the current position of each water jet molecule is at the edge of the water jet includes: determining the boundary position of the water jet in the jet direction, the vertical direction and the offset direction at the current time, i.e. determining the boundary value of the x, y, z coordinates of the water jet at time t; obtaining edge judgment factors of the water jet in the jet direction, the vertical direction and the offset direction, wherein each edge judgment factor can be determined in advance through experiments; respectively determining the position relationship between the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time and the boundary position of the water jet in the jet direction, the vertical direction and the offset direction at the current time, for example, respectively calculating 、 、 ; If it is determined that the current water jet molecule is at the edge of the water jet in the jet direction according to the comparison result of the position relationship between the current water jet molecule and the water jet in the jet direction and the edge judgment factor of the jet direction, or it is determined that the current water jet molecule is at the edge of the water jet in the vertical direction according to the comparison result of the position relationship between the current water jet molecule and the water jet in the vertical direction and the edge judgment factor of the vertical direction, or it is determined that the current water jet molecule is at the edge of the water jet in the offset direction according to the comparison result of the position relationship between the current water jet molecule and the water jet in the offset direction and the edge judgment factor of the offset direction, it is determined that the current water jet molecule is at the edge of the water jet. Specifically, if water jet molecule i has not broken at time t, it is determined whether water jet molecule i is at the edge position of the water jet at time t. The water jet molecule i at the edge position satisfies the following conditions:
[0052] Wherein, , , , , , The edge judgment factors in the jet direction, the vertical direction and the offset direction respectively.
[0053] Step 6, according to the breaking of water jet molecule i at time t and the wind speed and direction, the speed of water jet molecule i is randomly corrected.
[0054] In the present application, the corresponding water jet molecule is randomly broken, and the speed of the corresponding water jet molecule is corrected according to the breaking result, which includes: The corresponding water jet molecule is broken with a preset probability. Specifically, if water jet molecule i is at the edge position of the water jet, it is randomly broken: Wherein, p(i) represents the breaking probability. If the current water jet molecule breaks, the first speed influence factor is used to correct the environmental wind speed under the current environmental wind direction, and the speed of the current water jet molecule at the current time is superimposed with the corrected environmental wind speed to correct the speed of the current water jet molecule at the current time. Specifically, the speed of the water jet molecule is corrected by the following formula: Wherein, , , Wherein, The first speed influence factor is represented by The lower limit of the first speed influence factor is represented by The upper limit of the first speed influence factor is represented by and The values of the and can be determined in advance by experiments. If the current water jet molecule does not break, the environmental wind speed in the current environmental wind direction is corrected by the second speed influence factor, and the speed of the current water jet molecule at the current time is superimposed with the corrected environmental wind speed, so as to correct the speed of the current water jet molecule at the current time, wherein the first speed influence factor is subject to a uniform distribution on the first interval, the second speed influence factor is subject to a uniform distribution on the second interval, and the range of the first interval is greater than the range of the second interval; specifically, the speed of the water jet molecule is corrected by the following formula: wherein, , , wherein, represents the second speed influence factor, represents the lower limit value range of the second speed influence factor, represents the upper limit value range of the second speed influence factor, wherein, and The values of the and can be determined in advance by experiments.
[0055] Step 7, calculating the (x, y, z) coordinates of the water jet molecule i at time t according to the speed of the water jet molecule i.
[0056] In this application, the positions of the water jet molecules are determined according to the speeds of the water jet molecules at different times, including: determining the initial positions of the water jet molecules in the fire water cannon nozzle; determining the speed change trend of the current water jet molecule in the jet direction, the vertical direction and the offset direction based on the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the last time, and the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time; determining the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time according to the speed change trend of the current water jet molecule in the jet direction, the vertical direction and the offset direction, and the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the last time. Specifically, the coordinates of the water jet molecule i at time t are calculated by the following formula:
[0057] Step 8, if all water jet molecules are updated at time t, it is judged whether all water jet molecules have landed or reached the target height, if yes, the process is ended, and the predicted landing point is obtained, if not, i=i+1, t=t+1, and the step 1 is returned; if all water jet molecules are not updated at time t, i=i+1, and the step 3 is returned.
[0058] Determine the pitch angle of the fire water cannon nozzle is the key to the water jet can accurately hit the target fire point, in the embodiment of the application, the pitch angle of the water jet can be determined by the following steps: Initialize the fire water cannon pitch angle zero to the horizontal direction, the horizontal angle zero to the same direction as the end arm; According to the distance between the target fire point and the controller of the fire water cannon and the distance between the fire water cannon and the controller, the target range is obtained; wherein, as Figure 7 The target range is the difference between the distance between the target fire point and the controller of the fire water cannon and the distance between the fire water cannon and the controller, that is, x=x target -L0, wherein, x represents the target range, x target The distance between the target fire point and the controller of the fire water cannon, L0 represents the distance between the fire water cannon and the controller; Using the prediction method of the application, a plurality of pitch angles corresponding to the predicted trajectory are obtained according to the working height of the fire water cannon, and a plurality of predicted ranges are obtained based on the obtained predicted trajectory; From the plurality of predicted ranges, the predicted trajectory satisfying the target range is determined as the initial target predicted trajectory, for example, the predicted trajectory with the target range error within the preset range is the initial target predicted trajectory, and the optimal initial target predicted trajectory is determined from each initial target predicted trajectory as the final target predicted trajectory, for example, the initial target predicted trajectory with the smallest pitch angle in all initial target predicted trajectories is the final target predicted trajectory, and the pitch angle of the final target predicted trajectory is used as the pitch angle of the fire water cannon. It can be understood that the horizontal angle of the fire water cannon also needs to be determined in the control process, wherein the horizontal angle of the fire water cannon can be determined according to the position of the target fire point, for example, the horizontal angle of the fire water cannon is determined according to the offset of the predicted landing point of the final target predicted trajectory in the x direction. After obtaining the pitch angle and the horizontal angle of the fire water cannon, the controller controls the fire water cannon to spray water jet at the pitch angle and the horizontal angle, and completes a round of fire cannon spraying fire extinguishing.
[0059] In summary, based on the consideration of the characteristics of water jet such as breakage and atomization, the water jet is molecularized, and the motion of multiple particles is used to represent the motion of the water jet, which is different from the prior art which only uses the motion of one particle to represent the motion of the water jet. The motion of multiple particles can make the water jet molecules present consistent rules in the general trend and be different in small details, and can greatly represent the three-dimensional motion effect of the water jet, so as to simulate the motion trajectories of each part of the water jet after breakage. Meanwhile, based on the characteristics of water jet breakage and atomization, the motion of the water jet is randomly broken and the rate is randomly changed to make the motion equations of the water jet molecules different in small details. The random disturbance is used to represent the inconsistent conditions of the motion direction and speed of each part of the water jet after breakage and atomization, so that each part of the water jet presents consistent rules in the general trend and is different in small details, thereby representing the result of a region of the water jet, and also better representing the breakage motion process of the water jet. Compared with the model of the prior art which only considers air resistance and wind effect, the hit target ratio of the water jet is effectively improved, and the time consumption of the calculation process is effectively reduced.
[0060] As shown in Figure 8 The second aspect of the present application provides a fire monitor water jet landing point prediction device based on random disturbance, which comprises: A data processing module is configured to determine the initial speed of the water jet of the fire water cannon nozzle under the current environmental wind speed and wind direction, and determine the initial direction of the water jet of the fire water cannon nozzle; A prediction module is configured to take the water jet molecule as the basic unit of the water jet, determine the speed of each water jet molecule in the water jet at different times under the initial speed of the water jet and the initial direction of the water jet, and determine the position of each water jet molecule according to the speed of each water jet molecule at different times, and in the case that the current position of each water jet molecule is at the edge of the water jet, the corresponding water jet molecule is randomly broken, the speed and position of the corresponding water jet molecule are corrected according to the breaking result, until all water jet molecules reach the target position, and the predicted landing point of the water jet is obtained.
[0061] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above-described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application.
[0062] In a third aspect, the present application provides a fire monitor controller, comprising: The fire monitor jet drop point prediction device based on random disturbance as described above.
[0063] In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the fire monitor jet drop point prediction method based on random disturbance as described above.
[0064] In a fifth aspect, the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the fire monitor jet drop point prediction method based on random disturbance as described above when executing the computer program.
[0065] As shown in Figure 9 Fig. 1 is a schematic diagram of a terminal device provided by an embodiment of the present application. As shown in Figure 9 The terminal device 10 of this embodiment comprises a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. The processor 100 implements the steps in the above method embodiments when executing the computer program 102. Alternatively, the processor 100 implements the functions of each module / unit in the above device embodiments when executing the computer program 102.
[0066] For example, the computer program 102 can be divided into one or more modules / units, which are stored in the memory 101 and executed by the processor 100 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 102 in the terminal device 10.
[0067] The terminal device 10 can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The terminal device 10 can include, but is not limited to, a processor 100, a memory 101. Those skilled in the art can understand that Figure 9 The terminal device 10 is only an example and does not constitute a limitation on the terminal device 10, and can include more or fewer components than shown, or combine certain components, or different components, for example, the terminal device can also include an input / output device, a network access device, a bus, and the like.
[0068] The processor 100 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.
[0069] The memory 101 can be an internal storage unit of the terminal device 10, such as a hard disk or a memory of the terminal device 10. The memory 101 can also be an external storage device of the terminal device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. Further, the memory 101 can include both the internal storage unit and the external storage device of the terminal device 10. The memory 101 is used to store computer programs and other programs and data required by the terminal device 10. The memory 101 can also be used to temporarily store data that has been output or will be output.
[0070] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.
[0071] It should also be noted that the terms "comprising", "comprises" or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.
[0072] The above embodiments are only used to illustrate the present application, but not to limit it. Instead of the above, various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall into the scope of the claims of the application.
Claims
1. A random perturbation based method for predicting the impact point of a fire monitor jet, characterized in that, The method comprises the following steps: determining the initial speed of the water jet of the fire monitor nozzle under the current environmental wind speed and wind direction, and determining the initial orientation of the water jet of the fire monitor nozzle; taking the water jet molecule as the basic unit of the water jet, determining the speed of each water jet molecule in the water jet at different time instants under the initial speed of the water jet of the fire monitor nozzle and the initial orientation of the water jet, determining the position of each water jet molecule according to the speed of each water jet molecule at different time instants, and in the case that the current position of each water jet molecule is located at the edge of the water jet, making the corresponding water jet molecule randomly break, correcting the speed and position of the corresponding water jet molecule according to the breaking result, until all water jet molecules reach the target position, and obtaining the predicted landing point of the water jet.
2. The random-perturbation-based fire monitor jet fall point prediction method according to claim 1, characterized in that, The method for determining the initial speed of the water jet of the fire monitor nozzle under the influence of the current environmental wind speed and wind direction comprises the following steps: obtaining the attribute parameters of the fire monitor, wherein the attribute parameters comprise the inner diameter of the pipe inlet, the inner diameter of the pipe outlet, the thickness of the water jet, the rated flow, the working pressure and the rated pressure of the fire monitor nozzle; determining the speed of the water jet at the outlet of the fire monitor nozzle according to the attribute parameters; under the current wind direction and the initial orientation of the water jet, correcting the speed of the water jet at the outlet of the fire monitor nozzle based on the influence of the current environmental wind speed on the speed of the water jet in the jet direction, the vertical direction and the offset direction, to obtain the initial speed of the water jet of the fire monitor nozzle.
3. The random-perturbation-based fire monitor jet fall point prediction method according to claim 2, characterized in that, The method for correcting the speed of the water jet at the outlet of the fire monitor nozzle under the current wind direction and the initial orientation of the water jet based on the influence of the current environmental wind speed on the speed of the water jet in the jet direction, the vertical direction and the offset direction comprises the following steps: determining the velocity components of the current environmental wind speed in the jet direction, the vertical direction and the offset direction according to the current wind direction and / or the initial orientation of the water jet; superimposing the velocity components in the jet direction, the vertical direction and the offset direction on the speed of the water jet at the outlet of the fire monitor nozzle to correct the speed of the water jet at the outlet of the fire monitor nozzle.
4. The random-perturbation-based fire monitor jet fall point prediction method of claim 1, wherein, The method for determining the speed of each water jet molecule in the water jet at different time instants comprises the following steps: taking the initial speed of the water jet of the fire monitor nozzle as the initial speed of each water jet molecule; determining the acceleration of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time instant based on the influence of the corresponding environmental wind speed and wind direction of the current water jet molecule at the previous time instant on the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction; determining the speed of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time instant according to the acceleration of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current time instant and the speed of the current water jet molecule at the previous time instant.
5. The random-perturbation-based fire monitor jet fall point prediction method according to claim 4, characterized in that, The method for determining the position of each water jet molecule comprises the following steps: determining the initial position of each water jet molecule in the fire monitor nozzle; Determine the velocity variation trend of the current water jet molecule in the jet direction, the vertical direction and the offset direction based on the velocity of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the last moment and the velocity of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment. Determine the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment based on the velocity variation trend of the current water jet molecule in the jet direction, the vertical direction and the offset direction and the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the last moment.
6. The random-perturbation-based fire monitor jet fall point prediction method of claim 1, wherein, The position of the water jet molecule includes the position of the water jet molecule in the jet direction, the vertical direction and the offset direction; determining that the current position of each water jet molecule is at the edge of the water jet includes: Determine the boundary position of the water jet in the jet direction, the vertical direction and the offset direction at the current moment; Obtain the edge judgment factor of the water jet in the jet direction, the vertical direction and the offset direction; Determine the position relationship between the position of the current water jet molecule in the jet direction, the vertical direction and the offset direction at the current moment and the boundary position of the water jet in the jet direction, the vertical direction and the offset direction at the current moment; If it is determined that the current water jet molecule is at the edge of the water jet in the jet direction based on the comparison result of the position relationship between the current water jet molecule and the water jet in the jet direction and the edge judgment factor of the jet direction, or it is determined that the current water jet molecule is at the edge of the water jet in the vertical direction based on the comparison result of the position relationship between the current water jet molecule and the water jet in the vertical direction and the edge judgment factor of the vertical direction, or it is determined that the current water jet molecule is at the edge of the water jet in the offset direction based on the comparison result of the position relationship between the current water jet molecule and the water jet in the offset direction and the edge judgment factor of the offset direction, it is determined that the current water jet molecule is at the edge of the water jet.
7. The random-perturbation-based fire monitor jet fall point prediction method of claim 1, wherein, Make the corresponding water jet molecule break randomly, and correct the velocity of the corresponding water jet molecule based on the breaking result, including: Make the corresponding water jet molecule break with a preset probability; If the current water jet molecule breaks, correct the environmental wind speed in the current environmental wind direction with a first velocity influence factor, superimpose the corrected environmental wind speed on the velocity of the current water jet molecule at the current moment to correct the velocity of the current water jet molecule at the current moment; If the current water jet molecule does not break, correct the environmental wind speed in the current environmental wind direction with a second velocity influence factor, superimpose the corrected environmental wind speed on the velocity of the current water jet molecule at the current moment to correct the velocity of the current water jet molecule at the current moment; Wherein, the first velocity influence factor is subject to uniform distribution on the first interval, and the second velocity influence factor is subject to uniform distribution on the second interval; The range of the first interval is greater than the range of the second interval.
8. A random perturbation based fire monitor jet fall point prediction device, characterized in that, Including: The data processing module is configured to determine the initial velocity of the water jet of the fire water cannon nozzle under the current environmental wind speed and wind direction, and determine the initial position of the water jet of the fire water cannon nozzle; The prediction module is configured to take water jet molecules as basic units of the water jet, determine velocities of each water jet molecule in the water jet at different time instants under the initial velocity and the initial orientation of the water jet, determine positions of each water jet molecule according to the velocities of each water jet molecule at different time instants, and in the case that a current position of each water jet molecule is at an edge of the water jet, make the corresponding water jet molecule randomly break, correct the velocity and the position of the corresponding water jet molecule according to a breaking result until all water jet molecules reach target positions, and obtain a predicted landing point of the water jet.
9. A fire monitor controller, characterized by, The method comprises: The fire monitor jet landing point prediction device based on random disturbance according to claim 8.
10. A computer-readable storage medium, characterized in that, The computer program stored in the computer readable medium is configured to make the processor execute the fire monitor jet landing point prediction method based on random disturbance according to any one of claims 1-7 when the processor executes the computer program.
11. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the fire monitor jet landing point prediction method based on random disturbance according to any one of claims 1-7.