无人机辅助云梯车精准定位火源并自动调水灭火
Aerial Assistance System for Automated Firefighting during Turntable Ladder Operations
- 无人机在预设空域飞行，通过双位置三角测量定位热源
- 系统实测成功识别多个火点并引导云梯水枪精准射流
- 适合大型工业火灾场景，提升消防员作业安全与效率
工业设施火灾因建筑规模大、视野遮挡严重，导致火源定位不准，影响灭火精度并延长救援时间。本文提出一种基于无人飞行器（UAV）与转盘云梯车载自动灭火装置的空中辅助系统。无人机在由地理数据生成的无障碍飞行通道内自主飞行，检测并定位热源；操作员通过手持控制器选择可及火点后，无人机自动规划并移动至两个三角测量位以持续定位火源。同时，系统控制云梯上的消防水炮调整方向，确保水流准确击中热源。初步测试表明，该系统成功识别多个热源，并有效引导水枪对准着火点。
原文摘要 · Abstract (English)
Fires in industrial facilities pose special challenges to firefighters, e.g., due to the sheer size and scale of the buildings. The resulting visual obstructions impair firefighting accuracy, further compounded by inaccurate assessments of the fire's location. Such imprecision simultaneously increases the overall damage and prolongs the fire-brigades operation unnecessarily. We propose an automated assistance system for firefighting using a motorized fire monitor on a turntable ladder with aerial support from an unmanned aerial vehicle (UAV). The UAV flies autonomously within an obstacle-free flight funnel derived from geodata, detecting and localizing heat sources. An operator supervises the operation on a handheld controller and selects a fire target in reach. After the selection, the UAV automatically plans and traverses between two triangulation poses for continued fire localization. Simultaneously, our system steers the fire monitor to ensure the water jet reaches the detected heat source. In preliminary tests, our assistance system successfully localized multiple heat sources and directed a water jet towards the fires.
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