AU2020441493B2 - Multimode visual servoing firefighting system and operating method therefor - Google Patents
Multimode visual servoing firefighting system and operating method therefor Download PDFInfo
- Publication number
- AU2020441493B2 AU2020441493B2 AU2020441493A AU2020441493A AU2020441493B2 AU 2020441493 B2 AU2020441493 B2 AU 2020441493B2 AU 2020441493 A AU2020441493 A AU 2020441493A AU 2020441493 A AU2020441493 A AU 2020441493A AU 2020441493 B2 AU2020441493 B2 AU 2020441493B2
- Authority
- AU
- Australia
- Prior art keywords
- fire
- visual device
- monitor
- binocular
- fire monitor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Detection Mechanisms (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
A multimode visual servoing firefighting system and working method therefor. The system comprises a firefighting canon, an infrared nearfield vision device (1), a binocular vision device, and a control system. The infrared nearfield vision device (1) comprises an infrared camera, a nearfield camera, a support frame, a support transverse beam, and an engaging fitting. The binocular vision device comprises a first industrial camera, a sensor, a second industrial camera, a binocular camera box, and a rotatable electric telescoping rod. The control system comprises a processing unit, a controller, and a control cabinet. The present system integrates vision systems of various modes, satisfies firefighting requirements in various environments, increases the efficiency of a firefighting operation, and achieves the goal of smart firefighting.
Description
MULTI-MODE VISUAL SERVO CONTROL FIRE-FIGHTING SYSTEM AND OPERATING METHOD THEREOF Technical Field The present invention relates to a multi-mode visual servo control fire-fighting system and an operating method thereof, which belong to the field offire-fighting.
Background With the rapid development of economy in China, cities are densely built with high-rise buildings. At the same time, there are huge safety hazards in such as chemical plants, and large
.0 scale fires are very likely to occur. Due to the complex fire environment, fires occurring in urban buildings, chemical plants or the like are quite dangerous and very likely to cause huge economic losses and casualties, and cannot be effectively extinguished manually. Therefore, nowadays higher and higher requirements are imposed on fire-fighting technologies. As far as fire-fighting technologies are concerned, a fire monitor system plays a leading role .5 and is the key to the process offire-fighting. Conventional fire monitors come in two types: manually controlled type and automatically controlled type. Automatically controlled fire monitors mostly are remotely controlled, and partly are intelligent fire monitors. The remotely-controlled intelligent fire monitor requires a firefighter to determine the position of the fire site and manually control the rotation of the fire monitor to aim at the position of the fire site to extinguish the fire. The conventional intelligent fire-fighting system is mainly composed of fire sensing technologies such as infrared flame sensors, in which the fire sensor technology plays a key role. Such a fire fighting system mainly employs infrared sensors to determine the fire position, and then controls the rotation of the fire monitor to aim at the fire position to extinguish the fire. However, infrared positioning alone is not accurate, with which only two-dimensional information of the fire site can be obtained, and information about the distance to the fire site cannot be obtained. In order to realize accurate positioning, a large number of infrared sensors are required. With the rapid development of computer technology, technologies such as digital image processing have been widely used in fire monitors. Patent Application No. 201711364149.8 proposes a fire monitor positioning method based on binocular vision, which uses the features of the binocular camera to obtain the spatial position of the flame and control the fire monitor to extinguish the fire. This patent mainly focuses on determining the position of the fire site, but does not provide any description on how to control the rotation of the fire monitor after the position of the fire site is determined. In addition, if there is a very serious interference in the fire scene, such as heavy smoke, the accuracy of binocular vision will be seriously affected. In this case, how to determine the position of the fire site? Patent Application No. 201210277033.1 discloses an automatic positioning flame detection system in a three-dimensional space, which adopts at least
.0 two infrared fire detectors to perform three-dimensional flame positioning in space, but fails to
provide a specific description on how the infrared CCD detectors achieve the positioning. Patent
Application No. 201610089595.1 discloses a method for self-aiming at a fire source and spraying
water to extinguish fire. In this method, a thermal imager is used to position the fire site at two
different positions to obtain the position information of the fire site, and then extinguish the fire.
.5 However, this method requires moving between the two positions in order to realize the positioning,
and is not applicable in cases where no movement is allowed, for example, the case where the fire
monitor is installed on a fire truck or used as a fixed fire monitor. In addition, most of the
conventional technologies first adopt the visual technology to identify the fire site and then control
the fire monitor to rotate and spray the fire extinguishing agent. The disadvantages of such methods
lie in that if fire-fighting is interfered by, for example, strong wind, fire site transfer, etc., the above
methods cannot provide timely adjustment, and the identification and positioning process has to
be performed again, which increases the fire-fighting time and affects the fire-fighting progress.
It can be seen that the conventional fire monitors based on the visual technology have the
following shortcomings:
1. The visual system will stop operating after initially identifying the fire site and then
controlling the fire monitor to rotate to a specified angle position. If there is a strong wind or the transfer of the fire site occurs during the fire extinguishing process, the jet cannot accurately reach the position of the fire site, and re-positioning is required. 2. Usually, the binocular technology or the infrared technology alone is used in the prior art. The accuracy of positioning using the binocular technology depends on the complexity of the external environment. The binocular technology can provide accurate positioning in the case of little interference, but has poor positioning accuracy in the case of the presence of a lot of trees or heavy smoke. The infrared technology is mainly used to measure the temperature. If there are multiple fires in the fire extinguishing scene, the fires cannot be accurately extinguished by only relying on the infrared technology. In addition, infrared cameras are often expensive and the use
.0 of multiple infrared cameras inevitably will greatly increase the costs. It should be noted that the recognition range of the infrared camera is also limited.
Summary In view of the above problems, the present invention discloses a multi-mode visual servo
.5 control fire-fighting system and an operating method thereof, where a variety of visual servo control methods are provided, and different modes can be applied to different fire scenes, thereby solving the problems of conventional intelligent fire monitors such as inaccurate positioning and susceptibility to interference by the fire scene. To achieve the above technical objectives, the present invention adopts the following technical solutions. A multi-mode visual servo control fire-fighting system includes a fire monitor, configured to eject a fire extinguishing agent to a fire site; a first binocular visual device, disposed on a side and in front of the fire monitor, and configured to acquire a fire site image, and acquire spatial positions of the fire monitor and the fire
site, where a first angle sensor is installed on the first binocular visual device; a second binocular visual device, disposed on the other side and in rear of the fire monitor, and configured to acquire a fire site image, and acquire spatial positions of the fire monitor and the fire site, where a second angle sensor is installed on the second binocular visual device; a third angle sensor, installed on a head of the fire monitor; an infrared near-field visual device, configured to acquire a fire site temperature image and an initial trajectory image of ajet from the fire monitor; and a control system, being in a signal connection with the first binocular visual device, the second binocular visual device, the first angle sensor, the second angle sensor, the third angle sensor, the infrared near-field visual device and the fire monitor.
The first binocular visual device and the second binocular visual device have an identical
structure and are respectively installed on two sides of the fire monitor to face toward opposite
.0 directions.
The first binocular visual device includes a first industrial camera, a second industrial camera,
the first angle sensor and a first binocular camera box, where the first industrial camera, the first
angle sensor and the second industrial camera are installed in parallel with each other inside the
first binocular camera box, and a bottom of the first binocular camera box is connected to a first
.5 rotatable electric telescopic rod.
The second binocular visual device includes a third industrial camera, a fourth industrial
camera, the second angle sensor and a second binocular camera box, where the third industrial
camera, the second angle sensor and the fourth industrial camera are installed in parallel with each
other inside the second binocular camera box, and a bottom of the second binocular camera box is
connected to a second rotatable electric telescopic rod.
Horizontal rotation axes of the first rotatable electric telescopic rod, the second rotatable
electric telescopic rod and the fire monitor are in a straight line.
The control system includes a processing unit, a controller and a control cabinet.
The infrared near-field visual device includes:
a support frame, where a bottom of the support frame is fixedly installed on the head of the
fire monitor by a buckle, an infrared camera is installed on an upper portion of the support frame,
the infrared camera is located exactly above the head of the fire monitor, and an optical axis of the infrared camera and an axis of a branch pipe of the fire monitor are in a vertical plane; and a support cross beam, connected in parallel on a side of the support frame, where a near-field camera is fixedly installed on an end of the support cross beam away from the support frame.
The present invention further discloses an operating method based on the multi-mode visual
servo control fire-fighting system, including
acquiring fire site images by the binocular visual devices to acquire spatial positions of the
fire monitor and the fire site in combination with the angle sensors, then controlling the fire
monitor to perform fire extinguishing, and identifying a trajectory of a jet by the binocular visual
devices and determining whether the jet reaches the fire site, specifically:
.0 acquiring a spatial position (x, y, z) of the fire site relative to the binocular visual device by
the first binocular visual device or the second binocular visual device;
measuring an angle between a central axis of the first binocular visual device and a central
axis of the head of the fire monitor by the third angle sensor located on the head of the fire monitor
and the first angle sensor located in thefirst binocular camera box;
.5 measuring an angle between a central axis of the second binocular visual device and the
central axis of the head of the fire monitor by the third angle sensor located on the head of the fire
monitor and the second angle sensor located in the second binocular camera box;
establishing a first coordinate system by using the first industrial camera located on a left side
of the first binocular camera box in the first binocular visual device as an origin, and using an
optical axis of the first industrial camera as a z axis, where in thefirst coordinate system,
coordinates of the fire monitor are (xl, yl, zl), and coordinates of the fire site are (x, y, z); moving
the first coordinate system to the position of the fire monitor to obtain a second coordinate system,
where the second coordinate system uses the fire monitor as an origin, coordinates of the fire site
in the second coordinate system are (x-x1, y, z-zl), and in the second coordinate system, an angle
between a line connecting the fire site to the fire monitor and a z axis of the second coordinate
system is p=arctan((x-x)/(z-z)); therefore, an angle y by which the fire monitor needs to rotate
horizontally is: y=p-a; where a is the angle between the central axis of the first binocular visual device and the central axis of the head of the fire monitor, which is measured by the third angle sensor located on the head of the fire monitor and the first angle sensor located in the first binocular camera box; or the angle between the central axis of the second binocular visual device and the central axis of the head of the fire monitor, which is measured by the third angle sensor located on the head of the fire monitor and the second angle sensor located in the second binocular camera box; obtaining a distance d between the fire monitor and the fire site based on the following formula: d=/(H - h)2 + (x - x1) 2 + (z - z1) 2 , where
.0 H is a height of thefire monitor, and h is a degree of elongation of the rotatable electric
telescopic rod;
obtaining a pitch angle of the fire monitor according to the distance d;
according to the spatial position of the fire site relative to the head of the fire monitor, issuing
an instruction by the control system to control the fire monitor to yaw and pitch, so that the fire
.5 monitor aims at the fire site and ejects ajet of a fire extinguishing agent;
identifying a trajectory of the jet of the fire extinguishing agent by the binocular visual devices,
and by the control system, calculating a spatial position of the trajectory of the jet of the fire
extinguishing agent, and determining whether a drop point of the jet of the fire extinguishing agent
reaches the fire site; if the drop point does not reach the fire site, issuing an instruction by the
control system to control the fire monitor to yaw and pitch, until the drop point of the jet of the
fire extinguishing agent reaches the fire site;
recognizing a temperature distribution in a field of view by the infrared camera in the infrared
near-field visual device, and when a highest temperature is not significantly higher than an ambient
temperature, issuing an instruction by the controller to control the fire monitor to yaw, until the
highest temperature is significantly higher than the ambient temperature;
determining, by the control system, whether a point with the highest temperature appears in a middle region of the field of view of the infrared camera, and if the point with the highest temperature does not appear in the middle region of the field of view of the infrared camera, issuing an instruction by the control system to control the fire monitor to yaw, until the point with the highest temperature appears in the middle region of the field of view of the infrared camera; capturing, by the near-field camera in the infrared near-field visual device, an initial image of the trajectory of the jet of the fire extinguishing agent from the fire monitor; and by the control system, predicting a straight-line distance between the drop point of the jet of the fire extinguishing agent from the fire monitor and the head of the fire monitor, based on the initial image of the trajectory of the jet of thefire extinguishing agent from the fire monitor that is
.0 captured by the infrared near-field visual device, and issuing, according to the predicted straight
line distance between the drop point of the jet of the fire extinguishing agent and the head of the
fire monitor, an instruction to control the fire monitor to pitch, until the predicted straight-line
distance between the drop point of the jet of the fire extinguishing agent and the fire site is zero.
When starting to work, the first binocular visual device and the second binocular visual device
.5 respectively raise the first rotatable electric telescopic rod and the second rotatable electric
telescopic rod at the same time, and capture images and rotate to aim at the fire site, so that the fire
site is in a middle of the images; at this moment, if the fire monitor is not in an image of a binocular
visual device of the first binocular visual device and the second binocular visual device, the
binocular visual device lowers a respective one of the first rotatable electric telescopic rod and the
second rotatable electric telescopic rod, and stops working.
In one preferred embodiment, the present invention provides a method for operating a multi
mode visual servo control fire-fighting system according to the present invention, the method
comprising
acquiring an image of a fire site by a binocular visual device to acquire spatial positions of a fire
monitor and the fire site in combination with a first angle sensor, then controlling thefire monitor
to perform fire extinguishing, and identifying a trajectory of a jet by the binocular visual device
and determining whether the jet reaches the fire site, specifically: by the binocular visual device, acquiring the image of the fire site and acquiring the spatial positions of the fire monitor and the fire site, wherein the angle sensor is installed on the binocular visual device; acquiring a spatial position (x, y, z) of the fire site relative to the binocular visual device by the binocular visual device; measuring an angle a between a central axis of the binocular visual device and a central axis of a head of the fire monitor by a further angle sensor located on the head of the fire monitor and the angle sensor located in a binocular camera box; establishing a first coordinate system by using an industrial camera in the binocular visual device .0 as an origin, and using an optical axis of the industrial camera as a z axis, wherein in the first coordinate system, coordinates of the fire monitor are (xl, yl, zl), and coordinates of the fire site are (x, y, z); moving the first coordinate system to the position of the fire monitor to obtain a second coordinate system, wherein the second coordinate system uses the fire monitor as an origin, coordinates of the fire site in the second coordinate system are (x-x1, y-yl, z-zl), and in the second
.5 coordinate system, an angle between a line connecting the fire site to the fire monitor and a z axis
of the second coordinate system in an xoz plane of the second coordinate system is =arctan((x
xl)/(z-zl)); therefore, an angle y by which thefire monitor needs to rotate horizontally is: y=p-a; obtaining a distance d between the fire monitor and the fire site based on the following formula:
d=V(H - h)2 + (x - x1) 2 + (z - z1) 2 , wherein
H is a height of thefire monitor, and h is a degree of elongation of a rotatable electric telescopic rod; obtaining a pitch angle of the fire monitor according to the distance d; according to the spatial position of the fire site relative to the head of the fire monitor, issuing an instruction by a control system to control the fire monitor to yaw and pitch, so that the fire monitor
aims at the fire site and ejects a jet of afire extinguishing agent; identifying a trajectory of the jet of the fire extinguishing agent by the binocular visual device, and by the control system, calculating a spatial position of the trajectory of the jet of the fire extinguishing agent, and determining whether a drop point of the jet of the fire extinguishing agent reaches the fire site; and if the drop point does not reach the fire site, issuing an instruction by the control system to control the fire monitor to yaw and pitch, until the drop point of the jet of the fire extinguishing agent reaches the fire site; recognizing a temperature distribution in a field of view by an infrared camera in an infrared near field visual device, the infrared camera installed above the fire monitor, specifically: when a highest temperature is not significantly higher than an ambient temperature, issuing an instruction by a controller to control the fire monitor to yaw, until the highest temperature is significantly
.0 higher than the ambient temperature; determining, by the control system, whether a point with the highest temperature appears in a middle region of the field of view of the infrared camera, and if the point with the highest temperature does not appear in the middle region of the field of view of the infrared camera, issuing an instruction by the control system to control the fire monitor to yaw, until the point with the .5 highest temperature appears in the middle region of the field of view of the infrared camera; capturing, by a near-field camera in the infrared near-field visual device, an initial image of the trajectory of the jet of the fire extinguishing agent from the fire monitor; and by the control system, predicting a straight-line distance between the drop point of the jet of the fire extinguishing agent from the fire monitor and the head of the fire monitor, based on the initial
image of the trajectory of the jet of the fire extinguishing agent from the fire monitor that is captured by the infrared near-field visual device, and issuing, according to the predicted straight line distance between the drop point of the jet of the fire extinguishing agent and the head of the fire monitor, an instruction to control the fire monitor to pitch, until the predicted straight-line distance between the drop point of the jet of the fire extinguishing agent and the fire site is zero. With the preferred embodiment of the method for operating the multi-mode visual servo control fire-fighting system: two binocular visual devices are provided, comprising a first binocular visual device and a second binocular visual device, wherein the first binocular visual device is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein the first angle sensor is installed on the first binocular visual device; the second binocular visual device is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein a second angle sensor is installed on the second binocular visual device; the first binocular visual device or the second binocular visual device obtains a spatial position (x, y, z) of the fire site relative to a respective one of the two binocular visual devices;
.0 the further angle sensor, being the third angle sensor, located on the head of the fire monitor and the first angle sensor located in afirst binocular camera box measure an angle between a central axis of the first binocular visual device and the central axis of the head of the fire monitor; and the third angle sensor located on the head of the fire monitor and the second angle sensor located in a second binocular camera box measure an angle between a central axis of the second binocular .5 visual device and the central axis of the head of thefire monitor. With the preferred embodiment of the method for operating the multi-mode visual servo control fire-fighting system, when starting to work, the two binocular visual devices respectively raise rotatable electric telescopic rods at the same time, and capture images and rotate to aim at the fire site, so that the fire site is in a middle of the images; at this moment, if the fire monitor is not
in an image of a binocular visual device of the two binocular visual devices, the binocular visual device lowers a respective one of the rotatable electric telescopic rods, and stops working. In one preferred embodiment, the present invention provides a control system using the preferred embodiment of the method for operating the multi-mode visual servo control fire fighting system according to the present invention, the control system comprising: the fire monitor, configured to eject the fire extinguishing agent to the fire site; the binocular visual device, disposed on a side and in front of the fire monitor, and configured to acquire the image of the fire site and acquire the spatial positions of the fire monitor and the fire site, wherein the first angle sensor is installed on the binocular visual device; the further angle sensor, installed on the head of the fire monitor; the infrared near-field visual device, configured to acquire a fire site temperature image and the initial image of the trajectory of the jet from the fire monitor; and the control system, being in a signal connection with the binocular visual device, the first angle sensor, the further angle sensor, the infrared near-field visual device and the fire monitor. With the preferred embodiment of the control system: the binocular visual device comprises industrial cameras, the first angle sensor and the binocular camera box, wherein the industrial cameras and the first angle sensor are installed in parallel with
.0 each other inside the binocular camera box, and a bottom of the binocular camera box is connected to the rotatable electric telescopic rod; and horizontal rotation axes of the rotatable electric telescopic rod and the fire monitor are in a straight line. With the preferred embodiment of the control system according to the present invention, the .5 system comprises a processing unit, a controller according to the present invention and a control cabinet. With the preferred embodiment of the control system, the infrared near-field visual device comprises: a support frame, wherein a bottom of the support frame is fixedly installed on the head of the fire
monitor by a buckle, the infrared camera is installed on an upper portion of the support frame, the infrared camera is located exactly above the head of the fire monitor, and an optical axis of the infrared camera and an axis of a branch pipe of the fire monitor are in a vertical plane; and a support cross beam, connected in parallel on a side of the support frame, wherein the near-field camera is fixedly installed on an end of the support cross beam away from the support frame. With the preferred embodiment of the control system, two binocular visual devices are provided, comprising a first binocular visual device and a second binocular visual device, wherein the first binocular visual device is disposed on a side and in front of the fire monitor, and is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein a first angle sensor is installed on the first binocular visual device; the second binocular visual device is disposed on the other side and in rear of the fire monitor, and is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein a second angle sensor is installed on the second binocular visual device; and the first binocular visual device and the second binocular visual device have an identical structure and are respectively installed on two sides of the fire monitor to face toward opposite directions.
.0 Beneficial effects of the present invention:
A multi-mode visual servo control fire-fighting system provided by the present invention
includes an infrared near-field visual system, binocular visual systems, a fire monitor and a control
system. The binocular visual systems acquire a fire site image to acquire spatial positions of the
fire monitor and the fire site in combination with the angle sensors, and then, the fire monitor is
.5 controlled to perform fire extinguishing, and at the same time, a trajectory of a jet is identified and
it is determined whether the jet reaches the fire site. In this way, the fire extinguishing accuracy of
the fire monitor is improved. Two binocular visual systems are provided, which can photograph
the surrounding fire site at all angles, and can also be applied to fire scenes where the infrared
visual system is not applicable, such as those where the position of the fire site is beyond the range
of the infrared camera or the fire in one of a plurality of thefire sites needs to be extinguished. The
infrared visual system acquires the fire site temperature image and the initial trajectory image of
the jet in order to control thefire monitor to extinguish the fire, which can be applied to complex
fire site environments as well as fire scenes where the binocular visual system is not applicable,
such as those where there are a lot of trees or heavy smoke on thefire site. The infrared near-field
visual system and the binocular visual system can work separately or synergistically so as to be
applicable to various fire scenes. Compared with the system using a single vision mode, the system
of the present invention can meet thefire extinguishing requirements in different scenes, which greatly increases the applicability of the fire monitor, solves the problem that a single visual system is only applicable to a limited number of application scenes, improves the efficiency of fire extinguishing operation, and significantly improves the robustness of the system. In addition, during the fire extinguishing process, the visual system is in an on state all the time, and therefore can monitor in real time the trajectory of the jet of the fire extinguishing agent, thereby realizing the closed loop control of the rotation angle of the fire monitor to ensure that the fire extinguishing agent accurately reaches the position of the fire site.
Brief Description of the Drawings .0 FIG. 1 shows an overall layout of the present invention. FIG. 2 is a structural front view of an infrared near-field visual device according to the present invention. FIG. 3 is a structural top view of an infrared near-field visual device according to the present invention.
.5 FIG. 4 is a schematic structural view of a binocular visual device according to the present invention. FIG. 5 is a schematic layout view of angle sensors in the binocular visual device according to the present invention. FIG. 6 is a schematic structural view of a control system according to the invention. FIG. 7 is a control flowchart of a fire extinguishing process according to the present invention. FIG. 8 is a view showing the principle of acquiring the position of the fire site by a processing unit. In the figures, 1. infrared near-field visual device; 2. first binocular visual device; 3. second binocular visual
device; 4. fire monitor; 5. infrared camera; 6. near-field camera; 7. support frame; 8. support cross beam; 9. buckle; 10. first industrial camera; 11. first angle sensor; 12. second industrial camera; 13. first binocular camera box; 14. first rotatable electric telescopic rod; 15. third angle sensor; 16.
head of the fire monitor; 17. processing unit; 18. controller; 19. control cabinet.
Detailed Description of the Embodiments
The technical solutions of the present invention will be further described in detail below with
reference to the accompanying drawings of the specification.
As shown in FIG. 1 to FIG. 5, the present invention provides a multi-mode visual servo
control fire-fighting system and a control method thereof. The system includes an infrared near
field visual device 1, a first binocular visual device 2, a second binocular visual device 03, a fire
.0 monitor 4, and a control system.
The infrared near-field visual device 1 includes an infrared camera 5, a near-field camera 6,
a support frame 7, a support cross beam 8 and a buckle 9. The infrared camera 5 and the near-field
camera 6 are installed above the fire monitor 4 through the support frame 7, the support cross beam
8 and the buckle 9.
.5 The first binocular visual device 2 and the second binocular visual device 3 have the same
configuration and each include two industrial cameras disposed in left-right symmetry, an angle
sensor disposed between the two industrial cameras, a binocular camera box and a rotatable electric
telescopic rod. The two industrial cameras and the angle sensor are installed in parallel with each
other inside the binocular camera box. The first binocular visual device 2 is installed on a side and
in front of the fire monitor 4 through the rotatable electric telescopic rod, and the second binocular
visual device 3 is installed on the other side and in rear of the fire monitor 4 through the rotatable
electric telescopic rod. The two binocular visual devices face toward opposite directions.
A third angle sensor 15 is installed on a head of the fire monitor.
The control system includes a processing unit 17, a controller 18 and a control cabinet 19.
Horizontal rotation axes of the respective rotatable electric telescopic rods of the binocular
visual devices and the fire monitor 4 are in a straight line. When starting to work, the two binocular
visual devices respectively raise the rotatable electric telescopic rods, capture images and rotate to aim at the fire site, so that the fire site is in the middle of the images. At this moment, if the fire monitor 4 is not in the image of a binocular visual device of the two binocular visual devices, the binocular visual device lowers a respective one of the rotatable electric telescopic rods, and stops working. The two binocular visual devices independently obtain spatial positions (x, y, z) of the fire site relative to the binocular visual devices, respectively.
The third angle sensor 15 located on the head 16 of the fire monitor and the angle sensor
located in the binocular camera box measure an angle a between a central axis of the binocular
visual device and a central axis of the head 16 of thefire monitor.
A height of the binocular visual device relative to the head 16 of thefire monitor is calculated
.0 according to a degree of elongation h of the rotatable electric telescopic rod 14. The height H of
the fire monitor 4 is known. The processing unit 17 calculates a spatial position of the fire site
relative to the head 16 of the fire monitor and a rotation angle of the fire monitor 4 according to
the above information. The processing procedure is as follows. As shown in FIG. 8, a first
coordinate system is established by using the first industrial camera 10 in the first binocular camera
.5 box 13 of the first binocular visual device as an origin and using an optical axis of the first industrial
camera 10 as a z axis, and in thefirst coordinate system, coordinates of the fire monitor are (x1,
yl, zl), and coordinates of the fire site are (x, y, z). The first coordinate system is moved to the
position of the fire monitor to obtain a second coordinate system that uses the fire monitor as an
origin, and coordinates of the fire site in the second coordinate system are (x-xl, y-yl, z-zl). In
the second coordinate system, an angle between a line connecting the fire site to the fire monitor
and a z axis of the second coordinate system in the xoz plane of the second coordinate system is
p=arctan((x-x)/(z-z)), and therefore, an angle y by which the fire monitor needs to rotate horizontally is: y=p-a.
A distance d between the fire monitor 4 and the fire site is:
d=(H - h)2 + (x - x1) 2 + (z - z1) 2 . A pitch angle of the fire monitor 4 can be obtained
according to the distance d. According to the spatial position of the fire site relative to the head 16
of the fire monitor and the pitch angle, the controller 18 issues an instruction to control the fire monitor to yaw and pitch, so that the fire monitor 4 aims at the fire site and ejects a jet of a fire extinguishing agent. The binocular visual device 2 or 3 identifies a trajectory of the jet of the fire extinguishing agent, and the processing unit 17 calculates a spatial position of the trajectory of the jet of the fire extinguishing agent, and determines whether a drop point of the jet of the fire extinguishing agent reaches the fire site. If the drop point does not reach the fire site, the controller 18 issues an instruction to control the fire monitor to yaw and pitch, until the drop point of the jet of the fire extinguishing agent reaches the fire site. When two binocular visual devices are provided, comprising a first binocular visual device and a second binocular visual device.
.0 The first binocular visual device is configured to acquire an image of the fire site and acquire the spatial positions of the fire monitor and the fire site, where a first angle sensor is installed on the first binocular visual device. The second binocular visual device is configured to acquire an image of the fire site and acquire the spatial positions of the fire monitor and the fire site, where a second angle sensor is .5 installed on the second binocular visual device. The first binocular visual device or the second binocular visual device obtains a spatial position (x, y, z) of the fire site relative to the binocular visual device. The third angle sensor located on the head of the fire monitor and thefirst angle sensor located
in the first binocular camera box measure an angle ai between a central axis of the first binocular
visual device and the central axis of the head of the fire monitor, and an angle y by which the fire
monitor needs to rotate horizontally is: y=P-ai.
The third angle sensor located on the head of the fire monitor and the second angle sensor
located in the second binocular camera box measure an angle a2 between a central axis of the
second binocular visual device and the central axis of the head of the fire monitor, and an angle y
by which the fire monitor needs to rotate horizontally is: y=p-a2.
The infrared camera 5 in the infrared near-field visual device 1 recognizes a temperature
distribution in a field of view. When the highest temperature is not significantly higher than the
ambient temperature, the controller 18 issues an instruction to control the fire monitor to yaw, until
the highest temperature is significantly higher than the ambient temperature. The processing unit
17 determines whether a point with the highest temperature appears in a middle region of the field
of view of the infrared camera 5, and if the point with the highest temperature does not appear in
the middle region of the field of view of the infrared camera 5, the controller 18 issues an
instruction to control the fire monitor to yaw, until the point with the highest temperature appears
in the middle region of the field of view of the infrared camera 5. The near-field camera 6 in the
.0 infrared near-field visual device 1captures an initial image of the trajectory of the jet of the fire
extinguishing agent from the fire monitor 4. The processing unit 17 predicts a straight-line distance
between the drop point of the jet of the fire extinguishing agent from the fire monitor 4 and the
head 16 of the fire monitor based on the initial image. The controller 18 issues, according to the
predicted straight-line distance between the drop point of the jet of the fire extinguishing agent and
.5 the head 16 of the fire monitor, an instruction to control the fire monitor to pitch, until the predicted
straight-line distance between the drop point of the jet of the fire extinguishing agent and the fire
site is zero.
While exemplary embodiments of the present invention have been described above, the
present invention is not limited thereto. It should be appreciated that some improvements can be
made by those skilled in the art without departing from the principles of the present invention,
which are also contemplated to be within the scope of the present invention.
Claims (8)
- ClaimsWhat is claimed is: 1. A method for operating a multi-mode visual servo control fire-fighting system, the method comprising acquiring an image of a fire site by a binocular visual device to acquire spatial positions of a fire monitor and the fire site in combination with a first angle sensor, then controlling the fire monitor to perform fire extinguishing, and identifying a trajectory of a jet by the binocular visual device and determining whether the jet reaches the fire site, specifically: by the binocular visual device, acquiring the image of the fire site and acquiring the spatial positions of the fire monitor and the fire site, wherein the angle sensor is installed on the binocular visual device; acquiring a spatial position (x, y, z) of the fire site relative to the binocular visual device by the binocular visual device;measuring an angle a between a central axis of the binocular visual device and a central axis of a head of the fire monitor by a further angle sensor located on the head of the fire monitor and the angle sensor located in a binocular camera box; establishing a first coordinate system by using an industrial camera in the binocular visual device as an origin, and using an optical axis of the industrial camera as a z axis, wherein in the first coordinate system, coordinates of the fire monitor are (xl, yl, zl), and coordinates of the fire site are (x, y, z); moving the first coordinate system to the position of the fire monitor to obtain a second coordinate system, wherein the second coordinate system uses the fire monitor as an origin, coordinates of the fire site in the second coordinate system are (x-x1, y-yl, z-zl), and in the second coordinate system, an angle between a line connecting the fire site to the fire monitor and a z axisof the second coordinate system in an xoz plane of the second coordinate system is =arctan((x xl)/(z-zl)); therefore, an angle y by which thefire monitor needs to rotate horizontally is: y=p-a; obtaining a distance d between the fire monitor and the fire site based on the following formula:d=V(H - h)2 + (x - x1) 2 + (z - z1) 2 , wherein H is a height of thefire monitor, and h is a degree of elongation of a rotatable electric telescopic rod; obtaining a pitch angle of the fire monitor according to the distance d; according to the spatial position of the fire site relative to the head of the fire monitor, issuing an instruction by a control system to control the fire monitor to yaw and pitch, so that the fire monitor aims at the fire site and ejects a jet of afire extinguishing agent; identifying a trajectory of the jet of the fire extinguishing agent by the binocular visual device, and by the control system, calculating a spatial position of the trajectory of the jet of the fire extinguishing agent, and determining whether a drop point of the jet of the fire extinguishing agent reaches the fire site; and if the drop point does not reach the fire site, issuing an instruction by the control system to control the fire monitor to yaw and pitch, until the drop point of the jet of the fire extinguishing agent reaches the fire site; recognizing a temperature distribution in a field of view by an infrared camera in an infrared near field visual device, the infrared camera installed above the fire monitor, specifically: when a highest temperature is not significantly higher than an ambient temperature, issuing an instruction by a controller to control the fire monitor to yaw, until the highest temperature is significantly higher than the ambient temperature; determining, by the control system, whether a point with the highest temperature appears in a middle region of the field of view of the infrared camera, and if the point with the highest temperature does not appear in the middle region of the field of view of the infrared camera, issuing an instruction by the control system to control the fire monitor to yaw, until the point with the highest temperature appears in the middle region of the field of view of the infrared camera; capturing, by a near-field camera in the infrared near-field visual device, an initial image of the trajectory of the jet of the fire extinguishing agent from the fire monitor; and by the control system, predicting a straight-line distance between the drop point of the jet of the fire extinguishing agent from the fire monitor and the head of the fire monitor, based on the initial image of the trajectory of the jet of the fire extinguishing agent from the fire monitor that is captured by the infrared near-field visual device, and issuing, according to the predicted straight line distance between the drop point of the jet of the fire extinguishing agent and the head of the fire monitor, an instruction to control the fire monitor to pitch, until the predicted straight-line distance between the drop point of the jet of the fire extinguishing agent and the fire site is zero.
- 2. The method for operating the multi-mode visual servo control fire-fighting system according to claim 1, characterized in that two binocular visual devices are provided, comprising a first binocular visual device and a second binocular visual device, wherein the first binocular visual device is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein the first angle sensor is installed on the first binocular visual device; the second binocular visual device is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein a second angle sensor is installed on the second binocular visual device; the first binocular visual device or the second binocular visual device obtains a spatial position (x, y, z) of the fire site relative to a respective one of the two binocular visual devices; the further angle sensor, being the third angle sensor, located on the head of the fire monitor and the first angle sensor located in afirst binocular camera box measure an angle between a central axis of the first binocular visual device and the central axis of the head of the fire monitor; and the third angle sensor located on the head of the fire monitor and the second angle sensor located in a second binocular camera box measure an angle between a central axis of the second binocular visual device and the central axis of the head of the fire monitor.
- 3. The method for operating the multi-mode visual servo control fire-fighting system according to claim 2, characterized in that when starting to work, the two binocular visual devices respectively raise rotatable electric telescopic rods at the same time, and capture images and rotate to aim at the fire site, so that the fire site is in a middle of the images; at this moment, if the fire monitor is not in an image of a binocular visual device of the two binocular visual devices, the binocular visual device lowers a respective one of the rotatable electric telescopic rods, and stops working.
- 4. A control system using the method for operating the multi-mode visual servo control fire fighting system according to claim 1, characterized by comprising: the fire monitor, configured to eject the fire extinguishing agent to the fire site; the binocular visual device, disposed on a side and in front of the fire monitor, and configured to acquire the image of the fire site and acquire the spatial positions of the fire monitor and the fire site, wherein the first angle sensor is installed on the binocular visual device; the further angle sensor, installed on the head of the fire monitor; the infrared near-field visual device, configured to acquire a fire site temperature image and the initial image of the trajectory of the jet from the fire monitor; and the control system, being in a signal connection with the binocular visual device, the first angle sensor, the further angle sensor, the infrared near-field visual device and the fire monitor.
- 5. The control system using the method for operating the multi-mode visual servo control fire fighting system according to claim 4, characterized in that the binocular visual device comprises industrial cameras, the first angle sensor and the binocular camera box, wherein the industrial cameras and the first angle sensor are installed in parallel with each other inside the binocular camera box, and a bottom of the binocular camera box is connected to the rotatable electric telescopic rod; and horizontal rotation axes of the rotatable electric telescopic rod and the fire monitor are in a straight line.
- 6. The control system using the method for operating the multi-mode visual servo control fire fighting system according to claim 4 or 5, characterized in that the control system comprises a processing unit, the controller and a control cabinet.
- 7. The control system using the method for operating the multi-mode visual servo control fire fighting system according to any one of claims 4-6, characterized in that the infrared near-field visual device comprises: a support frame, wherein a bottom of the support frame is fixedly installed on the head of the fire monitor by a buckle, the infrared camera is installed on an upper portion of the support frame, the infrared camera is located exactly above the head of the fire monitor, and an optical axis of the infrared camera and an axis of a branch pipe of the fire monitor are in a vertical plane; and a support cross beam, connected in parallel on a side of the support frame, wherein the near-field camera is fixedly installed on an end of the support cross beam away from the support frame.
- 8. The control system using the working method of the multi-mode visual servo control fire fighting system according to any one of claims 4-7, characterized in that two binocular visual devices are provided, and comprise a first binocular visual device and a second binocular visual device, wherein the first binocular visual device is disposed on a side and in front of the fire monitor, and is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein a first angle sensor is installed on the first binocular visual device; the second binocular visual device is disposed on the other side and in rear of the fire monitor, and is configured to acquire an image of the fire site and acquire spatial positions of the fire monitor and the fire site, wherein a second angle sensor is installed on the second binocular visual device; and the first binocular visual device and the second binocular visual device have an identical structure and are respectively installed on two sides of the fire monitor to face toward opposite directions.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010279393.X | 2020-04-10 | ||
| CN202010279393.XA CN111494853B (en) | 2020-04-10 | 2020-04-10 | A multi-mode visual servo control fire protection system and its working method |
| PCT/CN2020/104824 WO2021203582A1 (en) | 2020-04-10 | 2020-07-27 | Multimode visual servoing firefighting system and working method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2020441493A1 AU2020441493A1 (en) | 2021-11-18 |
| AU2020441493B2 true AU2020441493B2 (en) | 2024-01-25 |
Family
ID=71848302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2020441493A Active AU2020441493B2 (en) | 2020-04-10 | 2020-07-27 | Multimode visual servoing firefighting system and operating method therefor |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN111494853B (en) |
| AU (1) | AU2020441493B2 (en) |
| CA (1) | CA3137995C (en) |
| WO (1) | WO2021203582A1 (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111931387B (en) * | 2020-09-23 | 2020-12-22 | 湖南师范大学 | A Visual Servo Approaching Method for Moving Columnar Assemblies |
| CN112090015B (en) * | 2020-10-12 | 2025-06-10 | 江西省智能产业技术创新研究院 | Collaborative scheduling system and scheduling method of fire-fighting robot |
| CN113041537A (en) * | 2021-04-14 | 2021-06-29 | 中国矿业大学 | Fire monitor system with variable-visual-angle binocular structure and method |
| CN113274672A (en) * | 2021-04-27 | 2021-08-20 | 中国矿业大学 | Fire monitor hybrid control system and control method based on machine vision |
| CN113382143B (en) * | 2021-06-09 | 2022-07-29 | 中国矿业大学 | Automatic exposure adjusting method for binocular camera of fire-fighting robot |
| CN113440763B (en) * | 2021-06-15 | 2022-09-16 | 中国矿业大学 | An intelligent fire protection system for forest fire prevention and its working method |
| CN114272546A (en) * | 2021-12-30 | 2022-04-05 | 深圳市无限动力发展有限公司 | Fire fighting method, device, equipment and storage medium based on sweeper platform |
| CN114882663B (en) * | 2022-06-08 | 2025-06-24 | 徐俊亮 | A fire prediction and early warning device for agroforestry-grass composite area and its early warning method |
| CN115364401A (en) * | 2022-08-15 | 2022-11-22 | 山东瑞美油气装备技术创新中心有限公司 | Method and device for extinguishing fire |
| CN115337581B (en) * | 2022-10-14 | 2022-12-27 | 中国矿业大学 | Fire-fighting method based on multi-view vision fire-fighting system |
| CN116115933A (en) * | 2023-02-08 | 2023-05-16 | 广西北投信创科技投资集团有限公司 | Charging pile fire-fighting system and method |
| CN116712705B (en) * | 2023-07-11 | 2024-07-19 | 广州城市理工学院 | Inspection robot working method with rotatable fire extinguisher bracket |
| CN118161813A (en) * | 2024-05-11 | 2024-06-11 | 徐州徐工道金特种机器人技术有限公司 | Fire extinguishing control method, device, system, fire fighting equipment and computer products |
| CN119656523A (en) * | 2024-12-24 | 2025-03-21 | 湖南中联重科应急装备有限公司 | Fire extinguishing control method for elevating fire truck, fire extinguishing system and elevating fire truck |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574568A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Fire monitor water way and method for recognizing tail end of water way |
| CN102836514A (en) * | 2012-09-28 | 2012-12-26 | 章丘市消防器材有限责任公司 | Automatic tracking and positioning jet fire extinguishing system |
| US20170259097A1 (en) * | 2016-03-10 | 2017-09-14 | Albert Orglmeister | Method for Improving the Hit Accuracy of Fire-Fighting Systems Controlled by Infrared and Video Fire Detection |
| CN109331376A (en) * | 2018-10-12 | 2019-02-15 | 中国矿业大学 | Urban main battle fire truck automatic fire extinguishing system and realization method |
| CN109785574A (en) * | 2019-01-21 | 2019-05-21 | 五邑大学 | A fire detection method based on deep learning |
| JP2019092972A (en) * | 2017-11-27 | 2019-06-20 | ホーチキ株式会社 | Water discharge-type fire extinguishing equipment |
| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | A mobile intelligent fire-fighting robot and fire-fighting control method |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574566B (en) * | 2009-06-08 | 2011-07-27 | 南京航空航天大学 | Monocular vision technique based fire monitor control method for adjusting relative positions of fire point and water-drop point |
| CN103528520B (en) * | 2013-10-08 | 2016-03-23 | 哈尔滨工业大学 | Based on pick-up unit and the method for the synchronous operation jack-up system of binocular vision |
| CN107192343B (en) * | 2017-07-04 | 2023-08-18 | 华中科技大学 | Six-degree-of-freedom displacement measuring device and method for suspension characteristic test wheel |
| CN107909615A (en) * | 2017-12-18 | 2018-04-13 | 广东广业开元科技有限公司 | A kind of fire monitor localization method based on binocular vision |
| KR102033498B1 (en) * | 2017-12-28 | 2019-10-17 | (주)아이아이에스티 | Fire extinguishing system, method, program and computer readable medium for controlling of the same |
| CN109303995A (en) * | 2018-09-12 | 2019-02-05 | 东南大学 | Control method of fire-fighting robot fire monitor based on fire source location identification |
| US10605567B1 (en) * | 2018-09-19 | 2020-03-31 | Steven T. Hartman | Sighting device for handheld mortar system |
| CN210212803U (en) * | 2019-05-21 | 2020-03-31 | 广西电网有限责任公司百色供电局 | Three-span line intelligent space distance calculating device |
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | A kind of fire reconnaissance robot and reconnaissance method |
-
2020
- 2020-04-10 CN CN202010279393.XA patent/CN111494853B/en active Active
- 2020-07-27 CA CA3137995A patent/CA3137995C/en active Active
- 2020-07-27 AU AU2020441493A patent/AU2020441493B2/en active Active
- 2020-07-27 WO PCT/CN2020/104824 patent/WO2021203582A1/en not_active Ceased
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574568A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Fire monitor water way and method for recognizing tail end of water way |
| CN102836514A (en) * | 2012-09-28 | 2012-12-26 | 章丘市消防器材有限责任公司 | Automatic tracking and positioning jet fire extinguishing system |
| US20170259097A1 (en) * | 2016-03-10 | 2017-09-14 | Albert Orglmeister | Method for Improving the Hit Accuracy of Fire-Fighting Systems Controlled by Infrared and Video Fire Detection |
| JP2019092972A (en) * | 2017-11-27 | 2019-06-20 | ホーチキ株式会社 | Water discharge-type fire extinguishing equipment |
| CN109331376A (en) * | 2018-10-12 | 2019-02-15 | 中国矿业大学 | Urban main battle fire truck automatic fire extinguishing system and realization method |
| CN109785574A (en) * | 2019-01-21 | 2019-05-21 | 五邑大学 | A fire detection method based on deep learning |
| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | A mobile intelligent fire-fighting robot and fire-fighting control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CA3137995C (en) | 2023-09-26 |
| CN111494853B (en) | 2021-05-11 |
| CA3137995A1 (en) | 2021-10-14 |
| WO2021203582A1 (en) | 2021-10-14 |
| CN111494853A (en) | 2020-08-07 |
| AU2020441493A1 (en) | 2021-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2020441493B2 (en) | Multimode visual servoing firefighting system and operating method therefor | |
| US11257341B2 (en) | System and method for monitoring and suppressing fire | |
| CN110841220A (en) | A substation intelligent fire protection system and method | |
| CN104952201A (en) | A video fire alarm monitoring system and method | |
| CN113144470A (en) | Fire-fighting emergency early warning treatment and fire extinguishing integrated control system | |
| CN103285548B (en) | Method and device for positioning ground fire by monocular camera | |
| CN111408089A (en) | Fire-fighting robot and fire-fighting robot fire extinguishing system | |
| CN113440763B (en) | An intelligent fire protection system for forest fire prevention and its working method | |
| CN110989599B (en) | Autonomous operation control method and system for fire-fighting robot of transformer substation | |
| CN111388912B (en) | Directional intelligent fire extinguishing system for high-speed rail motor train unit | |
| CN105031868B (en) | Adaptive fire extinguishing method based on flame scale | |
| CN113813527A (en) | Accurate fire fighting device and method for marine unmanned fire fighting truck | |
| EP4154946A1 (en) | Fire extinguishing system, server, fire-fighting robot, and fire extinguishing method | |
| CN114870313B (en) | Smart Fire Comprehensive Monitoring System | |
| CN115337581B (en) | Fire-fighting method based on multi-view vision fire-fighting system | |
| CN214633516U (en) | A land-air robot for normalized fire inspection and early warning fire rescue | |
| CN113521616A (en) | Fire-fighting robot, scheduling method and fire extinguishing system | |
| Chen et al. | An automatic fire searching and suppression system for large spaces | |
| CN112870605A (en) | Hanger rail AI artificial intelligence inspection robot and positioning fire extinguishing method of robot | |
| CN104436501A (en) | Fire extinguishing control method, device and system based on fire monitor technology | |
| CN110201340A (en) | A kind of autonomous fire-fighting robot system having Online Map building and navigation feature | |
| CN219275821U (en) | A normalized fire inspection, early warning, fire rescue platform based on heterogeneous robot teamwork | |
| CN117745827A (en) | Method and system for jointly positioning fire source and high-temperature point in space based on infrared camera and binocular camera and fire water monitor | |
| CN117771595B (en) | Elevating fire extinguishing method and system based on multi-mode vision system | |
| CN212466888U (en) | Directional intelligent fire extinguishing system for high-speed rail motor train unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGA | Letters patent sealed or granted (standard patent) |