Fire monitor jet drop point positioning method

Abstract

The application relates to the technical field of intelligent control of fire-fighting equipment, and discloses a fire monitor jet fall point positioning method. The method collects a fire monitor nozzle height, a jet elevation angle, a jet pressure, a jet flow rate and a posture parameter, calculates a jet velocity according to the jet pressure and the jet flow rate, and determines a jet predicted fall point in combination with a jet motion trajectory model; in a continuous jetting process, the jet velocity is dynamically corrected according to water supply pressure variation, and a jet angle is compensated according to a fire monitor posture change, so that a corrected fall point position is obtained; a fire monitor adjustment instruction is generated according to a deviation between the predicted fall point and a target area, so that closed-loop control of jet fall point prediction and jetting direction adjustment is realized. The application can position the jet fall point in real time by using the running parameters of the fire monitor itself without additionally setting a distance measuring device, and improves jet control precision and response efficiency in long-distance fire extinguishing operation.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology for fire-fighting equipment, and in particular to a method for locating the landing point of fire monitor jets. Background Technology

[0002] With the increasing prevalence of complex fire scenarios such as urban high-rise buildings, petrochemical facilities, large warehouses, and forest fires, fire trucks, firefighting robots, and fixed long-range fire monitors are widely used in long-distance firefighting operations. In actual firefighting, fire monitors typically need to deliver water or extinguishing agents to distant locations using high spray pressure. Due to the long spray distance, the jet trajectory is easily affected by factors such as spray height, spray angle, changes in water supply pressure, and changes in equipment attitude, making it difficult for firefighters to accurately determine the final landing point of the extinguishing jet.

[0003] In current fire monitor operations, operators typically rely on observing the jet coverage area or adjusting the monitor angle based on experience. This method is easily affected by smoke obstruction, nighttime conditions, building obstructions, and complex airflow within the fire scene, making it impossible to accurately determine the actual jet impact point. Furthermore, some methods utilize external ranging equipment for assistance, but this requires additional detection equipment, increasing system complexity and failing to meet the rapid deployment requirements of unmanned equipment such as firefighting robots. Therefore, how to utilize the fire monitor's own operating parameters to calculate the jet impact point in real time and dynamically correct the impact point position based on the actual spraying status has become a problem that needs to be solved in remote firefighting operations. Summary of the Invention

[0004] To address the problems mentioned in the background art, this application provides a method for locating the landing point of fire monitor jets.

[0005] This application provides a method for locating the impact point of a fire monitor jet, employing the following technical solution:

[0006] A method for locating the impact point of a fire monitor jet includes:

[0007] Step 1: Collect the current spraying status parameters of the fire monitor;

[0008] The jet velocity variation trend is obtained from the pressure change curve during continuous injection, and the initial velocity parameters of the jet are updated using a time series method.

[0009] Based on historical injection data and actual adjustment results, the nozzle correction coefficient and velocity attenuation coefficient are adaptively corrected.

[0010] The detection module installed on the fire monitor acquires operating parameters such as nozzle height, jet elevation angle, jet pressure, and jet flow rate, and calculates the current jet exit velocity based on the jet pressure and jet flow rate.

[0011] The control system calculates the current jet exit velocity based on the synchronously acquired jet pressure and jet flow rate.

[0012] The formula for calculating the jet exit velocity is as follows:

[0013]

[0014] In the formula:

[0015] The jet exit velocity;

[0016] This is the current injection pressure;

[0017] This represents the current jet flow rate;

[0018] To set a reference flow rate;

[0019] This is the overall nozzle correction factor;

[0020] This refers to the density of the extinguishing agent.

[0021] The above method enables the control system to obtain the initial velocity parameters of the jet based on the real-time working status of the fire monitor, avoiding the calculation deviation problem caused by using fixed range parameters in traditional operation methods.

[0022] Step 2: Calculate the jet trajectory based on the current spraying status of the fire monitor.

[0023] Using the position of the fire monitor nozzle as the starting point of the jet, based on the jet elevation angle The initial velocity of the jet is decomposed into horizontal and vertical components:

[0024]

[0025]

[0026] The control system calculates the trajectory of the jet based on the relationship between the horizontal distance traveled by the jet and the vertical height change.

[0027] The horizontal distance of the jet is:

[0028]

[0029] The vertical height of the jet changes as follows:

[0030]

[0031] In the formula:

[0032] The horizontal distance traveled by the jet;

[0033] This refers to the nozzle height;

[0034] It is the acceleration due to gravity;

[0035] The jet's motion time.

[0036] When the jet height H matches the height of the target area, the control system determines the horizontal distance of the jet at the corresponding time and uses this distance as the predicted landing point.

[0037] Step 3: Dynamically correct the predicted landing point based on the pressure changes during continuous injection;

[0038] During the continuous spraying of the fire monitor, the relationship between the water supply pressure and the spraying time is detected, and the real-time jet velocity change trend is obtained based on the pressure change.

[0039] The real-time jet velocity parameters are re-input into the jet trajectory model to recalculate the horizontal distance and vertical motion state of the jet in order to correct the drift of the predicted landing point distance caused by the drop in water supply pressure.

[0040] The real-time jet velocity is updated according to the velocity decay model:

[0041]

[0042] In the formula:

[0043] The current jet velocity;

[0044] This is the velocity attenuation coefficient.

[0045] The control system recalculates the horizontal distance of the jet based on the corrected jet velocity, thereby obtaining a landing position that is closer to the actual state.

[0046] Step four: Make compensation adjustments based on changes in the fire monitor's posture.

[0047] When the fire monitor's mounting foundation is tilted or the fire robot's movement causes changes in the monitor's posture, an attitude detection module can be used to obtain the actual tilt angle of the fire monitor. And correct the jet elevation angle:

[0048]

[0049] The control system recalculates the jet trajectory based on the corrected spray angle to reduce the impact of equipment attitude changes on the landing point positioning.

[0050] Step 5: Adjust the direction of the fire monitor spray based on the predicted impact point.

[0051] The control system compares the calculated jet impact point with the target area location to obtain the distance deviation.

[0052]

[0053] In the formula:

[0054] This refers to the deviation in landing distance.

[0055] Distance to target;

[0056] This represents the current predicted landing point distance.

[0057] When the predicted impact point does not cover the target area, the control system generates an adjustment command based on the distance deviation, controls the fire monitor's elevation or rotation mechanism to make the jet cover the target area again, thus achieving closed-loop control between jet prediction and fire monitor adjustment.

[0058] In summary, this application includes at least one of the following beneficial technical effects:

[0059] 1. This application calculates the trajectory of the jet by collecting parameters such as the nozzle height, spray angle, spray pressure and spray flow of the fire monitor itself. It can obtain the expected landing point of the fire extinguishing jet without relying on manual observation or additional ranging equipment, thus improving the accuracy of range judgment in long-distance fire extinguishing.

[0060] 2. This application considers the problem of reduced jet velocity caused by changes in water supply pressure during continuous spraying of fire monitors. By establishing a velocity attenuation correction model, the jet velocity is adjusted in real time, so that the calculated landing point position can be updated according to the actual spraying state, thereby improving the reliability of landing point prediction.

[0061] 3. This application can reduce spray deviation caused by factors such as uneven ground where fire trucks are parked and movement of fire robots by detecting changes in the posture of the fire monitor and compensating for the spray angle, thereby improving the automatic control capability of the fire monitor in complex environments.

[0062] 4. This application automatically adjusts the fire monitor's action based on the distance deviation between the predicted landing point and the target area, realizing closed-loop control of jet landing point prediction, deviation calculation, and spray adjustment, reducing the process of repeated manual adjustments and improving the efficiency of remote fire extinguishing operations. Attached Figure Description

[0063] Figure 1 This is a flowchart of the fire monitor jet landing point positioning method in this application;

[0064] Figure 2 This is a schematic diagram of the fire monitor detection module and the jet trajectory of this application;

[0065] Figure 3 This is a structural block diagram of the fire monitor jet landing point positioning system of this application;

[0066] Figure 4 This is a flowchart of the jet impact point positioning algorithm control in this application. Detailed Implementation

[0067] The embodiments of this application are described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0068] In the description of this specification, the references to "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0069] This embodiment discloses a method for locating the landing point of a fire monitor jet. This method is applied to fire extinguishing equipment such as fire monitors mounted on fire trucks, fire monitors mounted on fire robots, and fixed long-range fire monitors. By collecting the current operating status parameters of the fire monitor, the movement process of the fire extinguishing jet is dynamically calculated to obtain the expected landing point of the jet after leaving the nozzle, and the spray direction of the fire monitor is adjusted according to the prediction results.

[0070] The method for locating the impact point of the fire monitor jet in this embodiment includes the following steps:

[0071] like Figure 1 As shown, the fire monitor jet landing point positioning method in this embodiment includes parameter acquisition, jet trajectory calculation, dynamic correction, attitude compensation, and landing point output adjustment steps:

[0072] Step 1: Collect current spraying status parameters of the fire monitor.

[0073] A detection module is installed on the fire monitor body. The detection module includes a height detection unit, an angle detection unit, a pressure detection unit, a flow detection unit, and an attitude detection unit.

[0074] like Figure 2 As shown, the fire monitor is equipped with a detection module, which includes a pressure detection unit, a flow detection unit, a height detection unit, an attitude detection unit, and a wind speed detection unit. The data collected by each detection unit is sent to the control system.

[0075] The height detection unit is used to obtain the height value of the fire monitor nozzle relative to the ground. The angle detection unit is used to detect the current spray elevation angle α of the fire monitor; the pressure detection unit is installed at the fire monitor's water supply pipeline to collect the real-time pressure of the extinguishing medium entering the fire monitor. The flow detection unit is used to obtain the jet flow rate per unit time. .

[0076] After the fire monitor starts spraying, the control system receives the above detection data in real time and calculates the current jet outlet velocity based on the collected spray pressure and spray flow rate.

[0077] In specific calculations, a jet velocity calculation model is established based on the correspondence between injection pressure and jet kinetic energy:

[0078]

[0079] in:

[0080] Indicates the jet exit velocity;

[0081] Indicates the current injection pressure;

[0082] Indicates the density of the extinguishing agent;

[0083] This represents the overall nozzle correction factor.

[0084] Because the structure of the fire monitor nozzle, the jet flow rate, and the degree of nozzle wear affect the actual jet velocity, the control system adjusts the current jet flow rate accordingly. Correct the velocity calculation results:

[0085]

[0086] in:

[0087] This indicates the corrected initial velocity of the jet;

[0088] Indicates the current jet flow rate;

[0089] This indicates that a reference flow rate is set.

[0090] In this way, the control system can obtain the initial motion parameters of the jet under the current jet state without relying on manual observation of the far end position of the jet.

[0091] Step 2: Establish a jet trajectory model based on the current jetting state.

[0092] The control system uses the position of the fire monitor nozzle as the starting point of the jet movement and establishes a spatial coordinate system.

[0093] like Figure 2 As shown, after the jet leaves the fire monitor nozzle, it forms a parabolic trajectory under the action of gravity. The control system calculates and predicts the landing point distance based on the spray angle and initial velocity.

[0094] Wherein, the horizontal direction is taken as the X-axis direction, the vertical direction as the Y-axis direction, and the nozzle position coordinates are set as follows:

[0095]

[0096] Based on the current spray elevation angle α of the fire monitor, the initial velocity V0 of the jet is decomposed into a horizontal velocity component and a vertical velocity component:

[0097]

[0098]

[0099] The control system calculates the jet trajectory based on the motion state of the jet after it is subjected to gravity.

[0100] The horizontal distance of the jet is:

[0101]

[0102] The vertical height of the jet changes as follows:

[0103]

[0104] in:

[0105] Indicates the horizontal distance traveled by the jet;

[0106] Indicates the current position and height of the jet;

[0107] Indicates the jet's motion time;

[0108] It represents the acceleration due to gravity.

[0109] The control system inputs the target area height Ht into the calculation model and obtains it through iterative calculation:

[0110]

[0111] Time parameters corresponding to time .

[0112] Further calculate the horizontal distance of the jet based on this time parameter. This gives the predicted landing distance under the current jetting conditions.

[0113] Compared to traditional methods that estimate range based on experience, this embodiment can calculate the landing point in real time based on the actual installation height of the fire monitor, the spray angle, and the jet velocity, thus improving the accuracy of judgment when extinguishing fires at long distances.

[0114] Step 3: Dynamically correct the predicted landing point based on pressure changes during continuous injection.

[0115] Because the water supply system pressure may drop during the long-term continuous spraying of the fire monitor, causing the jet velocity to gradually decrease, this embodiment further dynamically corrects the jet velocity.

[0116] The pressure detection unit continuously collects pressure changes during the injection process and establishes a pressure decay model:

[0117]

[0118] in:

[0119] Indicates the current injection pressure;

[0120] Indicates the initial injection pressure;

[0121] This indicates the amount of pressure change during the injection process.

[0122] The control system recalculates the jet velocity based on the current pressure:

[0123]

[0124] Simultaneously, a velocity attenuation correction coefficient is established based on the continuous injection time:

[0125]

[0126] in:

[0127] This represents the velocity decay coefficient.

[0128] The control system recalculates the jet trajectory based on the corrected jet velocity and updates the predicted landing point.

[0129] This method avoids the problem of initial calculation results gradually deviating from the actual landing point due to changes in fire pump pressure.

[0130] Step 4: Perform spatial compensation based on changes in the fire monitor's attitude.

[0131] In practical applications, fire trucks may park on sloping ground, or fire robots may change their posture during movement, causing the actual spray angle of the fire monitor to deviate from the set angle.

[0132] Therefore, an attitude detection unit is installed on the fire monitor to detect the tilt angle β of the fire monitor mounting platform.

[0133] The control system corrects the actual injection angle based on the detected tilt angle:

[0134]

[0135] in:

[0136] This indicates the corrected actual spray angle;

[0137] Indicates the setting of the jet elevation angle;

[0138] This indicates the angle of change in the device's posture.

[0139] The control system recalculates the jet trajectory using the corrected spray angle, thereby reducing the impact of changes in the installation environment of fire-fighting equipment on the landing point positioning.

[0140] Step 5: Automatically adjust based on predicted landing point.

[0141] After calculating the predicted impact point distance, the control system compares the predicted impact point with the location of the target fire source area.

[0142] Let the target distance be D, then the current landing point deviation is:

[0143]

[0144] in:

[0145] Indicates the deviation in landing distance;

[0146] Indicates the distance to the target area;

[0147] This indicates the current predicted landing point distance.

[0148] when When the distance exceeds the set range, the control system determines that the current jet does not cover the target area and calculates the adjustment amount of the fire monitor based on the distance deviation.

[0149] Specifically, the elevation mechanism of the fire monitor is adjusted according to the change in distance:

[0150]

[0151] in:

[0152] Indicates the amount of adjustment for the injection angle;

[0153] This indicates the angle adjustment ratio coefficient.

[0154] The control system outputs control commands to activate the fire monitor's elevation or horizontal rotation mechanism, thereby changing the spray direction.

[0155] After the adjustment is completed, the detection module re-collects the jet state parameters and recalculates the jet landing point position, forming a closed-loop control process of "parameter acquisition, trajectory calculation, deviation judgment, and attitude adjustment".

[0156] Step Six: Historical Data Correction

[0157] To further improve the calculation accuracy between different fire monitor devices, the control system is also used to record the spray pressure, spray flow rate, spray angle, predicted landing distance, and actual adjustment results for each spraying process.

[0158] After multiple injection data are accumulated, the control system adjusts the speed attenuation coefficient λ and the nozzle comprehensive correction coefficient k based on historical data.

[0159] For example, when the actual jet landing point is consistently less than the predicted distance, the control system automatically reduces the velocity correction parameter; when the actual landing point is greater than the predicted distance, the corresponding correction parameter is increased.

[0160] Through the above adaptive correction method, the system can adapt to different types of fire monitors, different nozzle structures and different water supply environments, thereby improving the positioning accuracy during long-term operation.

[0161] To further illustrate the impact of the aforementioned dynamic correction, attitude compensation, and adaptive correction of historical parameters on the jet impact point positioning results, this embodiment provides a set of calculation verification data. During verification, water was used as the jetting medium, with a medium density of 1000 kg / m³, a nozzle height of 1.8 m, and a reference flow rate of 40 L / s.

[0162] Under different water supply pressure, jet elevation angle and attitude change conditions, the landing distance was calculated using the basic trajectory model without dynamic correction and the correction method described in this application, and the results were compared with the numerical verification benchmark.

[0163] Table 1. Calculation results of impact point positioning under different spraying conditions

[0164] Operating conditions Injection pressure / MPa Jet flow rate (L / s) Jet elevation angle / (°) Reference landing point / m Basic model / m This application method / m 1 0.90 42 30 94.6 97.0 95.8 2 0.84 40 30 89.2 95.6 90.7 3 0.78 38 30 84.0 94.3 85.8 4 0.90 42 32 100.8 104.5 102.2 5 0.90 42 28 87.5 91.8 88.9 6 0.82 39 33 93.1 101.2 95.0

[0165] As shown in Table 1, under operating conditions 1-6, the absolute errors of the landing points of the basic trajectory model are approximately 2.4m, 6.4m, 10.3m, 3.7m, 4.3m and 8.1m, respectively, with an average absolute error of approximately 5.87m. After adopting the pressure dynamic correction and injection state comprehensive compensation of this application, the absolute errors of the landing points are approximately 1.2m, 1.5m, 1.8m, 1.4m, 1.4m and 1.9m, respectively, with an average absolute error of approximately 1.53m.

[0166] Therefore, it can be seen that when the water supply pressure decreases and the jet state changes, this application can significantly reduce the distance drift caused by using fixed initial parameters for landing point estimation.

[0167] Further attitude disturbance verification was conducted, with a jet pressure of 0.86 MPa, a jet flow rate of 40 L / s, and a set jet elevation angle of 30°, introducing platform tilts of +2.0° and -2.0° respectively. Without attitude compensation, the calculated landing point deviations relative to the verification benchmark were approximately 3.6 m and 3.2 m, respectively. After obtaining the tilt angle using the attitude detection module and recalculating based on the corrected actual jet angle, the corresponding deviations were reduced to 1.1 m and 1.0 m, respectively.

[0168] For the verification conditions with crosswind speeds of 2.0 m / s and 3.0 m / s, after adding crosswind speed compensation, the calculation deviation of the lateral position of the jet can be reduced from about 2.5 m and 3.8 m to about 0.8 m and 1.1 m.

[0169] To verify the effect of historical data on parameter correction, under the same nozzle and water supply system conditions, continuously obtained jet records were used to update the nozzle comprehensive correction coefficient k and velocity attenuation coefficient λ. As the number of historical samples increased, the parameters gradually stabilized, as shown in the following exemplary results.

[0170] Table 2. Parameter correction results during the historical sample accumulation process.

[0171] Historical sample size / group Nozzle overall correction factor k Velocity attenuation coefficient λ Average landing error / m 0 0.920 0.0060 1.53 10 0.908 0.0066 1.34 20 0.901 0.0069 1.21 30 0.897 0.0071 1.15

[0172] As shown in Table 2, after the control system updated k and λ using historical jet data, the average landing point error was further reduced from approximately 1.53 m to approximately 1.15 m. This indicates that historical data correction can compensate for long-term deviations caused by individual nozzle differences, wear, and changes in the water supply environment. The above verification results demonstrate that this application does not determine the jet landing point solely based on a single fixed parabolic relationship, but rather uses real-time pressure, flow rate, attitude, and historical jet results together for landing point calculation and closed-loop adjustment, thereby improving the stability of landing point positioning under different operating conditions.

[0173] Furthermore, such as Figure 4 As shown, the control system in this embodiment is equipped with an algorithm processing module, which is used to comprehensively process the injection pressure, injection flow rate, nozzle height, attitude angle and wind speed parameters collected by the detection module.

[0174] The control system first calculates the initial velocity of the jet based on the collected parameters, then establishes a jet trajectory model based on the fire monitor's spray angle and nozzle height, and dynamically corrects it by combining the pressure changes during continuous spraying. After obtaining the predicted landing point position, it performs compensation calculations based on the positional deviation between the predicted landing point and the target area, and finally outputs the landing point positioning result, and generates adjustment control commands for the fire monitor's elevation and rotation mechanisms.

[0175] Through the above algorithm processing flow, the fire monitor can predict and automatically adjust the jet landing point according to the real-time operating status, thereby improving the positioning accuracy in the process of long-distance fire fighting.

[0176] In this embodiment, as Figure 3 As shown, the fire monitor jet impact point positioning system includes a detection module, a control system, an algorithm module, and an actuator. The detection module includes a pressure detection unit, a flow detection unit, an angle detection unit, an attitude detection unit, and a data acquisition unit.

[0177] The pressure detection unit is located near the inlet of the fire monitor's water supply pipeline to detect the water pressure entering the fire monitor in real time; the flow detection unit is located in the water supply pipeline to detect the current output flow rate of the extinguishing medium; the angle detection unit is installed at the rotating connection of the fire monitor to obtain the current pitch angle of the fire monitor; and the attitude detection unit is used to detect the change in tilt angle generated during the movement of the fire monitor's installation foundation or the fire robot.

[0178] The data collected by each detection unit is sent to the control system. The control system establishes a current spraying state model of the fire monitor based on the received real-time parameters, and uses this state model as the data basis for calculating the jet landing point.

[0179] The above settings enable fire monitors to obtain key parameters affecting jet distance without relying on external ranging equipment, thus improving their adaptability in complex fire environments.

[0180] This embodiment obtains parameters such as nozzle height, spray angle, spray pressure, and spray flow rate through the fire monitor's own detection module, and combines them with the jet motion model, pressure attenuation correction model, and attitude compensation model to realize real-time calculation and dynamic correction of the fire extinguishing jet landing point position.

[0181] Compared with the traditional method of relying on personnel to observe the coverage area of ​​the jet or using additional ranging equipment to determine the distance, this embodiment does not require the addition of external measuring equipment. It can predict the jet landing point based on the real-time working status of the fire monitor and further automatically adjust the spray direction based on the prediction results, thereby improving the spray control accuracy and response efficiency in long-distance fire extinguishing operations.

[0182] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for locating the impact point of a fire monitor jet, characterized in that, include: Step 1: Collect the current spraying status parameters of the fire monitor; The jet velocity variation trend is obtained from the pressure change curve during continuous injection, and the initial velocity parameters of the jet are updated using a time series method. Based on historical injection data and actual adjustment results, the nozzle correction coefficient and velocity attenuation coefficient are adaptively corrected. The detection module installed on the fire monitor obtains the nozzle height, jet elevation angle, jet pressure, and jet flow rate, and calculates the current jet exit velocity based on the jet pressure and jet flow rate. The control system calculates the current jet exit velocity based on the synchronously acquired jet pressure and jet flow rate. Among them, the jet exit velocity Calculate according to the following formula: In the formula: The jet exit velocity; This refers to the injection pressure; This represents the current jet flow rate; To set a reference flow rate; This is the nozzle overall correction factor. Step 2: Calculate the initial trajectory of the jet based on the current spraying status of the fire monitor; Taking the position of the fire monitor nozzle as the starting position of the jet, the jet velocity is decomposed according to the jet elevation angle α: The control system calculates the jet trajectory based on the horizontal and vertical motion of the jet: Among them, according to the jet height The relationship between the jet's height and the target area's height determines the expected landing point of the jet. Step 3: Dynamically correct the predicted landing point based on the pressure changes during continuous injection; During the continuous spraying of the fire monitor, the relationship between the water supply pressure and the spraying time is detected, and the real-time jet velocity change trend is obtained based on the pressure change. The real-time jet velocity parameters are re-input into the jet trajectory model to recalculate the horizontal distance and vertical motion state of the jet in order to correct the drift of the predicted landing point distance caused by the drop in water supply pressure. The real-time jet velocity is updated according to the velocity decay model: in: This refers to the real-time jet velocity during the injection process; This is the velocity attenuation coefficient. The control system recalculates the horizontal distance of the jet based on the corrected jet velocity to obtain the corrected landing point distance. Step 4: Adjust the landing point position based on real-time detection data; During the spraying process, the pressure change and attitude change of the fire monitor are detected, and compensation is made for the impact distance. in: The distance to the landing point after compensation; The initial landing distance is calculated; This represents the change in pressure. This represents the change in the attitude of the fire monitor. Step 5: Output the landing point location result; The control system determines whether the jet covers the target area based on the compensated impact distance. When the jet deviates from the target area, the fire monitor's elevation or rotation mechanism is controlled to adjust the spray direction so that the jet can cover the target area again.

2. The method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The jet pressure is obtained by a pressure sensor installed on the fire monitor's water supply pipeline; The control system establishes a pressure decay relationship based on changes in injection pressure: in: This is the current injection pressure; This is the initial injection pressure; This is the pressure variation coefficient. The control system adjusts the jet velocity based on pressure changes.

3. The method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The fire monitor is equipped with an attitude detection module to detect the tilt state of the fire monitor's installation position; When the fire monitor's mounting base is tilted, the actual spray angle should be corrected based on the detected tilt angle β. The control system recalculates the jet landing point based on the corrected spray angle.

4. The method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The control system calculates the adjustment amount of the fire monitor based on the distance deviation between the predicted impact point and the target position: in: This refers to the deviation in landing distance. Distance to target; This is the current predicted distance to the landing point; The control system adjusts the spray angle of the fire monitor based on the distance deviation.

5. The method for locating the impact point of a fire monitor jet according to claim 4, characterized in that, The adjustment range of the fire monitor's spray angle is as follows: Perform calculations; The control system drives the fire monitor's elevation actuator to move based on the calculated angle adjustment.

6. The method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The control system records the injection pressure, injection angle, jet velocity, and actual landing distance for each injection process. The velocity decay coefficient λ is corrected based on historical data to make the calculated landing point in the subsequent injection process closer to the actual position.

7. The method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The control system calculates the coordinates of the jet landing point based on the spatial position relationship of the jet. The landing point position includes the horizontal distance between the fire monitor and the target area, the lateral offset of the jet, and the height of the jet tip. The fire monitor is equipped with a wind speed detection module to obtain the lateral wind speed in the direction of the fire monitor's spray. When a crosswind is detected, the control system compensates for the lateral offset of the jet based on the crosswind and then corrects the jet landing point coordinates based on the compensated lateral offset. The control system calculates the positional relationship between the jet and the target area based on spatial coordinates:

8. The method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, During the positioning of the fire monitor jet, the landing point is predicted by collecting the spray parameters collected by the fire monitor itself.

9. A method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The control system generates fire monitor control commands based on the impact point prediction results, realizing closed-loop control between jet impact point prediction and fire monitor attitude adjustment.

10. A method for locating the impact point of a fire monitor jet according to claim 1, characterized in that, The method is applicable to fire trucks equipped with fire monitors, fire robots equipped with fire monitors, and fixed long-range fire monitors.

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