CN110180112B - Cooperative reconnaissance fire-extinguishing operation method for unmanned aerial vehicle and fire-fighting robot - Google Patents
Cooperative reconnaissance fire-extinguishing operation method for unmanned aerial vehicle and fire-fighting robot Download PDFInfo
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- CN110180112B CN110180112B CN201910485349.1A CN201910485349A CN110180112B CN 110180112 B CN110180112 B CN 110180112B CN 201910485349 A CN201910485349 A CN 201910485349A CN 110180112 B CN110180112 B CN 110180112B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
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- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
Abstract
The invention relates to an unmanned aerial vehicle and fire-fighting robot cooperative reconnaissance fire-extinguishing operation method which comprises an unmanned reconnaissance vehicle releasing step, an unmanned reconnaissance vehicle space positioning step by the unmanned reconnaissance vehicle, a robot console and an unmanned aerial vehicle console, and a fire-fighting reconnaissance vehicle, the unmanned reconnaissance vehicle, the robot console and the unmanned aerial vehicle console cooperative reconnaissance and fire-extinguishing step. The fire extinguishing reconnaissance robot is positioned in a three-dimensional space in real time by adopting a space geometric positioning method, so that the relative positions of an unmanned reconnaissance plane, a robot control console, an unmanned aerial vehicle control console and the fire extinguishing reconnaissance robot in the space are quickly obtained, the application range of the system is improved, the online compensation of the spray angle of a fire water monitor is realized, the precision of spraying a target point is greatly improved, the reconnaissance and fire extinguishing efficiency can be improved, the rescue time is saved, the field disaster handling speed is improved, the classification and fixed-point processing efficiency and precision of a hazard source are improved, and the personnel and property loss is reduced.
Description
Technical Field
The invention belongs to the technical field of fire-fighting robots, and particularly relates to a cooperative reconnaissance fire-extinguishing operation method of an unmanned aerial vehicle and a fire-fighting robot.
Background
Fire causes enormous losses and casualties to humans, which is one of the major disasters that most often, most commonly, threaten public safety and social development. Especially for dangerous chemical fire, different fire-catching objects need to be extinguished by corresponding different extinguishing agents, otherwise accidents which are difficult to dispose, more complex and more dangerous can occur, and therefore, the fire source needs to be extinguished accurately in a fixed point.
With the continuous development and development of science and technology, more and more fire-fighting robots replace firefighters to enter a fire scene for fighting fire, and the fire-fighting robots as one of special robots play a role in fighting fire and rescuing more and more. At present, most of robots carrying fire-fighting water cannons need to rely on remote operation of background firefighters to adjust the three-dimensional angle of the water cannons, so that the fire extinguishing function of fire points is realized.
The current scheme that the robot that puts out a fire to the disaster scene seeks or fixes a position the fire disaster mainly falls into two kinds:
1) robot body binocular vision positioning method
Through installing binocular vision equipment on fire-fighting robot, realize the detection to flame space position to control water cannon and put out a fire to fix a point. There is typically an intelligent fire-fighting robot disclosed in patent No. 201520997745. X. The method also uses the included angles detected by the thermal imaging camera at different positions of the fire source to indirectly calculate the position of the fire source, such as the fire scene fire source positioning method, positioning system and fire-fighting robot disclosed in the patent with the application number of 201610089608.5.
The method of directly placing the visual equipment on the fire-extinguishing robot is difficult to obtain enough visual field, realize accurate positioning of fire source and jet flow falling point and realize automatic accurate fire extinguishing.
2) Unmanned aerial vehicle high-altitude assistance detection method
Under this mode, fire-fighting robot need fly unmanned aerial vehicle to the overhead survey height of flame before the work, later with unmanned aerial vehicle self GPS positional information send to fire-fighting robot to confirm that unmanned aerial vehicle puts down the relative robot spatial position relation of flame, and then spray and put out a fire. There is typically an invention patent publication "accurate fire extinguishing system based on unmanned aerial vehicle and intelligent fire-fighting robot" with patent number 201721688135.7.
However, the scheme has the following disadvantages: firstly, the unmanned aerial vehicle needs to fly above the flame, which is extremely harmful to the equipment in practice; secondly, the positioning accuracy of the unmanned aerial vehicle depends on the positioning accuracy of the GPS, the traditional GPS cannot meet the requirement, and the cost of the system is overhigh due to the high price of the differential GPS; in addition, when a fire occurs indoors, the GPS positioning system cannot work, and the method cannot work normally.
In addition, when the ground environment such as fire disaster is complex and fluctuant, the posture, the height and the like of the robot are changed greatly, so that the accuracy of the robot for observing the position parameters of the target interest points is influenced, and the fire extinguishing robot can not extinguish fire at fixed points due to the serious influence on the launching angle of the water cannon on the fire fighting robot.
Disclosure of Invention
The invention aims to provide a cooperative reconnaissance and fire extinguishing operation method of an unmanned aerial vehicle and a fire-fighting robot, which realizes full-automatic identification reconnaissance, positioning and automatic aiming and fire fighting of the fire-fighting robot on dangerous sources such as different fire sources in a disaster site in severe environments such as high-risk fire.
The technical scheme adopted by the invention for solving the technical problems is as follows: an unmanned aerial vehicle and fire-fighting robot cooperative reconnaissance fire-extinguishing operation method comprises the steps of fire-extinguishing reconnaissance robot, unmanned reconnaissance aircraft, robot console and unmanned aerial vehicle console cooperative reconnaissance and fire-extinguishing, and specifically comprises the following steps:
1) firstly, placing a robot console and an unmanned aerial vehicle console in advance by a worker, and setting the position of the robot console as the origin of a geodetic coordinate system; meanwhile, a fire extinguishing reconnaissance robot carrying an unmanned reconnaissance machine is arranged beside the robot console, and a system is started through a control button of the robot console;
2) at the moment, a main control mechanism of the robot console sends an instruction to the fire extinguishing scout robot through a second communication assembly, so that the fire extinguishing scout robot opens an unmanned aerial vehicle storage device to release the unmanned scout, the unmanned scout flies to the front fire source to scout after separating from the fire extinguishing scout robot, and in the process, the fire extinguishing scout robot advances forwards;
3) after the unmanned reconnaissance aircraft reaches the designated position, the control module of the unmanned reconnaissance aircraft controls the three-dimensional holder assembly to search flames by using the binocular recognition assembly, when a fire source is found, positioning is carried out, a fire source finding signal and the spatial three-dimensional parameters of the fire source relative to the unmanned reconnaissance aircraft are transmitted back to the control module, and the control module transmits data to the main control mechanism;
4) the main control mechanism sends a distance measurement instruction through the second communication assembly to perform a distance measurement step, and spatial three-dimensional position relations among the fire extinguishing scout robot, the unmanned scout, the robot console and the unmanned aerial vehicle console are obtained according to a spatial positioning method;
5) the main control mechanism carries out reverse calculation according to the position parameters of the fire source returned by the unmanned reconnaissance aircraft relative to the unmanned reconnaissance aircraft, so that the space three-dimensional coordinate position of the fire source relative to the fire extinguishing reconnaissance robot is obtained;
6) in the motion process of the fire extinguishing reconnaissance robot, the control system obtains the heading offset angle of the fire extinguishing reconnaissance robot relative to the starting point after the motion is stopped through the attitude sensor, and the main control mechanism controls the automatic fire monitor to perform angle reverse compensation, so that the heading angle emitted by the automatic fire monitor is consistent with the fire source;
7) the main control mechanism automatically calculates the pitch angle of the automatic fire monitor according to the pressure sensor parameters of the fire extinguishing scout robot and the spatial position relation of the fire extinguishing scout robot relative to a fire source, the parameters are transmitted to the communication system through the second communication assembly, and the control system receives an instruction and then controls the automatic fire monitor to adjust the pitch angle parameters to perform accurate fixed-point spraying.
Specifically, the release process of the unmanned reconnaissance aircraft in the step 2) is as follows:
the control system of the fire extinguishing reconnaissance robot drives the cover plate folding motor to rotate 90 degrees, and drives the cover plate connected with the cover plate folding motor to rotate backwards from the baffle connected with the cover plate folding motor to be parallel to the baffle;
the control system simultaneously drives the four baffle folding motors to rotate by 90 degrees, drives the four baffles to turn outwards relative to the bottom plate and finally turns to be parallel to the bottom plate, and the cover plate is also parallel to the bottom plate, so that the four baffles and the cover plate are spread out to be in a platform shape, and the unmanned reconnaissance aircraft is exposed;
the unmanned aerial vehicle console sends out an instruction to remotely control the unmanned reconnaissance aircraft to take off to execute reconnaissance and positioning tasks;
when the unmanned scout descends, the process is reversed.
Furthermore, in the release process of the unmanned reconnaissance aircraft, the control system can also drive the four sets of baffle folding motors to drive the four sets of baffles to turn outwards, and then drive the cover plate folding motor to drive the cover plate to turn and unfold to form a platform.
Specifically, the cooperative reconnaissance fire-extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot further comprises the step of positioning the fire-extinguishing reconnaissance robot space by the unmanned reconnaissance machine, the robot control console and the unmanned aerial vehicle control console, and the method specifically comprises the following steps:
according to the distance measuring step, the distance L between the unmanned reconnaissance plane and the fire extinguishing reconnaissance robot on the horizontal plane is obtained1' and the linear distance L between the robot console and the unmanned aerial vehicle console and the horizontal space between the robot and the fire extinguishing reconnaissance robot respectively2And L3Respectively taking the positions of the unmanned reconnaissance plane, the robot control platform and the unmanned plane control platform as circle centers and taking L as the circle center1’、L2And L3And making a circle for the radius, wherein the three circles are intersected at the spatial position of one point of the fire extinguishing scout robot, so that the relative positions of the unmanned scout, the robot console, the unmanned aerial vehicle console and the fire extinguishing scout robot in the space are obtained.
When the robot console and the unmanned aerial vehicle console are not on the same horizontal plane as the fire extinguishing scout robot, the linear distances between the robot console and the unmanned aerial vehicle console and the horizontal space between the fire extinguishing scout robot are respectively calculated according to the method for calculating the horizontal distance between the fire extinguishing scout robot and the unmanned aerial vehicle console on the horizontal plane.
Further, the distance measuring step is as follows:
1) the main control mechanism sends a distance measurement instruction through the second communication component, and a third communication component in the unmanned aerial vehicle console, a communication system in the fire extinguishing reconnaissance robot and a first communication component in the unmanned reconnaissance aircraft give response signals;
2) meanwhile, the master control mechanism controls the second positioning base station to send a parameter initialization command, a control module in the unmanned reconnaissance aircraft controls the first positioning base station to perform initialization operation, a control system in the fire extinguishing reconnaissance robot also initializes a positioning tag, and a slave control mechanism in the unmanned aerial vehicle console performs initialization operation on the third positioning base station;
3) after receiving the response signal through the second communication assembly, the main control mechanism immediately sends a ranging instruction, and meanwhile, the second positioning base station, the third positioning base station and the first positioning base station are respectively communicated with the positioning tag and calculate the communication time consumption;
4) each control unit sends the time-consuming parameters to the main control mechanism in sequence for calculation, so that the space linear distance between the unmanned reconnaissance aircraft, the robot control console and the unmanned aerial vehicle control console and the fire extinguishing reconnaissance robots is obtained and is respectively recorded as L1、L2And L3；
5) A sensing module in the unmanned reconnaissance aircraft obtains the current motion height H of the unmanned reconnaissance aircraft in real time, and under the height, the position of the unmanned reconnaissance aircraft is projected to the ground to obtain a point Q, so that the distance L between the unmanned reconnaissance aircraft and the fire extinguishing reconnaissance robot on the horizontal plane is obtained according to the triangle theorem1’。
Specifically, in step 4), after the main control mechanism sends a distance measurement instruction through the second communication assembly, the spatial linear distances from the unmanned reconnaissance aircraft, the robot console and the unmanned aerial vehicle console to the fire extinguishing reconnaissance robot are measured, the spatial linear distances from the unmanned reconnaissance aircraft to the robot console, from the unmanned reconnaissance aircraft to the unmanned aerial vehicle console and from the robot console to the unmanned aerial vehicle console are measured simultaneously, and the horizontal distances from the unmanned reconnaissance aircraft to the robot console, from the unmanned reconnaissance aircraft to the unmanned aerial vehicle console and from the robot console to the unmanned aerial vehicle console are obtained according to a projection principle.
The invention has the following beneficial effects:
1) by adopting a space geometric positioning method and matching with an unmanned aerial vehicle system, the fire extinguishing scout robot can be positioned in a three-dimensional space in real time, so that the relative positions of the unmanned scout, the robot console, the unmanned aerial vehicle console and the fire extinguishing scout robot in the space can be quickly obtained, the problem that the visual field is insufficient or even the fire source target point cannot be obtained due to the visual equipment on the fire extinguishing scout robot is avoided, and the application range of the system is improved.
2) Adopt unmanned aerial vehicle to store device and realize depositing and release take-off to unmanned reconnaissance aircraft, the wholeness and the reliability of system have been improved, adopt the wireless communication intermodule range finding method, realize the space positioning to unmanned reconnaissance aircraft and reconnaissance robot of putting out a fire, be convenient for to the reconnaissance robot of putting out a fire backstepping space positioning, control and management, the online compensation of fire water cannon injection angle has been realized simultaneously, the precision of spraying to the target point has been promoted greatly, reconnaissance and fire extinguishing efficiency can be improved, save the time of speedily carrying out rescue work, improve on-the-spot calamity processing speed, improve classified fixed point treatment efficiency and precision of dangerous source, personnel and property loss are.
Drawings
Fig. 1 is a space operation layout diagram of the unmanned aerial vehicle and the fire-fighting robot system in the method.
FIG. 2 is a schematic diagram of the space positioning of the fire extinguishing reconnaissance robot by the unmanned aerial vehicle and the control console in the method of the invention.
Fig. 3 is a schematic perspective view of the fire extinguishing reconnaissance robot in the method of the present invention.
Fig. 4 is a schematic front view of the fire extinguishing reconnaissance robot in the method of the present invention.
FIG. 5 is a schematic view of the fire extinguishing and reconnaissance robot in the method of the present invention, after removing the shell
Fig. 6 is a schematic view of a top view of a scene of an unmanned aerial vehicle storing device releasing an unmanned aerial vehicle of the fire extinguishing scout robot in the method of the present invention.
Fig. 7 is a schematic view of a three-dimensional structure of an unmanned aerial vehicle storage device releasing unmanned reconnaissance airport scene of the fire extinguishing reconnaissance robot in the method.
FIG. 8 is a schematic perspective view of an unmanned scout in the method of the present invention.
FIG. 9 is a schematic view of the main view structure of the unmanned aerial vehicle in the method of the present invention.
FIG. 10 is a schematic top view of an unmanned aerial vehicle according to the method of the present invention.
FIG. 11 is a schematic front view of a robot console in the method of the present invention.
FIG. 12 is a schematic top view of the console of the unmanned aerial vehicle in the method of the present invention.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the scope of the present invention is not limited to these examples. All changes, modifications and equivalents that do not depart from the spirit of the invention are intended to be included within the scope thereof.
The cooperative reconnaissance and fire extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot comprises the steps of cooperative reconnaissance and fire extinguishing of the fire-fighting reconnaissance robot 1, the unmanned reconnaissance machine 2, the robot console 3 and the unmanned aerial vehicle console 4. As shown in fig. 1, the fire extinguishing scout robot 1 is controlled by a robot console 3, the unmanned scout 2 is controlled by an unmanned aerial vehicle console 4, and the fire extinguishing scout robot 1, the unmanned scout 2, the robot console 3 and the unmanned aerial vehicle console 4 are wirelessly connected with each other. The fire extinguishing reconnaissance robot 1 mainly achieves the functions of on-site disaster reconnaissance and fire extinguishing, the unmanned reconnaissance machine 2 mainly conducts image recognition and binocular positioning on points of interest such as fire sources at high altitude through a binocular camera, accordingly the space three-dimensional position of a target point relative to the unmanned aerial vehicle is obtained, and meanwhile the space positioning of the fire extinguishing reconnaissance robot 1 is achieved by matching with the robot control console 3 and the unmanned aerial vehicle control console 4. The robot console 3 realizes the manual control, positioning and communication functions of the fire extinguishing reconnaissance robot 1. Unmanned aerial vehicle control cabinet 4 realizes the assistance-localization real-time function, generally sets up in the one side of keeping away from robot control cabinet 3.
As shown in fig. 3-7, the fire extinguishing reconnaissance robot 1 comprises a chassis 1-1, an automatic fire monitor 1-2, a control system 1-3, a communication system 1-4, an unmanned aerial vehicle storage device 1-5, a positioning tag 1-6, a reconnaissance assembly 1-7, an attitude sensor 1-8, a pressure sensor 1-9, the chassis 1-1, the automatic fire monitor 1-2, the communication system 1-4, the unmanned aerial vehicle storage device 1-5, the positioning tag 1-6, the reconnaissance assembly 1-7, the attitude sensor 1-8 and the pressure sensor 1-9 are all connected with the control system 1-3 and controlled by the control system 1-3, and the automatic fire monitor 1-2 is connected with a rear fire pipeline.
The chassis 1-1 is a crawler type, wheel type or other conventional moving mechanism, and is internally provided with a power supply mechanism, a driver and a motor structure for driving the fire extinguishing reconnaissance robot 1 to move on the ground.
The automatic fire monitor 1-2 is arranged on the upper part of the chassis 1-1, is connected with a rear fire pipeline for fire extinguishing, and can realize real-time adjustment of the spray angle under the control of the control system 1-3, thereby changing the spray angle, height and final landing position of water flow. The detailed structure of the automatic fire monitor 1-2 can be seen from the structure of the fire monitor system 200 in the all-terrain fire-fighting robot and the working method with application number 201811138551.9.
The control system 1-3 is arranged inside the chassis 1-1 and used for achieving the functions of controlling the motion of the chassis 1-1, storing the unmanned aerial vehicle by the unmanned aerial vehicle storage device 1-5, positioning the unmanned aerial vehicle, communicating and the like.
The communication system 1-4 is arranged inside the chassis 1-1 and mainly achieves the communication function between the fire extinguishing scout robot 1 and the external unmanned scout 2, the robot console 3 and the unmanned aerial vehicle console 4.
The unmanned aerial vehicle storage device 1-5 mainly realizes functions of flying, recovering and the like of the unmanned reconnaissance vehicle 2, is arranged on the chassis 1-1, and can be specifically arranged on a shell above the rear end of the chassis 1-1. The unmanned aerial vehicle storage device 1-5 comprises a cover plate 1-5-A, a baffle plate 1-5-B, a cover plate folding motor 1-5-C, a baffle plate folding motor 1-5-D and a bottom plate 1-5-E. The baffle 1-5-B is a rectangular thin plate structure, the cover plate 1-5-A, the baffle 1-5-B and the bottom plate 1-5-E form a cuboid together, the bottom plate 1-5-E is a quadrangle, each edge of the bottom plate 1-5-E is connected with the bottom of one baffle 1-5-B through a baffle folding motor 1-5-D, the baffle folding motor 1-5-D is fixed on the bottom plate 1-5-E, the baffle folding motor 1-5-D drives the baffle 1-5-B to rotate, in an initial state, the baffle 1-5-B and the bottom plate 1-5-E are in a right angle vertical state, when the baffle folding motor 1-5-D rotates, the baffle plates 1-5-B are driven to rotate, so that a cuboid formed by connecting 4 baffle plates 1-5-B is unfolded to form a planar structure. The top of one baffle 1-5-B is connected with one edge of the cover plate 1-5-A through a cover plate folding motor 1-5-C, the cover plate folding motor 1-5-C can drive the cover plate 1-5-A to rotate, the size of the cover plate 1-5-A is consistent with that of the bottom plate 1-5-E, and the lower end of the cover plate folding motor 1-5-C is fixedly connected with the upper end of the baffle 1-5-B and can move along with the rotation of the baffle 1-5-B. When the baffle plate 1-5-B is laid flat, the cover plate 1-5-A and the bottom plate 1-5-E are in a vertical state at the moment, then the cover plate folding motor 1-5-C is controlled to rotate, the cover plate 1-5-A is turned backwards, and therefore a platform foundation is provided for take-off of the unmanned aerial vehicle. The cover plate folding motor 1-5-C and the baffle plate folding motor 1-5-D respectively drive the cover plate 1-5-A and the baffle plate 1-5-B to rotate and unfold into a platform structure. The cover plate folding motor 1-5-C and the baffle plate folding motor 1-5-D are also connected with the control system 1-3 to realize control and driving functions.
The positioning tags 1-6 are high-precision synchronous clock communication modules, are connected with the control system 1-3 and are arranged in the chassis 1-1, and mainly achieve the communication function with the external first positioning base station 2-8, the second positioning base station 3-1 and the third positioning base station 4-1.
The reconnaissance assembly 1-7 consists of a sensor group, is arranged in a shell above the chassis 1-1 and is electrically connected with the control system 1-3 to realize the acquisition of environmental parameters.
The attitude sensor 1-8 is arranged in the chassis 1-1, and the heading deflection angle of the fire extinguishing reconnaissance robot 1 after moving is calculated by detecting the angle attitude change of the fire extinguishing reconnaissance robot in the advancing process, so that the heading attitude data basis is provided for the subsequent fire extinguishing of the robot.
The pressure sensor 1-9 is arranged at the water outlet of the automatic fire monitor 1-2 and used for measuring the water flow pressure and providing a basis for calculating the parabolic parameters of the fire monitor.
As shown in fig. 8-10, the unmanned reconnaissance plane 2 comprises an unmanned plane body 2-1, a control module 2-2, a power module 2-3, a sensing module 2-4, a binocular recognition component 2-5, a three-dimensional holder component 2-6, a first communication component 2-7 and a first positioning base station 2-8, wherein the unmanned plane body 2-1 is a four-rotor or multi-rotor unmanned plane, and is placed in an unmanned plane storage device 1-5 in an initial stage. The unmanned aerial vehicle body 2-1, the power module 2-3, the sensing module 2-4, the binocular recognition component 2-5, the three-dimensional holder component 2-6, the first communication component 2-7 and the first positioning base station 2-8 are all connected with the control module 2-2. The control module 2-2 is arranged in the unmanned aerial vehicle body 2-1, the control module 2-2 mainly realizes motion control of the unmanned aerial vehicle body 2-1, environmental parameters are collected through the sensing module 2-4, the binocular recognition component 2-5 is controlled to search and position a fire source, the three-dimensional holder component 2-6 is controlled to drive the binocular recognition component 2-5 to carry out angle adjustment, and the first communication component 2-7 and the first positioning base station 2-8 are controlled to carry out communication with an external mechanism, distance measurement and other functions.
The power module 2-3 is arranged in the unmanned aerial vehicle body 2-1, and the power module 2-3 comprises a power supply and a voltage stabilizing module and stably supplies power for the unmanned aerial vehicle body 2-1, the control module 2-2, the sensing module 2-4, the binocular recognition component 2-5, the three-dimensional holder component 2-6, the first communication component 2-7 and the first positioning base station 2-8.
The sensing module 2-4 mainly realizes acquisition of parameters, including height information, attitude information and the like of the unmanned aerial vehicle from the ground, and is arranged in the unmanned aerial vehicle body 2-1. The height information is mainly used for the fixed-height motion of the unmanned aerial vehicle, and the attitude information is mainly used for calculating heading angle information after the unmanned aerial vehicle moves.
The binocular recognition component 2-5 is a binocular camera, can realize the three-dimensional space positioning of a target point, and is arranged on the three-dimensional pan-tilt component 2-6.
The three-dimensional cloud platform component 2-6 can adjust the three-dimensional posture of the binocular recognition component 2-5, so that the binocular recognition component 2-5 obtains a larger visual field, is installed below the unmanned aerial vehicle body 2-1 and is controlled by the control module 2-2.
First communication subassembly 2-7 is high accuracy synchronization clock communication module, and first positioning base station 2-8 all is connected with control module 2-2, sets up in unmanned aerial vehicle body 2-1, realizes respectively: the positioning system is communicated with an external communication system 1-4, a second communication component 3-3 and a third communication component 4-2, and has a distance measuring function with an external positioning tag 1-6, a second positioning base station 3-1 and a third positioning base station 4-1.
As shown in fig. 11, the robot console 3 includes a second positioning base station 3-1, a main control mechanism 3-2, a second communication component 3-3, a control button 3-4, and a display component 3-5, where the second positioning base station 3-1 is a high-precision synchronous clock communication module, and is connected to the main control mechanism 3-2 to implement communication with an external third positioning base station 4-1 and other base stations and determine time consumption for signal transmission. The main control mechanism 3-2 controls the second positioning base station 3-1 to measure distance, controls the second communication component 3-3 to communicate with an external communication module, detects an external input signal of the control button 3-4 to analyze and make a decision, and controls the display component 3-5 to display parameters and images and videos acquired by the robot. The second communication component 3-3 mainly realizes the communication function with the communication modules on the external unmanned aerial vehicle, the robot and the console, receives various environmental parameters, field images, videos and the like acquired by the robot, and is connected with the main control mechanism 3-2. The control buttons 3-4 are arranged on a panel of the robot console 3 and comprise various control buttons, so that the manual operation functions of robot motion control, water cannon remote control and the like are realized. The control button 3-4 is also connected with a main control mechanism 3-2. The display component 3-5 is mainly used for displaying various information parameters, is arranged on the inner side of the upper cover of the robot console 3 and is connected with the main control mechanism 3-2.
As shown in fig. 12, the drone console 4 includes a third positioning base station 4-1 and a third communication component 4-2, a remote control component 4-3, and a slave control mechanism 4-4, where the third positioning base station 4-1 is a high-precision synchronous clock communication module, and is connected to the slave control mechanism 4-4, so as to be able to communicate with external second positioning base stations 3-1 and other base stations and determine the time consumed by signal transmission. The third communication component 4-2 mainly realizes the communication function with external unmanned aerial vehicles, robots and the like, receives various environmental parameters collected by the unmanned aerial vehicles, self-set attitude parameters and the like, and is connected with the slave control mechanism 4-4. The remote control assembly 4-3 is arranged on a panel of the unmanned aerial vehicle console 4, mainly realizes motion control of the unmanned aerial vehicle, control of the three-dimensional pan-tilt assembly 2-6 and the like, and is connected with the slave control mechanism 4-4. The slave control mechanism 4-4 is the core of the unmanned aerial vehicle console 4, and mainly realizes setting and controlling the unmanned aerial vehicle, communicating with the outside of the unmanned aerial vehicle, the robot and the like, receiving and analyzing instructions and the like. The third positioning base station 4-1 is wirelessly connected with the positioning label 1-6, the first positioning base station 2-8 and the second positioning base station 3-1 to realize communication, and the third communication component 4-2 is wirelessly connected with the communication system 1-4, the first communication component 2-7 and the second communication component 3-3 to realize communication.
1. The distance measuring principle and method among the unmanned reconnaissance aircraft, the fire extinguishing reconnaissance robot and the control console are as follows:
1) the main control mechanism 3-2 sends a distance measuring instruction through the second communication component 3-3, and the third communication component 4-2 in the unmanned aerial vehicle console 4, the communication system 1-4 in the fire extinguishing reconnaissance robot and the first communication component 2-7 in the unmanned reconnaissance machine 2 give response signals;
2) when each module sends a response signal, the master control mechanism 3-2 controls the second positioning base station 3-1 to send a parameter initialization command, the control module 2-2 controls the first positioning base station 2-8 to perform initialization operation, the control system 1-3 also initializes the positioning tag 1-6, and the slave control mechanism 4-4 performs initialization operation on the third positioning base station 4-1;
3) after receiving the response signal through the second communication assembly 3-3, the main control mechanism 3-2 immediately sends a distance measurement instruction, and meanwhile, the second positioning base station 3-1, the third positioning base station 4-1 and the first positioning base station 2-8 are respectively communicated with the positioning tags 1-6 and calculate the time consumed by communication;
4) each control unit sends the time-consuming parameters to the main control mechanism 3-2 in sequence for calculation, so that the space linear distance between the unmanned reconnaissance robot 2, the robot control platform 3 and the unmanned aerial vehicle control platform 4 and the fire extinguishing reconnaissance robot 1 is obtained and is respectively marked as L1、L2And L3The spatial operation layout of the fire extinguishing scout robot 1, the unmanned scout 2, the robot console 3 and the unmanned aerial vehicle console 4 is shown in figure 1.
The sensing modules 2-4 in the unmanned reconnaissance aircraft 2 can acquire the current motion height H of the unmanned aerial vehicle in real time, and the position of the unmanned reconnaissance aircraft 2 is projected to the ground to acquire a point Q under the height, so that the distance L between the unmanned reconnaissance aircraft 2 and the fire extinguishing reconnaissance robot 1 on the horizontal plane is acquired according to the triangle theorem1’。
2. The principle and the method for positioning the fire-extinguishing robot space by the unmanned aerial vehicle and the console are as follows:
the space positioning schematic diagram of the fire extinguishing scout robot 1 by the unmanned scout 2, the robot console 3 and the unmanned aerial vehicle console 4 is shown in figure 2, and the distance L from the unmanned scout 2 to the fire extinguishing scout robot 1 on the horizontal plane is shown1', and the linear distance L of the horizontal space between the robot console 3 and the unmanned aerial vehicle console 4 and the fire extinguishing scout robot 12And L3Respectively taking the positions of the unmanned reconnaissance plane 2, the robot console 3 and the unmanned plane console 4 as the circle centers and L1’、L2And L3The three circles intersect at a point, namely the spatial position of the fire extinguishing reconnaissance robot 1. Up to this point, unmanned scout 2, robot console 3, noneThe relative positions of the human-machine console 4 and the fire extinguishing and reconnaissance robot 1 in the space can be determined.
Further, it has been assumed in the above-mentioned step that robot console 3 and unmanned aerial vehicle console 4 are on the same horizontal plane with fire-fighting reconnaissance robot 1, think: obtaining the space linear distance L between the robot console 3 and the unmanned aerial vehicle console 4 and the fire extinguishing scout robot 12And L3Namely the horizontal space distance between the robot console 3 and the unmanned aerial vehicle console 4 and the fire extinguishing scouting robot 1. Therefore, when the robot console 3 and the unmanned aerial vehicle console 4 are not on the same horizontal plane as the fire extinguishing scout robot 1, the horizontal distance from the fire extinguishing scout robot 1 should be obtained again according to the method for obtaining the horizontal distance from the unmanned scout robot 2 on the horizontal plane.
3. The fire extinguishing reconnaissance robot 1, the unmanned reconnaissance aircraft 2, the robot console 3 and the unmanned aerial vehicle console 4 cooperate to reconnaissance and fire extinguishing work method:
1) the takeoff (landing) method of the unmanned aerial vehicle comprises the following steps:
after the fire extinguishing scout robot 1 reaches the designated position, the unmanned scout 2 is laid, and the method comprises the following steps:
the control system 1-3 drives the cover plate folding motor 1-5-C to rotate 90 degrees in the forward direction, and the cover plate 1-5-A rotates backwards from the baffle plate 1-5-B to be parallel to the baffle plate 1-5-B at the rearmost end;
the control system 1-3 simultaneously drives the four sets of baffle folding motors 1-5-D to rotate 90 degrees in the forward direction, the four sets of baffles 1-5-B turn outwards relative to the bottom plate 1-5-E and finally turn into a position parallel to the bottom plate 1-5-E, the cover plate 1-5-A is also parallel to the bottom plate 1-5-E, and the four sets of baffles 1-5-B and the cover plate 1-5-A are unfolded into a platform shape to expose the unmanned reconnaissance plane 2; of course, the control system 1-3 can also drive the four sets of baffle folding motors 1-5-D to drive the four sets of baffles 1-5-B to turn outwards, and then drive the cover plate folding motors 1-5-C to drive the cover plate 1-5-A to turn over and unfold to form a platform;
and iii, the unmanned aerial vehicle control console 4 can remotely control the unmanned reconnaissance plane 2 to take off to execute reconnaissance and positioning tasks by sending out an instruction.
When the unmanned scout 2 lands, the process is reversed.
2) The system is cooperated to complete the steps of the reconnaissance and fire extinguishing working method:
firstly, placing a robot console 3 and an unmanned aerial vehicle console 4 in advance by a worker, and setting the position of the robot console 3 as the origin of a geodetic coordinate system; meanwhile, a fire extinguishing reconnaissance robot 1 is arranged beside a robot console 3, and a system is started through a control button 3-4;
at the moment, the main control mechanism 3-2 sends an instruction to the fire extinguishing scout robot 1 through the second communication assembly 3-3, so that the fire extinguishing scout robot 1 opens the unmanned aerial vehicle storage device 1-5 to release the unmanned aerial vehicle, and the unmanned scout 2 flies to the front fire source to scout after separating from the fire extinguishing scout robot 1; in this process, the fire extinguishing scout robot 1 travels forward;
after the unmanned reconnaissance aircraft 2 reaches the designated position, the control module 2-2 controls the three-dimensional pan-tilt assembly 2-6 to search for flame by using the binocular recognition assembly 2-5, when a fire source is found, positioning is carried out, a fire source finding signal and spatial three-dimensional parameters of the fire source relative to the unmanned reconnaissance aircraft 2 are transmitted back to the control module 2-2, and the control module 2-2 transmits data to the main control mechanism 3-2;
iv, the main control mechanism 3-2 sends a distance measurement instruction through the second communication component 3-3, and the space linear distances among the unmanned reconnaissance robot 2, the robot control platform 3 and the unmanned aerial vehicle control platform 4 from the fire extinguishing reconnaissance robot 1 are measured and recorded as L respectively1、L2And L3(ii) a Simultaneously measuring the linear spatial distances between the unmanned reconnaissance aircraft 2 and the robot console 3, between the unmanned reconnaissance aircraft 2 and the unmanned aircraft console 4 and between the robot console 3 and the unmanned aircraft console 4, acquiring the horizontal distances between the unmanned reconnaissance aircraft 2 and the robot console 3 and between the unmanned aircraft console 4 and the unmanned aircraft console 4, and acquiring the three-dimensional spatial position relationship among the fire extinguishing reconnaissance aircraft 1, the unmanned reconnaissance aircraft 2, the robot console 3 and the unmanned aircraft console 4 according to the same projection theorem;
v, performing reverse-thrust calculation by the main control mechanism 3-2 according to the position parameters of the fire source relative to the unmanned scout 2 returned by the unmanned scout 2, so as to obtain the spatial three-dimensional coordinate position of the fire source relative to the fire extinguishing scout robot 1;
vi, in the motion process of the fire extinguishing reconnaissance robot 1, the control system 1-3 obtains the heading offset angle of the fire extinguishing reconnaissance robot 1 relative to the starting point after the motion is stopped through the attitude sensor 1-8, and the main control mechanism 3-2 controls the automatic fire monitor 1-2 to perform angle reverse compensation, so that the heading angle emitted by the automatic fire monitor 1-2 is consistent with the fire source;
and vii, automatically calculating the pitch angle of the automatic fire monitor 1-2 according to the parameters of the pressure sensor 1-9 and the spatial position relation of the fire extinguishing reconnaissance robot 1 relative to the fire source by the main control mechanism 3-2, transmitting the parameters to the communication system 1-4 through the second communication assembly 3-3, and controlling the automatic fire monitor 1-2 to adjust the pitch angle parameters to perform accurate fixed point spraying after the control system 1-3 receives the instruction.
Furthermore, when the spatial three-dimensional coordinate position of a target point such as flame and the like relative to the fire-extinguishing robot is calculated, the unmanned reconnaissance machine 2 controls the three-dimensional pan-tilt assembly 2-6 to drive the binocular recognition assembly 2-5 to deflect, and the deflection angle needs to carry out angle and position conversion.
The structures not disclosed in detail in the present invention, such as other structures necessary for the fire extinguishing and reconnaissance robot 1, are all the prior art, and reference may be made to the robot structures in other patent applications of the applicant.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (5)
1. The cooperative reconnaissance and fire extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot is characterized by comprising the steps of cooperative reconnaissance and fire extinguishing of the fire-fighting reconnaissance robot, the unmanned reconnaissance aircraft, the robot console and the unmanned aerial vehicle console, and specifically comprising the following steps of:
1) firstly, placing a robot console and an unmanned aerial vehicle console in advance by a worker, and setting the position of the robot console as the origin of a geodetic coordinate system; meanwhile, a fire extinguishing reconnaissance robot carrying an unmanned reconnaissance machine is arranged beside the robot console, and a system is started through a control button of the robot console;
2) at the moment, a main control mechanism of the robot console sends an instruction to the fire extinguishing scout robot through a second communication assembly, so that the fire extinguishing scout robot opens an unmanned aerial vehicle storage device to release the unmanned scout, the unmanned scout flies to the front fire source to scout after separating from the fire extinguishing scout robot, and in the process, the fire extinguishing scout robot advances forwards;
3) after the unmanned reconnaissance aircraft reaches the designated position, the control module of the unmanned reconnaissance aircraft controls the three-dimensional holder assembly to search flames by using the binocular recognition assembly, when a fire source is found, positioning is carried out, a fire source finding signal and the spatial three-dimensional parameters of the fire source relative to the unmanned reconnaissance aircraft are transmitted back to the control module, and the control module transmits data to the main control mechanism;
4) the main control mechanism sends a distance measurement instruction through the second communication assembly to perform a distance measurement step, and spatial three-dimensional position relations among the fire extinguishing scout robot, the unmanned scout, the robot console and the unmanned aerial vehicle console are obtained according to a spatial positioning method;
5) the main control mechanism carries out reverse calculation according to the position parameters of the fire source returned by the unmanned reconnaissance aircraft relative to the unmanned reconnaissance aircraft, so that the space three-dimensional coordinate position of the fire source relative to the fire extinguishing reconnaissance robot is obtained;
6) in the motion process of the fire extinguishing reconnaissance robot, the control system obtains the heading offset angle of the fire extinguishing reconnaissance robot relative to the starting point after the motion is stopped through the attitude sensor, and the main control mechanism controls the automatic fire monitor to perform angle reverse compensation, so that the heading angle emitted by the automatic fire monitor is consistent with the fire source;
7) the main control mechanism automatically calculates the pitch angle of the automatic fire monitor according to the pressure sensor parameter of the fire extinguishing reconnaissance robot and the spatial position relation of the fire extinguishing reconnaissance robot relative to the fire source, transmits the parameter to the communication system through the second communication assembly, and controls the automatic fire monitor to adjust the pitch angle parameter to perform accurate fixed-point spraying after the control system receives the instruction;
the fire extinguishing reconnaissance robot in the step 2) comprises an unmanned aerial vehicle storage device, the unmanned aerial vehicle storage device comprises a cover plate, a baffle, a cover plate folding motor, a baffle folding motor and a bottom plate, the bottom plate is quadrilateral, each edge of the bottom plate is connected with the bottom of one baffle through one baffle folding motor, the baffle folding motor is fixed on the bottom plate, the top of one baffle is connected with one edge of the cover plate through the cover plate folding motor, and the lower end of the cover plate folding motor is connected and fixed at the upper end of the baffle; the release process of the unmanned reconnaissance aircraft is as follows:
the control system of the fire extinguishing reconnaissance robot drives the cover plate folding motor to rotate 90 degrees, and drives the cover plate connected with the cover plate folding motor to rotate backwards from the baffle connected with the cover plate folding motor to be parallel to the baffle;
the control system simultaneously drives the four baffle folding motors to rotate by 90 degrees, drives the four baffles to turn outwards relative to the bottom plate and finally turns to be parallel to the bottom plate, and the cover plate is also parallel to the bottom plate, so that the four baffles and the cover plate are spread out to be in a platform shape, and the unmanned reconnaissance aircraft is exposed;
the unmanned aerial vehicle console sends out an instruction to remotely control the unmanned reconnaissance aircraft to take off to execute reconnaissance and positioning tasks;
when the unmanned reconnaissance plane lands, the process is opposite to the above;
the cooperative reconnaissance fire-extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot further comprises the steps of positioning the fire-extinguishing reconnaissance robot space by the unmanned reconnaissance machine, the robot control console and the unmanned aerial vehicle control console, and specifically comprises the following steps:
according to the distance measuring step, the distance L between the unmanned reconnaissance plane and the fire extinguishing reconnaissance robot on the horizontal plane is obtained1' and the linear distance L between the robot console and the unmanned aerial vehicle console and the horizontal space between the robot and the fire extinguishing reconnaissance robot respectively2And L3Respectively taking the positions of the unmanned reconnaissance plane, the robot control platform and the unmanned plane control platform as circle centers and taking L as the circle center1’、L2And L3Making a circle for the radius, and crossing the three circles at one point to obtain the spatial position of the fire extinguishing scout robot, thus obtaining the unmanned scout, the robot console and the unmanned scoutThe relative positions of the console and the fire fighting reconnaissance robot in the space.
2. The cooperative reconnaissance fire-extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot as claimed in claim 1, wherein the control system further drives the four sets of baffle folding motors to drive the four sets of baffles to turn outwards, and then drives the cover plate folding motor to drive the cover plate to turn and unfold to form a platform.
3. The cooperative reconnaissance fire-extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot according to claim 1, wherein the distance measuring step comprises the following steps:
1) the main control mechanism sends a distance measurement instruction through the second communication component, and a third communication component in the unmanned aerial vehicle console, a communication system in the fire extinguishing reconnaissance robot and a first communication component in the unmanned reconnaissance aircraft give response signals;
2) meanwhile, the master control mechanism controls the second positioning base station to send a parameter initialization command, a control module in the unmanned reconnaissance aircraft controls the first positioning base station to perform initialization operation, a control system in the fire extinguishing reconnaissance robot also initializes a positioning tag, and a slave control mechanism in the unmanned aerial vehicle console performs initialization operation on the third positioning base station;
3) after receiving the response signal through the second communication assembly, the main control mechanism immediately sends a ranging instruction, and meanwhile, the second positioning base station, the third positioning base station and the first positioning base station are respectively communicated with the positioning tag and calculate the communication time consumption;
4) each control unit sends the time-consuming parameters to the main control mechanism in sequence for calculation, so that the space linear distance between the unmanned reconnaissance aircraft, the robot control console and the unmanned aerial vehicle control console and the fire extinguishing reconnaissance robots is obtained and is respectively recorded as L1、L2And L3；
5) A sensing module in the unmanned reconnaissance aircraft acquires the current motion height H of the unmanned reconnaissance aircraft in real time, and under the height, the position of the unmanned reconnaissance aircraft is projected to the ground to obtain a point Q, so that the distance between the unmanned reconnaissance aircraft and the fire extinguishing reconnaissance robot on the horizontal plane is obtained according to the triangle theoremIs far from L1’。
4. The cooperative reconnaissance fire-extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot as claimed in claim 1, wherein when the robot console and the unmanned aerial vehicle console are not located on the same horizontal plane as the fire-extinguishing reconnaissance robot, the linear distances from the robot console and the unmanned aerial vehicle console to the horizontal space between the fire-extinguishing reconnaissance robot are respectively obtained according to a method for obtaining the horizontal distance from the fire-extinguishing reconnaissance robot to the unmanned aerial vehicle on the horizontal plane.
5. The cooperative reconnaissance fire-extinguishing operation method of the unmanned aerial vehicle and the fire-fighting robot as claimed in claim 1, wherein in the step 4), after the main control mechanism sends the ranging command through the second communication component, the spatial linear distances from the unmanned reconnaissance vehicle, the robot console and the unmanned aerial vehicle console to the fire-fighting reconnaissance robot are measured, the spatial linear distances from the unmanned reconnaissance vehicle to the robot console to the unmanned aerial vehicle console are measured, and the horizontal distances from the unmanned reconnaissance vehicle to the robot console, from the unmanned reconnaissance vehicle to the unmanned aerial vehicle console, and from the robot console to the unmanned aerial vehicle console are obtained according to a projection principle.
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| CN110841220B (en) * | 2019-12-09 | 2021-08-20 | 国网智能科技股份有限公司 | Intelligent fire-fighting system and method for transformer substation |
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| CN112774073B (en) * | 2021-02-05 | 2022-02-11 | 燕山大学 | Unmanned aerial vehicle guided multi-machine cooperation fire extinguishing method and fire extinguishing system thereof |
| CN112995597B (en) * | 2021-02-24 | 2022-09-06 | 四川腾盾科技有限公司 | System and method for real-time target locking of high-speed unmanned aerial vehicle |
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