CN101884830A - Firefighting robot system - Google Patents
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- CN101884830A CN101884830A CN 201010190066 CN201010190066A CN101884830A CN 101884830 A CN101884830 A CN 101884830A CN 201010190066 CN201010190066 CN 201010190066 CN 201010190066 A CN201010190066 A CN 201010190066A CN 101884830 A CN101884830 A CN 101884830A
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Abstract
The invention discloses a robot system, which changes the application way of a firefighting robot. The robot system is characterized in that: on the basis of making maximum use of the conventional mature robot technology, the utilization of the robot with the maximum efficiency is realized by reforming the working environment of the robot reasonably. Leading lines and position identifiers are added into the working environment to realize the simplification of a two-dimensional working map, and a robot working navigation map is established to realize high-efficiency movement and positioning of the robot; and the association of the robot and a fire warning system with an image monitoring system is established to realize automatic firefighting and manual remote control and improve the application flexibility of the robot. In the system, the novel robot working modes expand the application range of the functional firefighting robot, reduce the application cost of the robot, and realize the systematic robot application. If the robot working navigation map mode and the manual linkage mode are recognized nationally, a future firefighting mode is expected to be changed by the large-scale application of the robot.
Description
Technical field
The present invention relates to utilize Robotics to realize the self-extinguishing of surroundings.
Background technology
Robotics is considered to one of human greatest invention technology of 20th century.The development in year surplus the process nearly 40, Robotics is day by day ripe, wherein industrial robot has been widely used in automobile manufacture industry, mechanical processing industry, electric industry, rubber and the fields such as plastics industry, food industry, timber and furniture manufacturing industry, and the specialized robot of various uses also enters fast-developing pattern, begins to play a significant role at military, several fields specialized robots such as the city is explosion-proof, housekeeping.
The growth of robot roughly can be divided into three phases: the phase I is simple individual robot, second stage is a work robot of colony, phase III is the anthropoid intelligent robot of class, and its future thrust is consciousness is arranged, thinking is arranged, to talk with the people.The fast development of computer technology and artificial intelligence technology has brought huge expanding space to Robotics.Modern intelligent robot has possessed stored knowledge, the ability of perception to external world and oneself's decision-making.Modern intelligent robot generally is made up of three parts: motion parts, intelligence part and sensation part.Motion parts mainly relies on the mechanical mechanisms such as walking mechanism, manipulator, paw to realize; The intelligence part is mainly by processing realization cognitive ability, learning ability, thinking ability and the decision-making capability of computer to storage information and outer signals; The main collection that relies on the devices such as camera, microphone, infrared sensor to realize outer signals of sensation part.
Because robot has the advantage of working under unsafe conditions, therefore fire prevention and explosion-proof aspect have the big application prospect of tool.Firefighting robot can be realized the explosive dismounting, shifts and go deep into the function that burning things which may cause a fire disaster is closely put out in the scene of a fire now.But firefighting robot is not enough universal on using now, thinks personally that this mainly is because there are following 2 problems on the mentality of designing of present firefighting robot: (1) undue cooperation of paying attention to improving the intellectuality of robot and ignoring robot and surrounding environment.Science and technology development is incremental, and the intellectuality of robot also will progressively be advanced, and intelligent robot also is difficult to brings up to the stage that can handle various complex environments rapidly.But robot performance function not only with the level of intelligence of robot about also relevant with working environment, the working environment of scientific and reasonable transformation robot can be so that having the ability to work of at utmost bringing into play robot under the Robotics now.(2) too pay attention to the exploitation of single superpower ability robot and ignore the popularization of the practical robot of function.From practical standpoint, not only lack now the high intelligent robot that to process under the extreme condition, the general function humanoid robot that more need under surroundings, can play a role.Change mentality of designing, rationally balanced robot's intelligence and environment for use utilize present Robotics can design fully to bear the robot system of fire extinguishing task under the surroundings.
Summary of the invention
The invention provides a kind of the utilization and increase the robot system that ground leading line and position target environmental reconstruction method and remote control technology are realized fire-extinguishing function concurrently under the surroundings.Main contents comprise:
(1) at ground surface ground leading line and station location marker are set rationally.The position coordinates that leading line and station location marker by ground can be reduced to the environmental map of two dimension one dimension, so not only can reduce the requirement of working environment to the intelligent robot level, reduce the chance that the route mistake appears in robot, rely on leading line and station location marker can also improve the translational speed and the position judgment of robot greatly simultaneously.As traffic sign, if set up unified leading line and station location marker standard, then greatly increase the versatility of firefighting robot, only need change the environmental map in the control computer when changing working environment in robot.
(2) set up robot telecommunication and manual control system.Now monitoring system and fire alarm system have become the indispensable safety means in megastore and office space, only need monitoring system, fire alarm system combine with robot wireless camera, the wireless communication system self-extinguishing that just can realize firefighting robot and artificial Long-distance Control.Self-extinguishing is that fire alarm system is informed robot with the place of breaking out of fire by radio communication, and then robot can automatically arrive the site of an accident and stamp out a fire.Monitoring system switch to the robot wireless camera can Real Time Monitoring the fire extinguishing situation, can also be with the robot control mode switch to the Artificial Control pattern in case complex situations occur.The flexibility that this has increased robot control undoubtedly also is conducive to the associated working that fire rescue team arrives rear and firefighting robot.The pattern of this combination of inner and outside, artificial combination can improve the fire-fighting fire extinguishing flexibility greatly, ensure fire fighter's safety and to the in advance control of fire.Simultaneously daily monitor staff also can undertake its incipient fire after training through certain man-machine combination the work of putting out, this has significant development prospect and far reaching from fire attack with being.
(3) fire-extinguishing function concurrently humanoid robot.In order to match with ground leading line, tag system and tele-control system, the robot among the design comprises land marking inductive probe array, temperature sensing system, power control system, extinguishing chemical holding vessel and switched system, wireless camera and wireless communication module, master control system, extinguishing chemical shower nozzle and its control system.
Compare this robot system with present existing firefighting robot system following characteristics arranged:
(1) for the applying of robot, conversion designs thinking of the present invention, appropriate design has reduced the complexity of environment, and then reduces the intelligent requirement to robot, and the simplification of navigation system also can reduce probability of malfunction.This is universal significant to robot.
(2) foundation of ground-control guidance system has improved the robot speed of service greatly, and simultaneously environmental map is provided with the versatility that can improve robot.
(3) the flexible switch mode of automatic control mode and remote handle control model has not only guaranteed the independence of robot but also can tackle complex environment and emergency situation.Control model and navigation system can guarantee that the robot system scope of application is wider flexibly, can use under most of surroundings such as megastore, office space and warehouse.
(4) fire extinguishing system of this robot can realize that the switching of multiple types extinguishing chemical can adapt to the fire extinguishing of various fire.
(5) this robot system combines with fire alarm system and can efficiently finish the task of putting out of fire in the unmanned situation, and according to circumstances can reduce water sprinkler system or fire fighting by foam system, only need sense cigarette or temperature sensing fire warning system are installed, can reduce the fire-fighting cost.
Description of drawings
Fig. 1 is building leading line and station location marker schematic diagram among the present invention, and wherein 1 is the robot district that awaits orders, and 2 is leading line, and 3 is common danger, and 4 is the grave danger thing, and 5 is important danger.
Fig. 2 is the present invention's robot architecture's schematic diagram of preventing fires, and wherein 1 is wireless camera, and 2 is the extinguishing chemical shower nozzle, and 3 is the governor circuit system, 4 is the extinguishing chemical storage tank, and 5 is the photoelectric probe array position, and 6 is temperature sensor, 7 is range sensor, and 8 is the photoelectric probe array, and 9 is leading line.
Fig. 3 is a robot system workflow diagram of the present invention
The specific embodiment
So this robot be not the obstacle detouring humanoid robot to the certain requirement of having of ground, and need tele-control system to cooperate, therefore at first require working environment ground as far as possible smooth, 30 degree can not appear with upgrade; Secondly will there be monitoring system and fire alarm system in the work-yard.From the routine work environment of modern city, these two requirements are very easily to satisfy, and this represents that also the present invention has the very wide scope of application.Detailed embodiment of the present invention is described in further detail as follows:
The first step: realize the transformation of working environment.As shown in Figure 1, draw planning good leading line and location identifier on the ground of working environment.This leading line generally can adopt white line or black line, is quite ripe in the setting of this tag line of machine areas of competition and recognition technology.Can adopt the leading line of other colors or form if consider aesthetic property.The design and the Fire danger assessment of environment position sign combine, and different fire hazard ratings zone coupling is gone up different location identifiers.
Second step: set up the environment navigation map.After realizing environmental reconstruction, will build map and merge mutually with station location marker with leading line and can obtain robot navigation's map, this navigation map is imported the robot memory module, this map will be motion control reference main under the robot automatic control mode.This navigation map has fabulous expansibility, adds map such as the feature such as combustible material positional information and visual plant positional information in the building and can realize robot to the automatic measure grading of Risk Degree of Maneuvering Environment, realizes the intelligent robot monitoring.Under unified environmental labels condition, robot changes working environment and only needs the navigation map replacing is got final product.
The 3rd step: the radio contact of setting up robot system and monitoring system, fire alarm system.The robot wireless camera is added the workplace monitoring system, when needs monitor the robot manipulation, only need the switching monitoring picture to get final product.In the breaking out of fire situation, fire alarm system is transferred to robot with the position coordinates that fire takes place, and firefighting robot both can realize automatically arriving conflagration area, by temperature sensor location burning things which may cause a fire disaster, selects the fire extinguishing of coupling extinguishing chemical.
The 4th step: build the firefighting robot physical entity.As shown in Figure 2, this robot can be divided into kinematic system, intelligence control system, environment sensing system, wireless telecommunication system and fire extinguishing system five big systems.The robot motion system adopts direct current generator driving wheel-type traveling mode, and this pattern has fast, the stable and low advantage of cost of movement velocity, and lower assisting of leading line and station location marker, robot can reach mission requirements fully.Can also increase on the kinematic system basis gyroscope and code-disc if need to improve robot motion's precision.The environment sensing system comprises leading line identification probe array, range sensor, temperature sensor and wireless camera.The operation principle of leading line identification probe is but to divide leading line and ground by the difference to the ground reflectance, and this array module can be selected different recognition principles according to the difference of leading line.Range sensor and temperature sensor are selected infrared class, and namely price is suitable, and stability is also good.The effect that wireless camera can serve as monitoring camera when being the long distance control system contact.If add image recognition technology in the intelligence control system, can enlarge the camera scope of application, increase intelligent robot.Wireless communication system is used for realizing robot and the contact of remote monitoring chamber, can select different communication patterns according to the difference of wireless communication module.Fire extinguishing system is divided into extinguishing chemical storage device and shower nozzle control module again.Extinguishing chemical not of the same race is stored in the different pressure pans, realizes the switching of different extinguishing chemicals by magnetic valve.Shower nozzle is the device of an adjustable-angle, in the burning things which may cause a fire disaster height distance not simultaneously, determines nozzle angle according to the information that temperature sensor is passed back.Intelligence control system is the control maincenter of entire machine robot system, and various external informations all need to be transferred to control system analysis, according to circumstances assigns action order then and realizes exercises.Intelligence control system adopts PC main frame or ARM master control borad just can satisfy computing and control needs.
The 5th step: set up the robot system workflow.The foundation of robot system and the transformation of working environment only are the first steps of system complete, and reasonably workflow design could the maximum function of bringing into play firefighting robot system.As shown in Figure 3, will give full play to the resources advantage of each side and the advantage of performance robot during robot system work, realize the on duty and complex condition fire suppression task of prosthetic.
Claims (3)
1. a Novel fire extinguishing robot system is characterized in that: change mentality of designing, under the prerequisite of the existing Robotics of maximum performance, the robot working environment is transformed, set up robot navigation's map.By improving robot locating speed and operation stability at work ground interpolation leading line and station location marker, be conducive to simultaneously reduce the cost of robot on location technology.Station location marker can be used for distinguishing the article of different fire-protection ratings.Navigation map can form standard, so can increase the substitutability of robot, also can set up exemplary criteria for later on other functional robot service lives, also can adopt this cover robot navigation map such as later household service robot.Robot navigation's map mode is set up the scope also can greatly expand existing robot application, can place in most places of daily life Robot Extinguishing Fire of the present invention system.
2. a novel firefighting robot system is characterized in that: set up the self-extinguishing pattern that robot and fire alarm system interrelate.Fire alarm system is sent to robot with fire location information after breaking out of fire, robot arrives fiery point automatically after receiving fire location information, the extinguishing chemical self-extinguishing of object information coupling in selection and the navigation map.So not only can suitably reduce fire extinguishing system such as water spray and substitute, also can realize the system's self-extinguishing under the unmanned situation simultaneously with the robot fire extinguishing.
3. novel firefighting robot system is characterized in that: set up robot and the camera head monitor system remote is got in touch.Connect by wireless camera and the wireless communication module monitoring system with firefighting robot and office space, warehouse, market and other places.Realize the supervisory-controlled robot duty, can work by the Artificial Control firefighting robot in case of necessity, even take firefighting robot and fire brigade's associated working modes of fire suppression.This will improve the flexibility of fire-fighting greatly, ensure fire fighter's safety.
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| CN 201010190066 CN101884830A (en) | 2010-05-28 | 2010-05-28 | Firefighting robot system |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102078670A (en) * | 2011-01-25 | 2011-06-01 | 上海市金山区青少年活动中心 | Intelligent fire-fighting robot |
| CN103357135A (en) * | 2013-07-30 | 2013-10-23 | 于希萌 | Automatic early-warning and fighting apparatus of fire disaster |
| CN103366494A (en) * | 2013-07-30 | 2013-10-23 | 于希萌 | Automatic early-warning and fighting method of fire disaster |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
| CN105005249A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller |
| CN105080014A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Firefighting robot positioning and navigation system and positioning and navigation method thereof |
| CN105617579A (en) * | 2016-03-22 | 2016-06-01 | 陕西思尔生物科技有限公司 | Fire-extinguishing robot |
| CN105666493A (en) * | 2016-03-29 | 2016-06-15 | 天津工业大学 | Intelligent fire-fighting robot |
| CN105758450A (en) * | 2015-12-23 | 2016-07-13 | 西安石油大学 | Fire protection pre-warning sensing system building method based on multiple sensor emergency robots |
| CN107193277A (en) * | 2017-05-05 | 2017-09-22 | 宁波华狮智能科技有限公司 | Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically |
| CN107680326A (en) * | 2017-11-08 | 2018-02-09 | 徐国聪 | A kind of depot safety protection intelligent robot |
| TWI626519B (en) * | 2016-09-19 | 2018-06-11 | 國立虎尾科技大學 | A movement device with a positioning technology and method thereof |
| CN108144225A (en) * | 2017-12-15 | 2018-06-12 | 安徽工业大学 | A kind of hyperbaric chamber fire-fighting robot |
| CN108785944A (en) * | 2018-06-29 | 2018-11-13 | 深圳市中电数通智慧安全科技股份有限公司 | A kind of fire plant and fire-fighting robot |
| CN108992825A (en) * | 2018-06-06 | 2018-12-14 | 北方工业大学 | Intelligent fire-fighting robot and control method thereof |
| CN109276833A (en) * | 2018-08-01 | 2019-01-29 | 吉林大学珠海学院 | A kind of robot patrol fire-fighting system and its control method based on ROS |
| CN109475763A (en) * | 2016-07-12 | 2019-03-15 | 德国美力有限两合公司 | For taking the unpiloted vehicles, system and the method for action |
| CN109663250A (en) * | 2018-12-06 | 2019-04-23 | 上海电力学院 | A kind of multifunctional fire extinguishing machine people's system |
| CN110837822A (en) * | 2019-12-09 | 2020-02-25 | 国网智能科技股份有限公司 | Fire-fighting robot injection curve adjusting method and device based on multi-view vision |
| US11449064B1 (en) | 2017-03-02 | 2022-09-20 | AI Incorporated | Robotic fire extinguisher |
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| CN1928498A (en) * | 2006-06-21 | 2007-03-14 | 兰州理工大学 | CPLD based robot visual guidance system |
| CN201164675Y (en) * | 2008-02-01 | 2008-12-17 | 山东省科学院自动化研究所 | Intelligent robot system for tunnel fire-fighting emergency |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102078670B (en) * | 2011-01-25 | 2016-10-05 | 上海市金山区青少年活动中心 | Intelligent fire-fighting robot |
| CN102078670A (en) * | 2011-01-25 | 2011-06-01 | 上海市金山区青少年活动中心 | Intelligent fire-fighting robot |
| CN103366494B (en) * | 2013-07-30 | 2015-09-30 | 青岛大学 | A kind of fire automatic early-warning saving method |
| CN103357135A (en) * | 2013-07-30 | 2013-10-23 | 于希萌 | Automatic early-warning and fighting apparatus of fire disaster |
| CN103366494A (en) * | 2013-07-30 | 2013-10-23 | 于希萌 | Automatic early-warning and fighting method of fire disaster |
| CN103357135B (en) * | 2013-07-30 | 2015-11-18 | 于希萌 | A kind of fire automatic early-warning fighting device |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
| CN105080014A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Firefighting robot positioning and navigation system and positioning and navigation method thereof |
| CN105005249A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller |
| CN105758450A (en) * | 2015-12-23 | 2016-07-13 | 西安石油大学 | Fire protection pre-warning sensing system building method based on multiple sensor emergency robots |
| CN105758450B (en) * | 2015-12-23 | 2017-11-24 | 西安石油大学 | Met an urgent need based on multisensor the fire-fighting early warning sensory perceptual system construction method of robot |
| CN105617579A (en) * | 2016-03-22 | 2016-06-01 | 陕西思尔生物科技有限公司 | Fire-extinguishing robot |
| CN105666493A (en) * | 2016-03-29 | 2016-06-15 | 天津工业大学 | Intelligent fire-fighting robot |
| CN109475763A (en) * | 2016-07-12 | 2019-03-15 | 德国美力有限两合公司 | For taking the unpiloted vehicles, system and the method for action |
| US11009877B2 (en) | 2016-07-12 | 2021-05-18 | Minimax Gmbh & Co. Kg | Unmanned vehicle, system, and method for initiating a fire extinguishing action |
| TWI626519B (en) * | 2016-09-19 | 2018-06-11 | 國立虎尾科技大學 | A movement device with a positioning technology and method thereof |
| US11449064B1 (en) | 2017-03-02 | 2022-09-20 | AI Incorporated | Robotic fire extinguisher |
| CN107193277A (en) * | 2017-05-05 | 2017-09-22 | 宁波华狮智能科技有限公司 | Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically |
| CN107680326A (en) * | 2017-11-08 | 2018-02-09 | 徐国聪 | A kind of depot safety protection intelligent robot |
| CN108144225B (en) * | 2017-12-15 | 2020-07-07 | 安徽工业大学 | High-pressure chamber fire-fighting robot |
| CN108144225A (en) * | 2017-12-15 | 2018-06-12 | 安徽工业大学 | A kind of hyperbaric chamber fire-fighting robot |
| CN108992825A (en) * | 2018-06-06 | 2018-12-14 | 北方工业大学 | Intelligent fire-fighting robot and control method thereof |
| CN108785944A (en) * | 2018-06-29 | 2018-11-13 | 深圳市中电数通智慧安全科技股份有限公司 | A kind of fire plant and fire-fighting robot |
| CN109276833A (en) * | 2018-08-01 | 2019-01-29 | 吉林大学珠海学院 | A kind of robot patrol fire-fighting system and its control method based on ROS |
| CN109663250A (en) * | 2018-12-06 | 2019-04-23 | 上海电力学院 | A kind of multifunctional fire extinguishing machine people's system |
| CN110837822A (en) * | 2019-12-09 | 2020-02-25 | 国网智能科技股份有限公司 | Fire-fighting robot injection curve adjusting method and device based on multi-view vision |
| CN110837822B (en) * | 2019-12-09 | 2022-09-09 | 国网智能科技股份有限公司 | Fire-fighting robot injection curve adjusting method and device based on multi-view vision |
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Open date: 20101117 |