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.

翻译：工业设施火灾给消防员带来了特殊挑战，例如建筑物规模庞大导致的视觉遮挡问题。这些视觉障碍降低了灭火精度，加之对火源位置评估不准确，进一步加剧了救援难度。此类不精确性不仅增加了总体损失，还导致消防作业时间不必要地延长。本文提出一种基于云梯消防车电动消防炮、辅以无人机空中支援的自动灭火辅助系统。无人机在基于地理数据生成的无障碍飞行通道内自主飞行，实时探测并定位热源。操作人员通过手持控制器监控作业流程，并在可及范围内选择灭火目标。选定目标后，无人机自动规划并移动至两个三角测量位姿，持续进行火源定位。同时，系统自动调整消防炮角度，确保水柱精准覆盖已探测的热源。初步测试表明，该辅助系统成功实现了多热源定位，并能引导水柱精准扑灭火源。