CN109876345A - A kind of intelligent fire fighting method and firefighting robot - Google Patents
A kind of intelligent fire fighting method and firefighting robot Download PDFInfo
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- CN109876345A CN109876345A CN201910164345.3A CN201910164345A CN109876345A CN 109876345 A CN109876345 A CN 109876345A CN 201910164345 A CN201910164345 A CN 201910164345A CN 109876345 A CN109876345 A CN 109876345A
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Abstract
The invention discloses a kind of intelligent fire fighting method and firefighting robots, identify and position first to flame, with the characteristic information of the determination flame；The regulation parameter for being directed to the fire extinguisher is determined according to the characteristic information of the flame later；The fire extinguisher is regulated and controled followed by identified regulation parameter, is put out a fire with further controlling the fire extinguisher.In this way, the present invention identifying and positioning the real-time of flame by vision camera, effective control to fire extinguisher difference regulation parameter can be realized, to realize that the opening for automatically controlling fire extinguisher, closing and sprinkling aim at the function of fire source.
Description
Technical field
The present invention relates to intelligent fire field more particularly to a kind of intelligent fire fighting method and firefighting robots.
Background technique
With the raising of people's quality of life.Fitting-up is gradually superior, and electrical equipment increases, high-rise and Super High
Masses' gathering place scale such as the increase of building and shopping mall supermarket expands rapidly, and the importance of security against fire is more and more prominent
Out.With the development and maturation of INTELLIGENT BUILDING TECHNIQUE.More and more novel buildings use intelligent fire-pretection system.It is by two
Divide and constitute, a part is automatic fire alarm system, i.e. perception and cental system, like the face and brain of people；Another part
It is linkage extinguishing system, that is, system is executed, like the four limbs of people.In this way, intelligent fire-pretection system can find the fire of building in time
Hidden danger takes corresponding measure to be saved in time, so that the fire that will likely be bred disaster was eliminated at fire-retardant phase or initial stage.
In the industrial application of intelligent fire, it is with technical solution disclosed in Patent No. CN201210413993.6
Example, main to detect fire source by infrared diode, detection range, sensitivity and accurate positionin fire source ability are poor, fire extinguisher peace
Dress and opening mechanism are built on the sand, it has not been convenient to.Moreover, extinguishing chemical sprinkling vertical direction stroke is limited, spraying fire-extinguishing agent is not detected
The device in direction, therefore cannot ensure that extinguishing chemical is effectively directed at firebase and implements effectively fire extinguishing.
In addition, again for the technical solution disclosed in the Patent No. CN201320093344.2, mainly by infrared distant
Control control car body, can only realize short distance field control, practicability is poor.Although moreover, system carry video camera, can only
Observation scene is gone by screen by operator, does not have image recognition and localization process function in automatic mode, not
It independently can effectively control extinguishing chemical sprinkling direction.
Summary of the invention
The embodiment of the present invention is in order to solve accurately and effectively control present in the above-mentioned existing firefighting robot referred to
It is the problem of fire extinguisher processed, creative that a kind of intelligent fire fighting method and firefighting robot are provided.
According to a first aspect of the embodiments of the present invention, a kind of intelligent fire fighting method is provided, the method be applied to equipped with
The firefighting robot of fire extinguisher, which comprises flame is identified and positioned, is believed with the feature of the determination flame
Breath；The regulation parameter for being directed to the fire extinguisher is determined according to the characteristic information of the flame；Utilize identified regulation parameter pair
The fire extinguisher is regulated and controled, and is put out a fire with further controlling the fire extinguisher.
According to an embodiment of the present invention, the characteristic information of the flame includes at least one of following information: ignition point
The size of position and flame.
According to an embodiment of the present invention, the characteristic information of the flame is the position of ignition point；According to the flame
Characteristic information determines that the regulation parameter for the fire extinguisher includes: to determine the fire extinguishing machine according to the position of the ignition point
The kinematic parameter of people's power wheel；Correspondingly, carrying out regulation to the fire extinguisher using identified regulation parameter includes: to pass through drive
Moving cell controls the firefighting robot power wheel and adjust with the matched displacement of identified kinematic parameter.
According to an embodiment of the present invention, the characteristic information of the flame is the position of ignition point；According to the flame
Characteristic information determines that the regulation parameter for the fire extinguisher includes: to determine the fire extinguisher according to the position of the ignition point
Spray direction parameter；Correspondingly, carrying out regulation to the fire extinguisher using identified regulation parameter includes: to be watched by robotic arm
Motor control nozzle is taken adjust with the matched direction of identified sprinkling direction parameter.
According to an embodiment of the present invention, the characteristic information of the flame is the size of flame；According to the spy of the flame
Reference breath determines that the regulation parameter for the fire extinguisher includes: that the enabling of the fire extinguisher is determined according to the size of the flame
Number, height and/or handle adjusting parameter；Correspondingly, carrying out regulation packet to the fire extinguisher using identified regulation parameter
It includes: join with handle adjustment by the fire extinguisher that motor driver pair matches with identified enabling number and height
Number, which matches, adjusts operation.
According to an embodiment of the present invention, the handle adjusting parameter includes at least one of following adjusting parameter: under handle
Pressure amplitude degree, handle push and handle lifts.
According to an embodiment of the present invention, the method also includes: identified and positioned to flame, described in determination
After the characteristic information of flame, long-range control is established with remote control terminal and is connected；After long-range control successful connection, by described remote
The video clip at process control end to carry out remote control and regulation to the fire extinguisher, is put out a fire with further controlling the fire extinguisher.
According to a second aspect of the embodiments of the present invention, a kind of firefighting robot is also provided, is carried on the firefighting robot
There is fire extinguisher；The firefighting robot includes: vision camera, for identifying and positioning to flame, with the determination fire
The characteristic information of flame；Processor, for determining the regulation parameter for being directed to above-mentioned fire extinguisher according to the characteristic information of the flame；Also
For being regulated and controled using identified regulation parameter to the fire extinguisher, put out a fire with further controlling the fire extinguisher.
According to an embodiment of the present invention, the characteristic information of the flame includes at least one of following information: ignition point
The size of position and flame.
According to an embodiment of the present invention, the characteristic information of the flame is the position of ignition point；The processor is also used
In determining the kinematic parameter of the firefighting robot power wheel according to the position of the ignition point；Further pass through driving unit
The firefighting robot power wheel is controlled adjust with the matched displacement of identified kinematic parameter.
According to an embodiment of the present invention, the characteristic information of the flame is the position of ignition point；The processor is also used
In determining the sprinkling direction parameter of the fire extinguisher according to the position of the ignition point；Further pass through robotic arm servo motor
Nozzle is controlled adjust with the matched direction of identified sprinkling direction parameter.
According to an embodiment of the present invention, the characteristic information of the flame is the size of flame；The processor is also used to,
The enabling number of the fire extinguisher, height and/or handle adjusting parameter are determined according to the size of the flame；Further pass through electricity
The fire extinguisher that machine driver pair matches with identified enabling number and height match with the handle adjusting parameter
Adjustment operation.
According to an embodiment of the present invention, the handle adjusting parameter includes at least one of following adjusting parameter: under handle
Pressure amplitude degree, handle push and handle lifts.
According to an embodiment of the present invention, the processor is also used to, and flame is identified and determined in vision camera
Position is established long-range control with remote control terminal and is connected after the characteristic information of the determination flame；Long-range control successful connection
Afterwards, remote control and regulation is carried out to the fire extinguisher by the video clip of the remote control terminal, further to control described go out
Firearm is put out a fire.
Intelligent fire fighting method and firefighting robot described in the embodiment of the present invention first carry out flame by vision camera
It identifies and positions, with the characteristic information of the determination flame；It is determined according to the characteristic information of the flame and is gone out for described later
The regulation parameter of firearm；The fire extinguisher is regulated and controled followed by identified regulation parameter, it is described further to control
Fire extinguisher is put out a fire.In this way, the present invention identifying and positioning the real-time of flame by vision camera, can be realized to fire extinguishing
Device difference regulates and controls effective control of parameter, to realize that the opening for automatically controlling fire extinguisher, closing and sprinkling aim at the function of fire source
Energy.
It is to be appreciated that the teachings of the present invention does not need to realize whole beneficial effects recited above, but it is specific
Technical solution may be implemented specific technical effect, and other embodiments of the invention can also be realized and not mentioned above
Beneficial effect.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 shows the implementation process schematic diagram of intelligent fire fighting of the embodiment of the present invention；
Fig. 2 shows the composed structure schematic diagrames of firefighting robot of the embodiment of the present invention；
Fig. 3 shows the composed structure schematic diagram of firefighting robot in an application example of the invention.
Specific embodiment
The principle and spirit of the invention are described below with reference to several illustrative embodiments.It should be appreciated that providing this
A little embodiments are only to be to make those skilled in the art can better understand that realize the present invention in turn, and not with any side
Formula limits the scope of the invention.On the contrary, it is of the invention more thorough and complete to make for providing these embodiments, and it can incite somebody to action this
The range of invention is completely communicated to those skilled in the art.
The technical solution of the present invention is further elaborated in the following with reference to the drawings and specific embodiments.
Fig. 1 shows the implementation process schematic diagram of intelligent fire fighting of the embodiment of the present invention.
With reference to Fig. 1, intelligent fire fighting method of the embodiment of the present invention is applied to the firefighting robot equipped with fire extinguisher, the intelligence
Extinguishing method includes: operation 101, is identified and positioned to flame, with the characteristic information of the determination flame；Operation 102, root
The regulation parameter for being directed to the fire extinguisher is determined according to the characteristic information of the flame；Operation 103, utilizes identified regulation parameter
The fire extinguisher is regulated and controled, is put out a fire with further controlling the fire extinguisher.
In operation 101, firefighting robot can be identified and positioned flame by the vision camera of itself, thus
One or more different characteristic informations are determined, such as the position of ignition point and the size of flame.
In operation 102 and 103, the embodiment of the present invention automatically controls opening, closing and the spray of fire extinguisher in order to realize
Spill the function of aiming at fire source, firefighting robot make full use of determined by flame characteristic information, based on predetermined fire extinguishing it is regular come
It determines the regulation parameter for being directed to the fire extinguisher, such as the kinematic parameter of firefighting robot power wheel, sprays direction parameter, fire extinguisher
Enabling number, height and/or handle adjusting parameter etc.；Further, then based on different regulation parameters to fire extinguisher it carries out
Regulation.
According to an embodiment of the present invention, when the characteristic information of the flame is the position of ignition point, operation 102~
103 include: the kinematic parameter that the firefighting robot power wheel is determined according to the position of the ignition point；Further pass through driving
Unit controls the firefighting robot power wheel and adjust with the matched displacement of identified kinematic parameter.It specifically, can be with
The firefighting robot power wheel, which is controlled, by driving unit drives fire extinguisher advance, retrogressing, left-hand rotation or right-hand rotation certain displacement.
According to an embodiment of the present invention, when the characteristic information of the flame is the position of ignition point, operation 102~
103 include: the sprinkling direction parameter that the fire extinguisher is determined according to the position of the ignition point；Further pass through robotic arm servo
Motor control nozzle adjust with the matched direction of identified sprinkling direction parameter.Specifically, it can be watched by robotic arm
It takes motor control nozzle and adjusts certain angle upward or downward, to realize that sprinkling direction is adjusted above and below.
In this way, the present invention determines kinematic parameter and the institute of the firefighting robot power wheel according to the position of the ignition point
Fire extinguisher leather hose nozzle alignment firebase can be adjusted, to reach the spray of fire extinguisher in the sprinkling direction parameter for stating fire extinguisher
Spill omnidirectional's control.
According to an embodiment of the present invention, when the characteristic information of the flame is the size of flame, operation 102~103
It include: the enabling number that the fire extinguisher is determined according to the size of the flame, height and/or handle adjusting parameter；Pass through electricity
The fire extinguisher that machine driver pair matches with identified enabling number and height match with the handle adjusting parameter
Adjustment operation.Wherein, the handle adjusting parameter includes at least one of following adjusting parameter: handle pushes amplitude, handle pushes
And handle lifts.For example, four keys of 1-2# key and 3-4# key are provided in the control module of firefighting robot
The pushing of fire-extinguisher handle electric putter 1 and electric putter 2 is controlled respectively and is lifted, for manually controlling electricity when replacing fire extinguisher
Push rod lifts, and places and locks fire-extinguisher handle by button pressed after fire extinguisher.
In addition, be equipped with pushing limit switch in electric putter, for preventing electric putter from pushing excessively, cause mechanical failure or
The failures such as person's overcurrent, overload, limit switch is height-adjustable, for adapting to the height and control fire extinguisher of different size fire extinguisher
Handle pushes amplitude.In this way, the vision camera of firefighting robot is according to the spraying whole nozzle direction of accurate directional trim, always
Implement quickly and effectively to put out a fire in alignment fire source ignition point root.
According to an embodiment of the present invention, the method also includes: identified and positioned to flame, described in determination
After the characteristic information of flame, long-range control is established with remote control terminal and is connected；After long-range control successful connection, by described remote
The video clip at process control end to carry out remote control and regulation to the fire extinguisher, is put out a fire with further controlling the fire extinguisher.
Specifically, pass through SIM800 alarm module short message, Advise By Wire place responsible person, responsible person after firefighting robot finds fire
The dedicated APP of mobile phone firefighting robot is opened, robot ID, username and password are inputted, establishes and connects with the video network of robot
It connects.Further, by remote control terminal, as mobile phone terminal using (APP) can be controlled under video clip robot advance,
It retreats, turn left, turn right, the opening of fire extinguisher is closed, the upper and lower control of fire extinguisher leather hose control arm, to realize remote handle
Control quick extinguishing.
Intelligent fire fighting method described in the embodiment of the present invention first identifies and positions flame by vision camera,
With the characteristic information of the determination flame；Determine that the regulation for the fire extinguisher is joined according to the characteristic information of the flame later
Number；The fire extinguisher is regulated and controled followed by identified regulation parameter, is gone out with further controlling the fire extinguisher
Fire.In this way, the present invention identifying and positioning the real-time of flame by vision camera, it can be realized and fire extinguisher difference is regulated and controled to join
Several effective control, to realize that the opening for automatically controlling fire extinguisher, closing and sprinkling aim at the function of fire source.
Equally, it is based on intelligent fire fighting method as described above, the embodiment of the present invention provides a kind of computer-readable storage again
Medium, the computer-readable recording medium storage have program, when said program is executed by a processor, so that the processor
At least execute operating procedure as described below: operation 101 identifies and positions flame, with the feature of the determination flame
Information；Operation 102 determines the regulation parameter for being directed to the fire extinguisher according to the characteristic information of the flame；Operation 103 utilizes
Identified regulation parameter regulates and controls the fire extinguisher, is put out a fire with further controlling the fire extinguisher.
Further, it is based on intelligent fire fighting method described above, the embodiment of the present invention also provides a kind of firefighting robot, such as
Shown in Fig. 2, the firefighting robot 20 includes vision camera 201, for identifying and positioning to flame, described in determination
The characteristic information of flame；Processor 202, for determining that the regulation for above-mentioned fire extinguisher is joined according to the characteristic information of the flame
Number；It is also used to regulate and control the fire extinguisher using identified regulation parameter, be carried out with further controlling the fire extinguisher
Fire extinguishing.
According to an embodiment of the present invention, the characteristic information of the flame includes at least one of following information: ignition point
The size of position and flame.
According to an embodiment of the present invention, the characteristic information of the flame is the position of ignition point；The processor 202 is also
For determining the kinematic parameter of the firefighting robot power wheel according to the position of the ignition point；It is further single by driving
Member controls the firefighting robot power wheel and adjust with the matched displacement of identified kinematic parameter.
According to an embodiment of the present invention, the characteristic information of the flame is the position of ignition point；The processor 202 is also
For determining the sprinkling direction parameter of the fire extinguisher according to the position of the ignition point；Further pass through robotic arm servo electricity
Machine controls nozzle and adjust with the matched direction of identified sprinkling direction parameter.
According to an embodiment of the present invention, the characteristic information of the flame is the size of flame；The processor 202 is also used
In determining the enabling number of the fire extinguisher according to the size of the flame, height and/or handle adjusting parameter；Further lead to
The fire extinguisher that motor driver pair matches with identified enabling number and height is crossed to carry out and the handle adjusting parameter phase
Matching and modification operation.
According to an embodiment of the present invention, the handle adjusting parameter includes at least one of following adjusting parameter: under handle
Pressure amplitude degree, handle push and handle lifts.
According to an embodiment of the present invention, as shown in Fig. 2, the processor 202 is also used to, in vision camera to flame
It is identified and positioned, after the characteristic information of the determination flame, establishes long-range control with remote control terminal 21 and connect；Far
After process control successful connection, remote control and regulation is carried out to the fire extinguisher by the video clip of the remote control terminal 21, with
The fire extinguisher is further controlled to put out a fire.
Fig. 3 shows the composed structure schematic diagram of firefighting robot in an application example of the invention.As shown in figure 3, this goes out
Fiery robot 30 mainly includes robot vision camera 301, embeded processor 302, fire extinguisher control module 303 (in i.e.
Central processor), SIM800 alarm module 304, the composed structures such as driving uinit module 305 and WiFI module 306.
In a particular application, the fixed bit that multi-purpose dry chemical fire extinguisher can be installed on to firefighting robot 30 postpones, first
Lead sealing must be pulled out, safety plug is pulled out.
Further, pass through 304 short message of SIM800 alarm module, Advise By Wire field after firefighting robot 30 finds fire
Ground responsible person, responsible person open the dedicated APP of mobile phone firefighting robot, input robot ID, username and password, establish and put out a fire
The video network of robot connects.By mobile phone terminal APP can be controlled under video clip the advance of firefighting robot, retrogressing,
Turn left, turn right, the opening of fire extinguisher is closed, the upper and lower control of fire extinguisher leather hose control arm, to realize remote handle control
Quick extinguishing.
In addition, firefighting robot 30 then enters self-extinguishing mode when not setting up long-range control connection.
Firstly, identifying and positioning barrier by the vision camera 301 that firefighting robot carries, road is chosen, into one
Step controls firefighting robot 30 using embeded processor 302 and reaches within 3 meters of ranges of ignition point.
Secondly, adjusting fire extinguisher leather hose nozzle by 30 vision of firefighting robot is directed at firebase.Fire extinguisher controls mould
Block 303 realizes that sprinkling direction is adjusted above and below by control fire extinguisher mechanical arm servo motor；By controlling driving uinit module
305 realize that the front, rear, left and right direction of nozzle is adjusted to control the movement of robot front, rear, left and right, to reach fire extinguisher
Sprinkling omnidirectional control.
Finally, pushing fire-extinguisher handle electric putter, it is used to open fire extinguisher, when 30 vision-based detection of firefighting robot to arc extinguishing
After device is spraying, stops pushing electric putter, pushing limit switch is installed in electric putter, for preventing electric putter from pushing excessively, is made
At the failures such as mechanical failure or overcurrent, overload, limit switch is height-adjustable, for adapting to the height of different size fire extinguisher
Amplitude is pushed with control fire-extinguisher handle.30 vision of firefighting robot begins according to the spraying whole nozzle direction of accurate directional trim
Alignment fire source ignition point root implements quickly and effectively to put out a fire eventually.Four keys of 1-2# key and 3-4# key control fire extinguishing respectively
It the pushing of device handle electric putter 1 and electric putter 2 and lifts, is lifted for manually controlling electric putter when replacing fire extinguisher, placed
Fire-extinguisher handle is locked by button pressed after good fire extinguisher.In addition, robot can determine to start automatically according to fire behavior size
Single fire extinguisher or two fire extinguishers start simultaneously.
Under another application example, firefighting robot 30, which turns WIFI module 306 by 4G, may be implemented remote private network
Video control fire extinguishing, can also carry interior space map and indoor positioning obstacle avoidance system, to realize that automatic path planning is put out a fire
Function.
It need to be noted that: above to the description of firefighting robot embodiment, implement with aforementioned method shown in FIG. 1
The description of example be it is similar, there is the similar beneficial effect with aforementioned embodiment of the method shown in FIG. 1, therefore do not repeat them here.It is right
In the present invention to undisclosed technical detail in firefighting robot embodiment, it is real to please refer to the aforementioned method shown in FIG. 1 of the present invention
It applies the description of example and understands, to save length, therefore repeat no more.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit；Both it can be located in one place, and may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in one processing unit, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, which exists
When execution, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: movable storage device, read-only deposits
The various media that can store program code such as reservoir (Read Only Memory, ROM), magnetic or disk.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the present invention is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.
And storage medium above-mentioned includes: various Jie that can store program code such as movable storage device, ROM, magnetic or disk
Matter.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of intelligent fire fighting method, which is characterized in that the method is applied to the firefighting robot equipped with fire extinguisher, described
Method includes:
Flame is identified and positioned, with the characteristic information of the determination flame；
The regulation parameter for being directed to the fire extinguisher is determined according to the characteristic information of the flame；
The fire extinguisher is regulated and controled using identified regulation parameter, is put out a fire with further controlling the fire extinguisher.
2. the method according to claim 1, wherein the characteristic information of the flame include at least following information it
One: the position of ignition point and the size of flame.
3. according to the method described in claim 2, it is characterized in that, the characteristic information of the flame is the position of ignition point；Root
Determine that the regulation parameter for the fire extinguisher includes: to determine according to the position of the ignition point according to the characteristic information of the flame
The kinematic parameter of the firefighting robot power wheel；
Correspondingly, using identified regulation parameter to the fire extinguisher carry out regulation include: controlled by driving unit described in
Firefighting robot power wheel adjust with the matched displacement of identified kinematic parameter.
4. according to the method described in claim 2, it is characterized in that, the characteristic information of the flame is the position of ignition point；Root
Determine that the regulation parameter for the fire extinguisher includes: to determine according to the position of the ignition point according to the characteristic information of the flame
The sprinkling direction parameter of the fire extinguisher；
Correspondingly, carrying out regulation to the fire extinguisher using identified regulation parameter includes: by robotic arm servo motor control
Nozzle processed adjust with the matched direction of identified sprinkling direction parameter.
5. according to the method described in claim 2, it is characterized in that, the characteristic information of the flame is the size of flame；According to
The characteristic information determination of the flame includes: according to the determination of the size of the flame for the regulation parameter of the fire extinguisher
The enabling number of fire extinguisher, height and/or handle adjusting parameter；
Correspondingly, carrying out regulation to the fire extinguisher using identified regulation parameter includes: by motor driver pair and institute
The fire extinguisher that determining enabling number and height matches carries out the adjustment operation that matches with the handle adjusting parameter.
6. according to the method described in claim 5, it is characterized in that, the handle adjusting parameter includes at least following adjusting parameter
One of: handle pushes amplitude, handle pushes and handle lifts.
7. method according to any one of claims 1 to 6, which is characterized in that the method also includes:
It identifies and positions to flame, after the characteristic information of the determination flame, is established with remote control terminal long-range
Control connection；
After long-range control successful connection, the fire extinguisher is remotely adjusted by the video clip of the remote control terminal
Control, is put out a fire with further controlling the fire extinguisher.
8. a kind of firefighting robot, which is characterized in that equipped with fire extinguisher on the firefighting robot；The firefighting robot packet
It includes:
Vision camera, for being identified and positioned to flame, with the characteristic information of the determination flame；
Processor, for determining the regulation parameter for being directed to above-mentioned fire extinguisher according to the characteristic information of the flame；It is also used to utilize
Identified regulation parameter regulates and controls the fire extinguisher, is put out a fire with further controlling the fire extinguisher.
9. firefighting robot according to claim 8, which is characterized in that the characteristic information of the flame includes at least as follows
One of information: the position of ignition point and the size of flame.
10. firefighting robot according to claim 9, which is characterized in that the characteristic information of the flame is ignition point
Position；
The processor is also used to, and the kinematic parameter of the firefighting robot power wheel is determined according to the position of the ignition point；
Further the firefighting robot power wheel is controlled by driving unit adjust with the matched displacement of identified kinematic parameter
Section.
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| CN201910164345.3A CN109876345A (en) | 2019-03-05 | 2019-03-05 | A kind of intelligent fire fighting method and firefighting robot |
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| CN201910164345.3A CN109876345A (en) | 2019-03-05 | 2019-03-05 | A kind of intelligent fire fighting method and firefighting robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110841220A (en) * | 2019-12-09 | 2020-02-28 | 国网智能科技股份有限公司 | Intelligent fire-fighting system and method for transformer substation |
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN111437545A (en) * | 2020-03-25 | 2020-07-24 | 深圳中电科瑞电力自动化有限公司 | Cable fire extinguishing method, apparatus, device and computer readable storage medium |
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| CN110989599B (en) * | 2019-12-09 | 2022-06-24 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN111437545A (en) * | 2020-03-25 | 2020-07-24 | 深圳中电科瑞电力自动化有限公司 | Cable fire extinguishing method, apparatus, device and computer readable storage medium |
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Application publication date: 20190614 |