Water cannon control method and device and water cannon

Abstract

The invention discloses a water cannon control method which is applied to a water cannon control device, the water cannon control device comprises an ultraviolet detector and a plurality of first infrared detectors, and the method comprises the steps that after suspected flames are detected through the ultraviolet detector, the suspected flames are detected through the first infrared detectors; respectively detecting signal values of infrared signals in the corresponding infrared coverage areas through the plurality of first infrared detectors; judging whether the infrared signal belongs to flame or not based on the fluctuation of the signal value of each infrared signal, and storing the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area; calculating a horizontal rapid rotation angle and a horizontal rapid rotation direction based on the left and right rotation angles corresponding to each infrared signal belonging to the flame; and according to the horizontal rapid rotation angle and the horizontal rapid rotation direction, the gun barrel is moved to a horizontal slow-gear scanning starting position.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to a water cannon control method, device and water cannon. Background Technology

[0002] Water cannons are frequently used in fire scenarios, and usually require manual aiming of the cannon barrel at the flames.

[0003] If the water cannon performs a 360-degree scan using an ultraviolet detector on its barrel, and detects a high-temperature source that appears to be a flame, it will determine that a flame has been detected and stop rotating the barrel. The speed of rotating while detecting is very slow. Moreover, if the flame is located at the end of the barrel, close to the zero point of the barrel (around 360 degrees), the entire scanning process requires rotating the barrel slowly from 0 degrees to more than 350 degrees to detect the flame, which takes a long time.

[0004] If the rotation speed of the cannon barrel is simply increased, not only will the detection speed be unable to keep up, but due to inertia, when the motor stops, the position where the rapidly rotating cannon barrel finally stops may not be able to be aligned with the flame.

[0005] If a flame is detected directly using an ultraviolet detector, other high-temperature sources that are suspected to be flames may be mistakenly identified as flames, which is not very accurate.

[0006] How to quickly and accurately aim the gun barrel at the flame has become an urgent technical problem to be solved. Summary of the Invention

[0007] The purpose of this application is to provide a water cannon control method, device and water cannon to solve the problem that the time and accuracy of aiming the cannon barrel at the flame cannot be achieved at the same time.

[0008] In a first aspect, this application provides a water cannon control method applied to a water cannon control device, the water cannon control device including an ultraviolet detector and a plurality of first infrared detectors, the method comprising: After a suspected flame is detected by the ultraviolet detector, the signal values ​​of the infrared signals in the corresponding infrared coverage areas are detected by the multiple first infrared detectors respectively. Based on the fluctuation of the signal value of each infrared signal, determine whether the infrared signal belongs to a flame, and store the signal value of the infrared signal that belongs to a flame and the area number of the corresponding infrared coverage area; Based on the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, determine the left and right turning angles corresponding to each infrared signal belonging to the flame. Based on the left and right rotation angles corresponding to each infrared signal belonging to the flame, determine the horizontal rapid rotation angle and the horizontal rapid rotation direction; According to the aforementioned horizontal rapid rotation angle and the aforementioned horizontal rapid rotation direction, the gun barrel is moved to the horizontal slow scan start position.

[0009] Optionally, the plurality of first infrared detectors are evenly distributed below the cannon barrel and raised 10 to 30 degrees. The water cannon control device also includes a second infrared detector, which is located inside the cannon barrel aiming component of the water cannon. The second infrared detector performs a slow scan through the crosshairs of the cannon barrel aiming component to locate the position of the infrared signal belonging to the flame.

[0010] Optionally, the infrared coverage area corresponding to each first infrared detector may overlap with the infrared coverage areas corresponding to other adjacent first infrared detectors, and the signal value of the infrared signal is greater the closer it is to the first infrared detector. The storage includes the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, including: For infrared signals located in overlapping areas and belonging to flames, the area number corresponding to the first infrared detector with the larger detected signal value is used as the area number to which the infrared signal belongs, and the signal value and area number of the infrared signal are stored accordingly.

[0011] Optionally, the signal values ​​of infrared signals in corresponding infrared coverage areas are detected by the plurality of first infrared detectors, including: Acquire the light intensity of the infrared signal in each infrared coverage area. The absolute difference between the light intensity of the infrared signal and the baseline light intensity of the corresponding infrared coverage area is taken as the signal value of the infrared signal.

[0012] Optionally, the water cannon control device further includes a horizontal motor, and the cannon barrel is located in a plane that is 180 degrees to the horizontal motor before the ultraviolet detector is activated; Moving the gun barrel to the starting position of the horizontal slow scan according to the horizontal rapid rotation angle and the horizontal rapid rotation direction includes: Rotate the gun barrel to vertically downward and set the speed of the horizontal motor to the fast setting; Move the horizontal rapid rotation angle according to the horizontal rapid rotation direction to the horizontal slow scan start position.

[0013] Optionally, after moving the gun barrel to the horizontal slow scan start position, the method further includes: Based on the difference between the current barrel angle and the left and right rotation angles, a slow-speed horizontal scan direction is selected. Starting from the horizontal slow-speed scan start position, a slow-speed scan is performed along the horizontal slow-speed scan direction until the horizontal angle of the flame is located.

[0014] Optionally, after locating the horizontal angle of the flame, if there is only one infrared signal belonging to the flame, or if the number of infrared signals belonging to the flame is two and the infrared coverage areas of the two infrared signals are not adjacent; Based on the attribution relationship between the location of the flame and the overlapping area of ​​the at least two infrared coverage areas, the gun barrel is quickly moved to a vertical lifting angle.

[0015] Optionally, after locating the horizontal angle of the infrared signals corresponding to multiple flames, if there are two or more infrared signals corresponding to the flames, and the infrared coverage areas of the two infrared signals with the largest signal values ​​are adjacent, then the barrel is not moved vertically in fast mode, but the vertical scanning detection of the flames is performed directly in slow mode until the vertical angle of the flames is located.

[0016] Secondly, embodiments of this application provide a water cannon control device, including: an ultraviolet detector, a plurality of first infrared detectors, and a controller. The ultraviolet detector is used to detect suspected flames and sends an alarm message indicating the presence of a suspected flame to the controller; The plurality of first infrared detectors are used to detect infrared signals in the corresponding infrared coverage area and send the infrared signals to the controller; The controller is used to: after determining that the ultraviolet detector has detected a suspected flame, acquire the signal values ​​of the infrared signals detected by the plurality of first infrared detectors respectively; Based on the fluctuation of the signal value of each infrared signal, determine whether the infrared signal belongs to a flame, and store the signal value of the infrared signal that belongs to a flame and the area number of the corresponding infrared coverage area; Based on the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, determine the left and right turning angles corresponding to each infrared signal belonging to the flame. Based on the left and right rotation angles corresponding to each infrared signal belonging to the flame, determine the horizontal rapid rotation angle and the horizontal rapid rotation direction; According to the aforementioned horizontal rapid rotation angle and the aforementioned horizontal rapid rotation direction, the gun barrel is moved to the horizontal slow scan start position.

[0017] Thirdly, embodiments of this application provide a water cannon, including a cannon barrel and the aforementioned water cannon control device.

[0018] In this embodiment, since the ultraviolet detector provides full-range coverage for direct detection without the need to rotate it, the detection and alarm speed for suspected flames is faster. By using multiple first infrared detectors to simultaneously detect flames via infrared signals, the flame location can be determined more quickly. Furthermore, the determination of whether a flame is present is based on signal value fluctuations, thus preventing other high-temperature sources suspected of being flames from being mistaken for flames. Based on the left and right rotation angles of each infrared signal belonging to a flame, the fastest horizontal rapid movement angle and horizontal rapid rotation direction are calculated to quickly move the barrel to the starting position of the slow-speed scan. This shortens the barrel movement time and decelerates it to the slow-speed scan in advance, preventing the barrel from stopping at a position not aligned with the flame due to inertia. This balances the requirements of speed and accuracy. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating the water cannon control method in an embodiment of this application. Figure 2 This is a schematic diagram of the bottom view of the water cannon in the embodiment of this application; Figure 3 This is a schematic diagram of the first stage of the water cannon control method in the embodiments of this application; Figure 4 This is a schematic diagram of the second stage of the water cannon control method in the embodiments of this application; Figure 5 This is a schematic diagram of the vertical movement angle of the gun barrel in the embodiment of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in specific embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0021] This application provides a water cannon. The water cannon includes a cannon barrel and a water cannon control device, which includes an ultraviolet detector and a plurality of first infrared detectors.

[0022] Optionally, multiple first infrared detectors are evenly distributed below the gun barrel and raised 10 to 30 degrees.

[0023] See Figure 1 As shown, the water cannon control device can control the cannon barrel using the following water cannon control method: S101: After detecting a suspected flame through the full-range coverage of the ultraviolet detector, the signal value of the infrared signal in the corresponding infrared coverage area is detected by the multiple first infrared detectors respectively. S102: Determine whether an infrared signal belongs to a flame based on the signal value fluctuation of each infrared signal, and store the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area; S103: Based on the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, determine the left and right turning angles corresponding to each infrared signal belonging to the flame, and determine the horizontal rapid rotation angle and the horizontal rapid rotation direction based on the left and right turning angles corresponding to each infrared signal belonging to the flame. S104: Move the gun barrel to the starting position of the horizontal slow scan according to the horizontal rapid rotation angle and the horizontal rapid rotation direction.

[0024] In S102, the infrared coverage area corresponding to each first infrared detector overlaps with the infrared coverage area corresponding to other adjacent first infrared detectors, and the signal value of the infrared signal is greater the closer it is to the first infrared detector. The storage includes the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, including: For infrared signals located in overlapping areas and belonging to flames, the area number corresponding to the first infrared detector with the larger detected signal value is used as the area number to which the infrared signal belongs, and the signal value and area number of the infrared signal are stored accordingly.

[0025] The signal value of each infrared signal can be obtained, but is not limited to, through the following methods: Acquire the light intensity of the infrared signal in each infrared coverage area. The absolute difference between the light intensity of the infrared signal and the baseline light intensity of the corresponding infrared coverage area is taken as the signal value of the infrared signal.

[0026] The base light intensity of the infrared coverage area corresponding to each first infrared detector can be the average value of the infrared signal detected when there is no target object in that area.

[0027] The mean of this signal can be obtained based on the following formula:

[0028] in, Indicates the signal mean. Let represent the light intensity of the i-th infrared signal, and n represent the total number of infrared signals detected by the first infrared detector.

[0029] Optionally, the water cannon control device may also include a second infrared detector located inside the cannon barrel aiming component of the water cannon. The second infrared detector performs a slow scan through the crosshairs of the cannon barrel aiming component to locate the position of the infrared signal belonging to the flame.

[0030] Optionally, the water cannon control device also includes a horizontal motor. Before the ultraviolet detector is activated, the cannon barrel is located in a plane that is 180 degrees to the horizontal motor. In this way, after determining the horizontal rapid rotation angle and the horizontal rapid rotation direction, the cannon barrel is rotated to vertical downward, and the motor speed of the horizontal motor is set to the fast gear. According to the horizontal rapid rotation direction and the horizontal rapid rotation angle, the barrel is moved to the horizontal slow scan starting position. Then, according to the difference between the current barrel angle and the left and right rotation angles, the slow scan horizontal direction is selected. From the horizontal slow scan starting position, the slow scan is performed along the slow scan horizontal direction until the horizontal angle of the flame is located.

[0031] After locating the horizontal angle of the flame, and considering the relationship between the location of the flame and the overlapping area of ​​the at least two infrared coverage areas, it is determined whether to quickly move the gun barrel to the overlapping area.

[0032] After locating the horizontal angle of the infrared signals corresponding to multiple flames, if the infrared signals corresponding to the multiple flames belong to the same infrared coverage area, then the barrel is not moved vertically at high speed, but the vertical scanning detection of the flames is performed directly at low speed.

[0033] If there is only one infrared signal belonging to the flame, or if two infrared signals belonging to the flame are located in different infrared coverage areas: Based on the attribution relationship between the location of the flame and the overlapping area of ​​the at least two infrared coverage areas, the gun barrel is quickly moved to a vertical lifting angle.

[0034] For example, by adjusting the vertical motor to the fast setting, the barrel can be quickly and vertically raised from a downward position until it is raised to an angle D.

[0035] In order to more quickly aim the water cannon barrel at the flame, this application provides a water cannon with four first infrared detectors, one ultraviolet detector and two second infrared detectors installed below the water cannon barrel, each with a 110-degree conical field of view.

[0036] The detection of a suspected flame by the ultraviolet detector can be defined as follows: when the frequency of the detected ultraviolet pulse is 5 to 10 pulse signals per second, it can be determined whether a suspected flame exists.

[0037] For example, a first infrared detector acquires an infrared signal in a specified wavelength band, which may include at least one of 2.7nm, 3.8nm, 4.3nm, and 5.0nm. For instance, the specified wavelength band may include a combination of 4.3nm and 3.8nm, or a combination of 4.3nm or 2.7nm; no limitation is made here. The fluctuation of the sampled infrared signal value within a time window is used to determine whether the infrared signal belongs to a flame. Optionally, the fluctuation characteristics of the signal value can be extracted by the frequency of the signal value fluctuation over time and the signal intensity distribution in a specified frequency domain, and then input into a flame detection model to detect whether the infrared signal belongs to a flame.

[0038] For example, the infrared signal value is input into a time-domain feature extraction model to extract time-domain features within a time window. Then, a Fourier transform is performed on these time-domain features to convert them to the frequency domain. From the converted initial frequency-domain features, features of a specified frequency domain are selected and input into a frequency feature extraction model to obtain the signal strength in that specified frequency domain. The time-domain features and signal strength are then concatenated and input into a flame detection model to determine whether the infrared signal belongs to a flame.

[0039] For infrared signals located in overlapping regions, the region number corresponding to the first infrared detector with the larger detected signal value is taken as the region number to which the infrared signal belongs.

[0040] Optionally, detecting the signal values ​​of infrared signals in the infrared coverage area using the plurality of first infrared detectors may include: The light intensity of infrared signals from multiple first infrared detectors in the 4.3nm band is acquired, and the absolute difference between the light intensity and the baseline light intensity of the corresponding infrared coverage area is taken as the signal value of the infrared signal. When the light fluctuation frequency of the infrared signal is in the range of 3 to 20Hz and has flame characteristics, the infrared signal is determined to belong to a flame.

[0041] The signal values ​​of infrared signals in the infrared coverage area are detected by the plurality of first infrared detectors respectively.

[0042] See Figure 2 As shown, when there are 4 first infrared detectors, the bottom view of the water cannon can include 4 infrared coverage areas, and there is an overlapping area between every two adjacent infrared coverage areas. The angle of the overlapping area can be a constant, determined by the installation position and angle of the first infrared detector of the water cannon.

[0043] Abase can be the baseline light intensity obtained when there are no suspected flames in the infrared coverage area 1.

[0044] Bbase can be the baseline light intensity obtained when there are no suspected flames in the infrared coverage area of ​​No. 2.

[0045] Cbase can be the baseline light intensity obtained when there are no suspected flames in the infrared coverage area of ​​No. 3.

[0046] Dbase can be the baseline light intensity obtained when there are no suspected flames in the infrared coverage area of ​​No. 4.

[0047] Optionally, in this embodiment, four first infrared detectors are evenly distributed below the gun barrel, and the emission angle of the first infrared detectors is raised by 10 to 30 degrees relative to the direction of the gun barrel. The infrared coverage areas of the four first infrared detectors overlap. This overlapping field of view characteristic of multiple detectors can help to quickly achieve the initial positioning of the flame area. After the gun barrel is quickly rotated to the starting position of the flame area, the rotation speed is set to a slow setting to accurately locate the specific position of the flame.

[0048] See Figure 2 As shown in the embodiment of this application, the purple circular part in the bottom view of the water cannon is the entire coverage area of ​​the ultraviolet detector, and the red circle is divided into 4 areas, each area corresponding to the infrared coverage area of ​​a first infrared detector. There is an overlapping area between every two adjacent infrared coverage areas.

[0049] In this embodiment of the application, the barrel angle adjustment process can be divided into four stages: In the first stage, the infrared coverage area of ​​the flame is quickly located: S301: Adjust the barrel angle to a position perpendicular to the motor at a 180-degree angle; S302: Detect a suspected flame using an ultraviolet detector. When a suspected flame is detected, issue a suspected flame alert and proceed to S303. S303: Calculate the signal value of the infrared signal detected by each first infrared detector; S304: Calculate the average light intensity of the infrared signal in each infrared coverage area; S305: Determine whether the difference between the current infrared signal value and the signal mean exceeds the fluctuation threshold; S306: If the current infrared signal is determined to be a flame, the signal value of the current infrared signal and its corresponding infrared coverage area are stored in the buffer.

[0050] In the second stage, based on the left or right turning angle corresponding to the infrared signal belonging to the flame, it is determined whether turning left or right is faster: S401: Obtain the number of infrared signals belonging to the flame, determine whether the number of infrared signals belonging to the flame is 1, or whether the number of infrared signals belonging to the flame is not less than 2 and meets the first preset condition. If so, proceed to step S403. The first preset condition is that the signal values ​​of the two infrared signals with the largest signal values ​​have a large difference and are located in different infrared coverage areas.

[0051] S402: If the number of infrared signals belonging to the flame is not less than 2 and the second preset condition is met, then proceed to step S404. The second preset condition is: the difference in signal value between the two infrared signals with the largest signal values ​​is small, and they belong to the same infrared coverage area; S403: Calculate the angles A0 to the left and B0 to the right that the gun barrel needs to turn to the position of the infrared signal s0; Under the conditions corresponding to S401: the left turn angle A0 and the right turn angle B0 can be calculated based on the overlap angle X of the overlapping area using the following formula: A0 = (s0left - X / 2) / 360 B0 = (s0right + X / 2) / 360 Where s0left represents the angle from the left boundary of the infrared coverage area where s0 is located to the position of s0, s0right represents the angle from the right boundary of the infrared coverage area where s0 is located to the position of s0, and X represents the overlap angle of the overlapping area.

[0052] S404: Select the left boundary of the infrared signal s0 with the larger signal value and the left turn angle of that infrared signal as the required left turn angle A0; select the right boundary of s0 and the right turn angle of that infrared signal as the required right turn angle B0.

[0053] S405: Calculate the left turn angle difference △A between the current barrel angle C and the zero position angle A0, and the right turn angle difference △B between the current barrel angle C and the right turn angle B0. Select the smaller absolute value of the left turn angle difference and the right turn angle difference as the horizontal rapid rotation angle.

[0054] If the horizontal rapid rotation angle is greater than 0, the direction of the horizontal rapid rotation is to the left; if the horizontal rapid rotation angle is less than 0, the direction of the horizontal rapid rotation is to the right.

[0055] In the third stage, a rapid horizontal rotation is performed to move the gun barrel to the starting position of the horizontal slow scan. The direction of the horizontal slow scan is determined based on the difference between the current angle (i.e., the angle of the gun barrel at the starting position of the horizontal slow scan) T0 and angle A0, as well as the difference between T0 and angle B0.

[0056] For example, when Abs(T0-A0) > 180 degrees (the absolute value of the difference between the current angle and A0), the flag 0 takes a negative value; when Abs(T0-A0) < 180 degrees, the flag 0 takes a value of one. When T0-A0<0, the flag bit Flag1 takes a negative value; when T0-A0≥0, the flag bit Flag1 takes a value of 1.

[0057] When Flag0×Flag1>0, the direction of the horizontal slow scan is to the right; When Flag0×Flag1≤0, the direction of the horizontal slow scan is to the left.

[0058] After determining the direction of the horizontal slow scan, start the horizontal slow scan to locate the horizontal angle of the flame.

[0059] Optionally, during horizontal slow scanning, infrared signals can be detected using a second infrared detector.

[0060] There are two second infrared detectors, which are located inside the aiming component of the water cannon. The second infrared detectors perform slow scanning through the crosshairs of the aiming component to locate the position of the infrared signal belonging to the flame. One second infrared detector performs a horizontal slow scan, and the other infrared detector performs a vertical slow scan.

[0061] Phase Four: See Figure 5 As shown, the water cannon control device also includes a vertical motor for controlling the vertical movement of the cannon barrel.

[0062] If there is only one infrared signal belonging to the flame, or if there are two infrared signals belonging to the flame and the infrared coverage areas of the two infrared signals are not adjacent, then the vertical motor speed is set to the fast setting to quickly raise the barrel to the vertical raising angle D. Then, the vertical scan detection of the flame is performed at the slow setting until the vertical angle of the flame is located. For example, the vertical raising angle D can be determined based on the coverage angle below the non-adjacent infrared sensor of the infrared sensor with the largest signal value. For example, if region 1 is the infrared coverage area of ​​infrared sensor 1 with the largest signal value, then infrared sensor 3 in region 3, which is not adjacent to region 1, is identified, and the vertical raising angle D is obtained by subtracting the installation angle from half the emission angle of the infrared signal of infrared sensor 3.

[0063] If there are two or more infrared signals corresponding to the flame, and the infrared coverage areas of the two infrared signals with the largest signal values ​​are adjacent, then the barrel will not be moved vertically at high speed. Instead, the vertical scanning detection of the flame will be performed directly at low speed until the vertical angle of the flame is located.

[0064] The vertical second infrared detector in the second infrared detector performs a slow-speed vertical scan detection through the crosshairs of the gun barrel aiming component to locate the position of the infrared signal belonging to the flame.

[0065] For example, slow-motion vertical scan detection can be implemented by at least one of the following methods: Method 1: Compare the signal values ​​of all infrared signals within a specified time window. When a peak value is detected, determine the location of the infrared signal corresponding to the peak value as the location of the flame.

[0066] Method 2: Detect the signal value fluctuation at the current location. If the signal value fluctuation is greater than the set threshold, record the location corresponding to the signal value as the location of the flame.

[0067] Method 3: If the signal value at the current location is greater than any previous signal, record the signal value at the current location. If no larger signal value appears at any location within the specified time period after moving to the current location, then determine that the location corresponding to the signal value is the location of the flame.

[0068] In this embodiment, since the ultraviolet detector provides full-range coverage for direct detection without rotating it, the detection and alarm speed for suspected flames is faster. By using multiple first infrared detectors to simultaneously detect flames via infrared signals, the flame location can be determined more quickly. Furthermore, the signal value fluctuations are used to determine whether a flame is present, thus preventing other high-temperature sources from being mistaken for flames. Based on the left and right rotation angles of each infrared signal belonging to a flame, the fastest horizontal rapid movement angle and horizontal rapid rotation direction are calculated to quickly move the barrel to the starting position of the slow-speed scan. This shortens the barrel's movement time and decelerates it to the slow-speed scan in advance, preventing the barrel from stopping at a position not aligned with the flame due to inertia.

[0069] This application provides a water cannon control device, including: an ultraviolet detector, multiple first infrared detectors, and a controller. The ultraviolet detector is used to detect suspected flames and sends an alarm message indicating the presence of a suspected flame to the controller; The plurality of first infrared detectors are used to detect infrared signals in the corresponding infrared coverage area and send the infrared signals to the controller; The controller is used to: after determining that the ultraviolet detector has detected a suspected flame, acquire the signal values ​​of the infrared signals detected by the plurality of first infrared detectors respectively; Based on the fluctuation of the signal value of each infrared signal, determine whether the infrared signal belongs to a flame, and store the signal value of the infrared signal that belongs to a flame and the area number of the corresponding infrared coverage area; Based on the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, determine the left and right turning angles corresponding to each infrared signal belonging to the flame. Based on the left and right rotation angles corresponding to each infrared signal belonging to the flame, determine the horizontal rapid rotation angle and the horizontal rapid rotation direction; According to the aforementioned horizontal rapid rotation angle and the aforementioned horizontal rapid rotation direction, the gun barrel is moved to the horizontal slow scan start position.

[0070] Optionally, the aforementioned plurality of first infrared detectors are evenly distributed below the cannon barrel and raised 10 to 30 degrees. The water cannon control device also includes a second infrared detector, which is located inside the cannon barrel aiming component of the water cannon. The second infrared detector performs a slow scan through the cross slit of the cannon barrel aiming component to locate the position of the infrared signal belonging to the flame.

[0071] Optionally, the infrared coverage area corresponding to each first infrared detector may overlap with the infrared coverage areas corresponding to other adjacent first infrared detectors, and the signal value of the infrared signal is greater the closer it is to the first infrared detector. The controller also includes a buffer for storing the signal value of the infrared signal belonging to the flame and the corresponding area number of the infrared coverage area, including: For infrared signals located in overlapping areas and belonging to flames, the area number corresponding to the first infrared detector with the larger detected signal value is used as the area number to which the infrared signal belongs, and the signal value and area number of the infrared signal are stored accordingly.

[0072] Optionally, the controller described above is also used for: Acquire the light intensity of the infrared signal in each infrared coverage area. The absolute difference between the light intensity of the infrared signal and the baseline light intensity of the corresponding infrared coverage area is taken as the signal value of the infrared signal.

[0073] Optionally, the water cannon control device further includes a horizontal motor, and the cannon barrel is located in a plane that is 180 degrees to the horizontal motor before the ultraviolet detector is activated; The controller described above is also used for: Rotate the gun barrel to vertically downward and set the speed of the horizontal motor to the fast setting; Move the horizontal rapid rotation angle according to the horizontal rapid rotation direction to the horizontal slow scan start position.

[0074] Optionally, after moving the gun barrel to the horizontal slow scan start position, the controller is further configured to: Based on the difference between the current barrel angle and the left and right rotation angles, a slow-speed horizontal scan direction is selected. Starting from the horizontal slow-speed scan start position, a slow-speed scan is performed along the horizontal slow-speed scan direction until the horizontal angle of the flame is located.

[0075] Optionally, after locating the horizontal angle of the flame, if there is only one infrared signal belonging to the flame, or if the number of infrared signals belonging to the flame is two and the infrared coverage areas of the two infrared signals are not adjacent; Based on the attribution relationship between the location of the flame and the overlapping area of ​​the at least two infrared coverage areas, the gun barrel is quickly moved to a vertical lifting angle.

[0076] Optionally, after locating the horizontal angle of the infrared signals corresponding to multiple flames, if there are two or more infrared signals corresponding to the flames, and the infrared coverage areas of the two infrared signals with the largest signal values ​​are adjacent, then the barrel is not moved vertically in fast mode, but the vertical scanning detection of the flames is performed directly in slow mode until the vertical angle of the flames is located.

[0077] This application provides a water cannon, including a cannon barrel and the aforementioned water cannon control device.

[0078] In this embodiment, the controller can be a general-purpose processor, which is a processor that performs specific steps and / or operations by reading and executing a computer program stored in memory (e.g., a memory chip). The general-purpose processor may use data stored in the memory during the execution of these steps and / or operations. The general-purpose processor can be, for example, but not limited to, a central processing unit (CPU). Furthermore, the processor can also be a dedicated processor, which is a processor specifically designed to perform specific steps and / or operations. Dedicated processors can be, for example, but not limited to, ASICs and FPGAs. Additionally, the processor can be a combination of multiple processors, such as a multi-core processor.

[0079] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory (RAM), read-only memory (ROM), programmable read-only memory (ROM), electrically erasable programmable memory (EPR), or registers. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0080] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0081] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0082] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0083] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A water cannon control method, characterized in that, The method, applied to a water cannon control device, which includes an ultraviolet detector and multiple first infrared detectors, comprises: After a suspected flame is detected by the ultraviolet detector with full coverage, the signal values ​​of the infrared signals in the corresponding infrared coverage areas are detected by the multiple first infrared detectors respectively. Based on the fluctuation of the signal value of each infrared signal, determine whether the infrared signal belongs to a flame, and store the signal value of the infrared signal that belongs to a flame and the area number of the corresponding infrared coverage area; Based on the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, determine the left and right turning angles corresponding to each infrared signal belonging to the flame. Based on the left and right rotation angles corresponding to each infrared signal belonging to the flame, determine the horizontal rapid rotation angle and the horizontal rapid rotation direction; According to the aforementioned horizontal rapid rotation angle and the aforementioned horizontal rapid rotation direction, the gun barrel is moved to the horizontal slow scan start position.

2. The method as described in claim 1, characterized in that, The plurality of first infrared detectors are evenly distributed below the cannon barrel and raised 10 to 30 degrees. The water cannon control device also includes a second infrared detector, which is located inside the cannon barrel aiming component of the water cannon. The second infrared detector performs a slow scan through the crosshairs of the cannon barrel aiming component to locate the position of the infrared signal belonging to the flame.

3. The method as described in claim 1, characterized in that, The infrared coverage area corresponding to each first infrared detector overlaps with the infrared coverage areas corresponding to other adjacent first infrared detectors. The closer to the first infrared detector, the greater the signal value of the infrared signal. The storage includes the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, including: For infrared signals located in overlapping areas and belonging to flames, the area number corresponding to the first infrared detector with the larger detected signal value is used as the area number to which the infrared signal belongs, and the signal value and area number of the infrared signal are stored accordingly.

4. The method as described in claim 1, characterized in that, The signal values ​​of infrared signals in the corresponding infrared coverage areas are detected by the plurality of first infrared detectors, including: Acquire the light intensity of the infrared signal in each infrared coverage area. The absolute difference between the light intensity of the infrared signal and the baseline light intensity of the corresponding infrared coverage area is taken as the signal value of the infrared signal.

5. The method as described in claim 1, characterized in that, The water cannon control device also includes a horizontal motor, and the cannon barrel is located in a plane that is 180 degrees to the horizontal motor before the ultraviolet detector is activated; Moving the gun barrel to the starting position of the horizontal slow scan according to the horizontal rapid rotation angle and the horizontal rapid rotation direction includes: Rotate the gun barrel to vertically downward and set the speed of the horizontal motor to the fast setting; Move the horizontal rapid rotation angle according to the horizontal rapid rotation direction to the horizontal slow scan start position.

6. The method as described in claim 1, characterized in that, After moving the gun barrel to the horizontal slow scan start position, the method further includes: Based on the difference between the current barrel angle and the left and right rotation angles, a slow-speed horizontal scan direction is selected. Starting from the horizontal slow-speed scan start position, a slow-speed scan is performed along the horizontal slow-speed scan direction until the horizontal angle of the flame is located.

7. The method as described in claim 6, characterized in that, After locating the horizontal angle of the flame, if there is only one infrared signal belonging to the flame, or if the number of infrared signals belonging to the flame is 2 and the infrared coverage areas of the two infrared signals are not adjacent; Based on the attribution relationship between the location of the flame and the overlapping area of ​​the at least two infrared coverage areas, the gun barrel is quickly moved to a vertical lifting angle.

8. The method as described in claim 6, characterized in that, After locating the horizontal angle of the infrared signals corresponding to multiple flames, if there are two or more infrared signals corresponding to the flames, and the infrared coverage areas of the two infrared signals with the largest signal values ​​are adjacent, then the barrel will not be moved vertically in fast mode, but the vertical scanning detection of the flames will be performed directly in slow mode until the vertical angle of the flames is located.

9. A water cannon control device, characterized in that, include: Ultraviolet detector, multiple first infrared detectors and controller, The ultraviolet detector is used to detect suspected flames and sends an alarm message indicating the presence of a suspected flame to the controller; The plurality of first infrared detectors are used to detect infrared signals in the corresponding infrared coverage area and send the infrared signals to the controller; The controller is used to: after determining that the ultraviolet detector has detected a suspected flame, acquire the signal values ​​of the infrared signals detected by the plurality of first infrared detectors respectively; Based on the fluctuation of the signal value of each infrared signal, determine whether the infrared signal belongs to a flame, and store the signal value of the infrared signal that belongs to a flame and the area number of the corresponding infrared coverage area; Based on the signal value of the infrared signal belonging to the flame and the area number of the corresponding infrared coverage area, determine the left and right turning angles corresponding to each infrared signal belonging to the flame. Based on the left and right rotation angles corresponding to each infrared signal belonging to the flame, determine the horizontal rapid rotation angle and the horizontal rapid rotation direction; According to the aforementioned horizontal rapid rotation angle and the aforementioned horizontal rapid rotation direction, the gun barrel is moved to the horizontal slow scan start position.

10. A water cannon, characterized in that, It includes a cannon barrel and a water cannon control device as described in claim 9.

Images