CN105944270A - Fire-extinguishing method and fire-extinguishing system being capable of self-aiming at fire source and spraying water to extinguish fire, and fire-fighting robot - Google Patents

Abstract

The invention relates to the technical field of fire-fighting devices and particularly discloses a fire-extinguishing method and a fire-extinguishing system being capable of self-aiming at a fire source and spraying water to extinguish fire, and a fire-fighting robot. The fire-extinguishing method includes the steps of: a) measuring the included angle between the fire source direction when the fire-fighting robot is located at an initial position and a moving route of the fire-fighting robot, the included angle between the fire source direction when the fire-fighting robot is located at a terminal position and the moving route of the fire-fighting robot, and the moving distance of the fire-fighting robot; 2) according to trigonometric function, calculating the distance between the terminal position of the fire-fighting robot and the fire source, and calculating the elevation angle of a water cannon according to relationship between the fire source direction and the elevation angle of the water cannon; and 3) spraying water to extinguish fire by means of the fire-fighting robot according to the calculated fire source distance and the elevation angle of the water cannon. The fire-extinguishing system includes a thermal imaging instrument, a pan-tilt head system, a chassis servo system, a servo electronic-controlled fire-fighting water cannon, an electronic water pressure meter and a control system. The fire-fighting robot includes the fire-extinguishing system. The method and the system achieve self-fire-extinguishing function by self-aiming at the fire source and spraying water to extinguish fire.

Description

Autonomous aiming burning things which may cause a fire disaster sprinkling fire method, fire extinguishing system and fire-fighting robot

Technical field

The present invention relates to fire-fighting equipment technical field, particularly relate to a kind of autonomous aim at burning things which may cause a fire disaster sprinkling fire method, Fire extinguishing system and fire-fighting robot.

Background technology

Along with the development development of science and technology, fire-fighting equipment more and more replaces fire fighter to enter into the scene of a fire One line carries out fire fighting, significantly improves fire brigade and puts out the warfighting capabilities of especially big malignant fire, to minimizing The injures and deaths of national wealth loss and fire fighting and rescue personnel have also produced important and have acted on.But of the prior art disappear The usual position of anti-equipment is fixed, and general fire-fighting equipment also needs to be fixed on eminence, and covering radius extremely has Limit, and in prior art, the autonomous fire extinguishing system of portable fire-fighting equipment such as fire-fighting robot lacks, and practical Property is extremely low.

Summary of the invention

It is an object of the invention to provide a kind of autonomous aiming burning things which may cause a fire disaster sprinkling fire method, fire extinguishing system and fire tower Device people, identifies the autonomous fire-extinguishing function concurrently of burning things which may cause a fire disaster sprinkling fire voluntarily realizing fire-fighting robot.

In order to solve above-mentioned technical problem, the invention provides a kind of autonomous aiming burning things which may cause a fire disaster sprinkling fire method, Comprise the following steps:

S1. fire-fighting robot detects the direction of fire location C point at original position A point by thermal imaging system；

S2. burning things which may cause a fire disaster is detected again by thermal imaging system after fire-fighting robot linearly moves to final position B point The direction of position C point；

S3. record the fire-fighting robot burning things which may cause a fire disaster direction when original position and fire-fighting robot mobile route it Between angle ∠ CAB=α, record the fire-fighting robot burning things which may cause a fire disaster direction when final position and fire-fighting robot Angle ∠ CBA=β between mobile route, records distance AB=L that fire-fighting robot moves；

S4. according to trigonometric function calculate fire-fighting robot when rising in final position with distance BC of burning things which may cause a fire disaster,

AB/sin ∠ ACB=AC/sin ∠ CBA=BC/sin ∠ CAB

L/sin (alpha-beta)=AC/sin β=BC/sin α

BC=L sin α/sin (alpha-beta)；

S5. the water jet height H of the fire water monitor of fire-fighting robot is obtained, it is thus achieved that the fire water of fire-fighting robot The water-jet velocity V of big gun, if the fire-fighting between the water spraying direction of the fire water monitor of fire-fighting robot and horizontal direction The water cannon elevation angle is γ, calculates water cannon elevation angle gamma according to the relational expression of burning things which may cause a fire disaster distance BC Yu water cannon elevation angle gamma,

$BC=Vcos\mathrm{\γ}\[\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(Vsin\mathrm{\γ}\right)}^2}{g}}\]$

$\frac{Lsin\mathrm{\α}}{\sin (\mathrm{\α}-\mathrm{\β})}=Vcos\mathrm{\γ}\[\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(V\sin \mathrm{\γ}\right)}^2}{g}}\];$

S6. fire-fighting robot carries out, according to burning things which may cause a fire disaster distance BC calculated and water cannon elevation angle gamma, fire extinguishing of firing.

Preferably, the process of the water-jet velocity V of the fire water monitor of described acquisition fire-fighting robot includes: measure Hydraulic pressure P in the water jet of the anti-water cannon of fire-fighting robot, according to law of conservation of energy and the depth of water and pressure Relation P=ρ gh calculates depth of water theoretical value h that this pressure is corresponding, calculates water spray according to law of conservation of energy Speed V,

$mgh=\frac{1}{2}{\mathrm{mV}}^2$

$V=\sqrt{2gh}.$

Preferably, thermal imaging system is driven to rotate to find burning things which may cause a fire disaster by horizontal stage electric machine, when burning things which may cause a fire disaster being detected, Obtain fire-fighting robot by horizontal stage electric machine and move the anglec of rotation of route from it.

Preferably, linearly moved by driven by servomotor fire-fighting robot, by the rotating speed of servomotor The distance that fire-fighting robot moves is calculated with wheel footpath.

Preferably, the fire water monitor of fire-fighting robot is servo electronic control type fire water monitor, and it includes obtaining in real time Water intaking bubbles out the elevation angle at the mouth of a river and the water cannon servomotor of side-play amount, and fire water monitor connection has to obtain in real time and disappears The electronics hydraulic pressure gauge of hydraulic pressure in anti-water cannon.

Preferably, described step S1-S5 is automatically performed by control system control each several part.

Present invention also offers a kind of autonomous aiming burning things which may cause a fire disaster fire-sprinkling system, including thermal imaging system, The Cloud Terrace system System, chassis servosystem, servo electronic control type fire water monitor, electronics hydraulic pressure gauge and control system；Described heat becomes As instrument is used for identifying burning things which may cause a fire disaster；Described clouds terrace system includes The Cloud Terrace and horizontal stage electric machine, sets including described thermal imaging system On described The Cloud Terrace, described horizontal stage electric machine is used for driving described thermal imaging system to rotate to find burning things which may cause a fire disaster；The described end Dish servosystem includes that mobile chassis and servomotor, described The Cloud Terrace are located on described mobile chassis, described in watch Take motor for driving described mobile chassis to move；Described servo electronic control type fire water monitor is located at the described mobile end It is connected on dish and with described thermal imaging system；Described electronics hydraulic pressure gauge and described servo electronic control type fire water monitor Being connected, described electronics hydraulic pressure gauge is used for Real-time Feedback water cannon hydraulic pressure；Described control system becomes with described heat respectively As instrument, clouds terrace system, chassis servosystem, servo electronic control type fire water monitor and electronics hydraulic pressure gauge connect, institute State control system for controlling each several part and receiving the data of each several part.

Preferably, described thermal imaging system is infrared thermography.

Present invention also offers a kind of fire-fighting robot, including described autonomous aiming burning things which may cause a fire disaster fire-sprinkling system.

The autonomous burning things which may cause a fire disaster sprinkling fire method that aims at of the present invention can aim at burning things which may cause a fire disaster sprinkling fire voluntarily, it is achieved Autonomous fire-extinguishing function concurrently, in high-risk scene of fire, replaces fireman to enter scene of a fire operation, protects a line and disappear The personal safety of anti-soldier, is greatly improved Performance-based fire and fire-fighting efficiency, has high practicality Property.

Accompanying drawing explanation

Fig. 1 is that the autonomous of the embodiment of the present invention aims at the principle positioning fire location in burning things which may cause a fire disaster water distribution extinguishing method Figure；

Fig. 2 is the autonomous signal aiming at drop point track of spraying water in burning things which may cause a fire disaster water distribution extinguishing method of the embodiment of the present invention Figure.

Detailed description of the invention

With embodiment, embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings.Hereinafter implement Example is used for illustrating the present invention, but can not be used for limiting the scope of the present invention.

The autonomous burning things which may cause a fire disaster sprinkling fire method that aims in the present embodiment comprises the following steps:

S1. fire-fighting robot detects the direction of fire location C point at original position A point by thermal imaging system；

Concrete, drive thermal imaging system to rotate to find burning things which may cause a fire disaster by horizontal stage electric machine, when burning things which may cause a fire disaster being detected, Obtain fire-fighting robot by horizontal stage electric machine and move the anglec of rotation of route from it.

S2. burning things which may cause a fire disaster is detected again by thermal imaging system after fire-fighting robot linearly moves to final position B point The direction of position C point；

Concrete, linearly moved by driven by servomotor fire-fighting robot, by the rotating speed of servomotor The distance that fire-fighting robot moves is calculated with wheel footpath.

S3. as it is shown in figure 1, record the fire-fighting robot burning things which may cause a fire disaster direction when original position and fire-fighting robot Angle ∠ CAB=α between mobile route, records the fire-fighting robot burning things which may cause a fire disaster direction when final position and disappears Angle ∠ CBA=β between the mobile route of anti-robot, records distance AB=L that fire-fighting robot moves.

S4. as it is shown in figure 1, according to trigonometric function calculate fire-fighting robot rise in final position time and burning things which may cause a fire disaster Distance BC,

AB/sin ∠ ACB=AC/sin ∠ CBA=BC/sin ∠ CAB

L/sin (alpha-beta)=AC/sin β=BC/sin α

BC=L sin α/sin (alpha-beta).

S5. the water jet height H of the fire water monitor of fire-fighting robot is obtained, it is thus achieved that the fire water of fire-fighting robot The water-jet velocity V of big gun, if the fire-fighting between the water spraying direction of the fire water monitor of fire-fighting robot and horizontal direction The water cannon elevation angle is γ, calculates water cannon elevation angle gamma according to the relational expression of burning things which may cause a fire disaster distance BC Yu water cannon elevation angle gamma,

$BC=Vcos\mathrm{\γ}\[\frac{V\sin \mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(V\sin \mathrm{\γ}\right)}^2}{g}}\]$

$\frac{Lsin\mathrm{\α}}{sin(\mathrm{\α}-\mathrm{\β})}=Vcos\mathrm{\γ}\[\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(Vsin\mathrm{\γ}\right)}^2}{g}}\];$

Wherein, the process of the water-jet velocity V of the fire water monitor of described acquisition fire-fighting robot includes: measures and disappears Hydraulic pressure P in the water jet of the anti-water cannon of anti-robot, according to law of conservation of energy and the depth of water and the pass of pressure It is P=ρ gh depth of water theoretical value h that calculates that this pressure is corresponding, calculates water spray speed according to law of conservation of energy Degree V,

$mgh=\frac{1}{2}{\mathrm{mV}}^2$

$V=\sqrt{2gh}.$

S6. fire-fighting robot carries out, according to burning things which may cause a fire disaster distance BC calculated and water cannon elevation angle gamma, fire extinguishing of firing；

Wherein, the fire water monitor of fire-fighting robot is servo electronic control type fire water monitor, and it includes obtaining in real time The elevation angle of blister outlet and the water cannon servomotor of side-play amount, fire water monitor connection has can obtain fire-fighting in real time The electronics hydraulic pressure gauge of hydraulic pressure in water cannon.

Described step S1-S5 is controlled each several part by control system and is automatically performed.

As in figure 2 it is shown, the circular of step S5 is in the present embodiment: with horizontal plane as X-axis, perpendicular Facing directly and set up such as figure XOY coordinate system for Y-axis, fire water monitor arranges D point in the drawings, therefore, fire-fighting The water jet height H=OD of water cannon.The water spray of fire water monitor, along D-M-E curvilinear motion in figure, finally falls Point is E, and wherein M is the peak of water spray, and the corresponding point in X-axis of M is P (not shown), scenario Position fire water monitor water spray drop point, i.e. show that the distance of OE is S.

The water-jet velocity of the water jet of fire water monitor is V, the elevation angle between water jet and the X-axis of fire water monitor γ, is decomposed into the component Vx along X-axis and component Vy, Vx=Vcos γ, Vy=Vsin along Y-axis by V γ。

The water spray motion analyzing fire water monitor understands, and is respectively two sections of flat throwing fortune by M to D with by M to E Dynamic, D to M, V it is gradually decreased as 0 along the component Vy of Y-axis, if being t by D to M movement time, Then have:

$Vy=gt,OP=Vxt,MP=OD+\frac{{\mathrm{gt}}^2}{2};$ So $t=\frac{V_y}{g}=\frac{Vsin\mathrm{\γ}}{g}.$ It is level throw motion by M to E, If being t by M to E movement time₁, then have:

$MP=\frac{{\mathrm{gt}}_1^2}{2},PE={\mathrm{Vx}}^{t_1}.$

Therefore, $OD+\frac{{\mathrm{gt}}^2}{2}=\frac{{\mathrm{gt}}_1^2}{2},$ Obtain $t_1=\sqrt{\frac{2OD}{g}+t^2}.$

So, $OE=OP+PE=V_{X}t+V_x{t}_1=V_x(t+t_1)=Vcos\mathrm{\γ}(\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2OD}{g}+t^2}),$ After arrangement, $S=Vcos\mathrm{\γ}\[\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(Vsin\mathrm{\γ}\right)}^2}{g}}\].$

From the process of above-mentioned computational methods, the localization method of the present invention combine fire water monitor water spray track and Motion principle calculates, and computational methods are reasonable, and the location for fire water monitor water spray is more nearly with actual Water spray drop point, the reasonable positioning for fire water monitor water spray drop point is accurate, has and joins foundation reliably.

Understood by the formula in the localization method of fire water monitor water spray drop point and need to obtain fire water monitor water jet Water-jet velocity, can measure by certain detecting instrument, and the present invention provides a kind of the easiest method, Specifically, the water-jet velocity V of the water jet of described acquisition fire water monitor includes:

Measure the hydraulic pressure P in the water jet of fire water monitor；

Control system calculates, according to P=ρ gh, depth of water theoretical value h that this pressure is corresponding；

Control system is by law of conservation of energy:It is calculated

In the method for the water-jet velocity V of the water jet of above-mentioned acquisition fire water monitor:

(1) according to the relation P=ρ gh of law of conservation of energy and the depth of water and pressure, (h is under different hydraulic pressure Theoretical value) it is known that discharge area is certain, the energy of instantaneous water of spraying water under different pressure is equal to the gravitational potential of water Energy.

(2) potential energy being approximately considered water is totally converted kinetic energy, then have:

Therefore, the water-jet velocity V of the water jet of detection fire water monitor is converted to detect fire water monitor by the present invention Water jet in hydraulic pressure P, be can be achieved with by the hydraulic pressure gauge in fire water monitor.On the one hand, existing fire water It is typically provided with hydraulic pressure gauge in big gun, can directly utilize, it is not necessary to additionally increase detecting element, reduce cost, separately On the one hand, the hydraulic pressure in detection fire water monitor is more easy to add simply, easily realizes.

Water spray drop point can effectively be positioned by the localization method of the fire water monitor water spray drop point of the present invention, this Actual fire-fighting work has great importance.

The autonomous burning things which may cause a fire disaster fire-sprinkling system that aims in the present embodiment includes: thermal imaging system, clouds terrace system, the end Dish servosystem, servo electronic control type fire water monitor, electronics hydraulic pressure gauge and control system；Described thermal imaging system is used In identifying burning things which may cause a fire disaster, described thermal imaging system is infrared thermography；Described clouds terrace system includes The Cloud Terrace and The Cloud Terrace electricity Machine, described thermal imaging system is located on described The Cloud Terrace, and described horizontal stage electric machine is used for driving described thermal imaging system to rotate To find burning things which may cause a fire disaster；It is described that described chassis servosystem includes that mobile chassis and servomotor, described The Cloud Terrace are located at On mobile chassis, described servomotor is used for driving described mobile chassis to move；Described servo electronic control type fire-fighting Water cannon is located on described mobile chassis and is connected with described thermal imaging system；Described electronics hydraulic pressure gauge is with described Servo electronic control type fire water monitor is connected, and described electronics hydraulic pressure gauge is used for Real-time Feedback water cannon hydraulic pressure；Described control System respectively with described thermal imaging system, clouds terrace system, chassis servosystem, servo electronic control type fire water monitor and Electronics hydraulic pressure gauge connects, and described control system is for controlling each several part and receiving the data of each several part.

Fire-fighting robot in the present embodiment includes described autonomous aiming burning things which may cause a fire disaster fire-sprinkling system.

The autonomous burning things which may cause a fire disaster sprinkling fire method that aims at of the present invention can aim at burning things which may cause a fire disaster sprinkling fire voluntarily, it is achieved Autonomous fire-extinguishing function concurrently, in high-risk scene of fire, replaces fireman to enter scene of a fire operation, protects a line and disappear The personal safety of anti-soldier, is greatly improved Performance-based fire and fire-fighting efficiency, has high practicality Property.

Embodiments of the invention in order to example and describe for the sake of and be given, and be not exhaustively or It limit the invention to disclosed form.Many modifications and variations are for the ordinary skill in the art It is apparent from.Selecting and describing embodiment is in order to the principle of the present invention and actual application are more preferably described, And make those of ordinary skill in the art it will be appreciated that the present invention thus design be suitable to special-purpose with respectively Plant the various embodiments of amendment.

Claims (9)

1. an autonomous aiming burning things which may cause a fire disaster sprinkling fire method, it is characterised in that comprise the following steps:

S1. fire-fighting robot detects the direction of fire location C point at original position A point by thermal imaging system；

S2. burning things which may cause a fire disaster is detected again by thermal imaging system after fire-fighting robot linearly moves to final position B point The direction of position C point；

S3. record the fire-fighting robot burning things which may cause a fire disaster direction when original position and fire-fighting robot mobile route it Between angle ∠ CAB=α, record the fire-fighting robot burning things which may cause a fire disaster direction when final position and fire-fighting robot Angle ∠ CBA=β between mobile route, records distance AB=L that fire-fighting robot moves；

S4. according to trigonometric function calculate fire-fighting robot when rising in final position with distance BC of burning things which may cause a fire disaster,

AB/sin ∠ ACB=AC/sin ∠ CBA=BC/sin ∠ CAB

L/sin (alpha-beta)=AC/sin β=BC/sin α

BC=L sin α/sin (alpha-beta)；

S5. the water jet height H of the fire water monitor of fire-fighting robot is obtained, it is thus achieved that the fire water of fire-fighting robot The water-jet velocity V of big gun, if the fire-fighting between the water spraying direction of the fire water monitor of fire-fighting robot and horizontal direction The water cannon elevation angle is γ, calculates water cannon elevation angle gamma according to the relational expression of burning things which may cause a fire disaster distance BC Yu water cannon elevation angle gamma,

$BC=Vcos\mathrm{\γ}\[\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(Vsin\mathrm{\γ}\right)}^2}{g}}\]$

$\frac{Lsin\mathrm{\α}}{sin(\mathrm{\α}-\mathrm{\β})}=Vcos\mathrm{\γ}\[\frac{Vsin\mathrm{\γ}}{g}+\sqrt{\frac{2H+{\left(Vsin\mathrm{\γ}\right)}^2}{g}}\];$

S6. fire-fighting robot carries out, according to burning things which may cause a fire disaster distance BC calculated and water cannon elevation angle gamma, fire extinguishing of firing.

Autonomous aiming burning things which may cause a fire disaster sprinkling fire method the most according to claim 1, it is characterised in that described The process of the water-jet velocity V obtaining the fire water monitor of fire-fighting robot includes: measure the waterproof of fire-fighting robot Hydraulic pressure P in the water jet of big gun, calculates according to the relation P=ρ gh of law of conservation of energy and the depth of water and pressure Go out depth of water theoretical value h that this pressure is corresponding, calculate water-jet velocity V according to law of conservation of energy,

$mgh=\frac{1}{2}{\mathrm{mV}}^2$

$V=\sqrt{2gh}.$

Autonomous aiming burning things which may cause a fire disaster sprinkling fire method the most according to claim 1, it is characterised in that pass through Horizontal stage electric machine drives thermal imaging system to rotate to find burning things which may cause a fire disaster, when burning things which may cause a fire disaster being detected, is obtained by horizontal stage electric machine Fire-fighting robot moves the anglec of rotation of route from it.

Autonomous aiming burning things which may cause a fire disaster sprinkling fire method the most according to claim 3, it is characterised in that pass through Driven by servomotor fire-fighting robot linearly moves, and calculates fire-fighting by the rotating speed of servomotor with wheel footpath The distance that robot moves.

Autonomous aiming burning things which may cause a fire disaster sprinkling fire method the most according to claim 4, it is characterised in that fire-fighting The fire water monitor of robot is servo electronic control type fire water monitor, and it includes can obtaining facing upward of blister outlet in real time The water cannon servomotor of angle and side-play amount, fire water monitor connects to have and can obtain the electricity of hydraulic pressure in fire water monitor in real time Sub-hydraulic pressure gauge.

6., according to the autonomous aiming burning things which may cause a fire disaster sprinkling fire method in any of the one of claim 1-5, it is special Levying and be, described step S1-S5 is controlled each several part by control system and is automatically performed.

7. an autonomous aiming burning things which may cause a fire disaster fire-sprinkling system, it is characterised in that include thermal imaging system, The Cloud Terrace system System, chassis servosystem, servo electronic control type fire water monitor, electronics hydraulic pressure gauge and control system；Described heat becomes As instrument is used for identifying burning things which may cause a fire disaster；Described clouds terrace system includes that The Cloud Terrace and horizontal stage electric machine, described thermal imaging system are located at institute Stating on The Cloud Terrace, described horizontal stage electric machine is used for driving described thermal imaging system to rotate to find burning things which may cause a fire disaster；Described chassis is watched Dress system includes that mobile chassis and servomotor, described The Cloud Terrace are located on described mobile chassis, described servo electricity Machine is used for driving described mobile chassis to move；Described servo electronic control type fire water monitor is located on described mobile chassis And be connected with described thermal imaging system；Described electronics hydraulic pressure gauge is connected with described servo electronic control type fire water monitor, institute State electronics hydraulic pressure gauge for Real-time Feedback water cannon hydraulic pressure；Described control system respectively with described thermal imaging system, cloud Platform system, chassis servosystem, servo electronic control type fire water monitor and electronics hydraulic pressure gauge connect, and described control is System is for controlling each several part and receiving the data of each several part.

Autonomous aiming burning things which may cause a fire disaster fire-sprinkling system the most according to claim 7, it is characterised in that described Thermal imaging system is infrared thermography.

9. a fire-fighting robot, it is characterised in that include independently aiming at fire described in claim 7 or 8 Source fire-sprinkling system.