The system scans and locates the suspected fire point through the combined visual processing of monocular camera, binocular camera and infrared camera with high positioning accuracy. Further fire point determination is carried out through a series of characteristics such as heat analysis, color distribution characteristics of the flame, flame change characteristics, flame area spread growth characteristics, shape change characteristics of the flame, and flame edge change; locating the fire point spatial coordinates through RTK positioning and binocular parallax calculations; algorithmic modeling of water column trajectory and waterway trajectory ejected from the fire cannons and the influence of environmental factors in the outdoor scene. The model integrates the correction of environmental parameters such as wind direction, wind speed, air pressure, etc., and ultimately the position of the water point is precisely controlled by controlling the angle of water discharge from the fire cannon, the outlet pressure and flow rate, so as to realize the automatic fire point tracking and fire extinguishing control.
The boom extends and retracts through the length sensor to collect the length of the boom, the angle sensor to collect the pitch angle of the boom, the angle encoder to collect the slewing angle, and the oil pressure sensor to collect the pressure of the amplitude cylinder, and then the independently-developed high-performance controller realizes the functions of boom extension and retraction, amplitude change and its composite action control, working bucket leveling control, water cannon control, soft leg protection, virtual wall limitation, and the torque limitation of the whole machine, etc.; combined with the robot control technology, the kinematics positive and negative solution realizes the intelligent control such as one-key automatic unfolding of multi-attitude of the boom, automatic leveling of the frame, and automatic spreading of legs. Combined with the robot control technology, the kinematics of positive and negative solutions to realize the boom multi-attitude one-key automatic unfolding, one-key automatic retraction, automatic frame leveling, automatic spreading of outriggers and other intelligent control; based on the power curve of the engine and the pump to establish a special power-matching control algorithm model, the flow of composite action distribution, in order to maximize the efficiency of the whole machine; with the optional remote control platform, the operator can be away from the fire scene of the safety zone accurate remote control The optional remote control platform allows the operator to precisely and remotely control the fire engine in a safe place far away from the fire scene.
System advantages:
High control accuracy, the error is less than 0.5%;
Fast control response, less than 2ms;
Smooth operation without lag; rapid start without impact; sensitive micro-movement fast speed regulation;
Through the liquid level sensor to collect the water tank level, pressure sensor to collect the outlet pressure, flow sensor to collect the water pipe and foam pipe flow, equipped with self-developed high-performance controller to realize the water valve control, automatic adjustment of the foam ratio, a key to play the water, a key to play the foam, the gun port constant pressure and other functions, with the self-developed display module to the operator to convey the real-time working parameters of the vehicle, the status of the sensors, pipeline and valve status and other interactive information. Interactive information such as the status of sensors, pipelines and valves. Based on the power curve of the engine and pump, it establishes a special power matching control algorithm model to distribute the flow rate of the compound action, so as to maximize the efficiency of the whole machine.
System advantages:
High control accuracy, error less than 0.5%;
Fast control response, less than 2ms;
Combining RTK, LiDAR, millimeter-wave radar, IMU, monocular vision, binocular vision, infrared imaging and other perception technologies, robot control technology, 5G large bandwidth and low-latency communication technology, equipped with independently developed high-performance domain controller for the construction of driving maps, robot position location, driving path planning, fire point positioning and tracking, watercourse trajectory and other special algorithm model development, to achieve various action paths of the Autonomous planning decision-making and electro-hydraulic closed-loop precision control of action execution. The control system can be remotely controlled, the operator can accurately and remotely control the firefighting robot for fire rescue in a safe area far away from the fire scene, or the robot can be handed over to its own decision-making and execution, realizing automatic walking and unmanned rescue operations.
