CN110201333A - A kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method - Google Patents
A kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method Download PDFInfo
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- CN110201333A CN110201333A CN201910485386.2A CN201910485386A CN110201333A CN 110201333 A CN110201333 A CN 110201333A CN 201910485386 A CN201910485386 A CN 201910485386A CN 110201333 A CN110201333 A CN 110201333A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
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Abstract
The present invention relates to a kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation methods, realize that reconnaissance robot and firefighting robot position in real time using plane positioning method, relative position to each robot of quick obtaining with respect to master station and assistant base station, convenient for pushing away space orientation, control and management to robot is counter.It compensates and calculates that mechanism is realized using encoder to calculate the substantially estimation of robot front-rear position and deflection angle.Using reconnaissance robot and firefighting robot coordinating operation, the spatial position of the points of interest such as fire source is obtained in front by reconnaissance robot, space coordinate transformation is then carried out and realizes the accurate pointing fire-extinguishing of firefighting robot.The present invention can be achieved to improve danger source disposal efficiency to improve site disposal speed to full-automatic identification, positioning and the firefighting robot automatic aiming function of the danger sources such as disaster field fire source, reduce personal damage and property loss.
Description
Technical field
The invention belongs to fire-fighting robot fields, and in particular to a kind of full-automatic coordinated investigation of fire-fighting robot and work of putting out a fire
Industry method.
Background technique
The one kind of fire-fighting robot as specialized robot plays very important work in fire extinguishing and rescue further
With.The robot overwhelming majority for carrying fire water monitor at present need to rely on backstage fire fighter remote operation, realize to water cannon three-dimensional
The adjustment of angle is fallen on ignition point to control the parabola that water cannon is fetched water.But site environment is severe, and dense smoke gathers, fire-fighting
Most probably there is the problem of can not aiming at since itself visual field or environment influence in personnel；Even if fire fighter has found and positions
It is fiery, fire water monitor need to be remotely controlled and carry out positioning of fetching water, need among this longer debugging and positioning time-consuming, to critical severe ring
It is very unfavorable for border and scene of speedily carrying out rescue work.
Fire based on machine vision technique puts the fire water monitor angle control method adjusted with jet stream drop point relative position
A method of precise fire extinguishing may be implemented, but it is mainly used for suspension type fire water monitor, vision camera and fire water monitor
The eminence for needing to be mounted on building is completely disposed at fire area under the visual field of fire water monitor and video camera.Existing intelligence
The vision system and fire water monitor of energy fire-fighting robot are all mounted on its ontology substantially, it is difficult to obtain enough visuals field, it is difficult to
Realize the accurate positioning of fire source and jet stream drop point, it is difficult to realize that automatic and accurate is put out a fire.Therefore how to realize under high-risk environment to fire
Can quick positioning, searching, scouting and the fire extinguishing in source be the key that determine reduce disaster field casualties and property loss.
The scheme that the current robot to put out a fire for disaster field finds fire source or positions is broadly divided into two classes:
1) detection method is assisted in unmanned plane high-altitude
Under which, need to fly unmanned plane before fire-fighting robot work to measure height to flame overhead, after by unmanned plane from
Body GPS position information is sent to fire-fighting robot, so that it is determined that flame opposed robots spatial relation under unmanned plane, in turn
Ejecting extinguishing.Typically have the patent of invention announcement of Patent No. 201721688135.7 " is based on unmanned plane and intelligent fire
The precise fire extinguishing system of robot ".
2) robot body binocular visual positioning method
By installing binocular vision equipment on fire-fighting robot, the detection to flame space position is realized, to control
Water cannon carries out pointing fire-extinguishing.Typically there is the intelligent fire robot of the patent disclosure of Patent No. 201520997745.X.Also
There is the angle detected in fire source different location using thermal imaging system, calculates fire location indirectly, such as application No. is
" scene of fire fire source localization method, positioning system and the fire-fighting robot " of 201610089608.5 patent disclosure etc..
There is drawback in the mode positioned at present for fire-fighting robot scene to fire source:
1) assist detection method for unmanned plane high-altitude, there are following main problems: 1. unmanned plane need to fly to flame, real
This in border is very big to equipment harmfulness；2. the positioning accuracy of unmanned plane depends on GPS location precision, traditional GPS accuracy can not expire
Sufficient demand, and differential GPS price is more expensive causes system cost excessively high；3. when indoor kindling, GPS positioning system can not work,
This method failure.
2) for the scheme of installation binocular vision equipment on robot body, since fire-fighting robot body height is lower,
When emitting water column, front sight is blocked, binocular visual positioning is easy to cause to fail.
Summary of the invention
The purpose of the present invention is to provide a kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method, solve to dislike
The quick identification of the danger sources such as fire source, robot, which quickly position and carry out precisely injection using fire water monitor, under bad disaster field goes out
The problem of fire.
The technical solution adopted by the present invention to solve the technical problems is: a kind of full-automatic coordinated investigation of fire-fighting robot and
Extinguishing operation method, comprising the following steps:
1) master station is placed, and its spatial position is defined as (0,0, z1), wherein z1It can highly be designed according to early period or existing
Field rapid survey；
2) assistant base station is placed, and its spatial position is defined as (x2,y2,z2), wherein x2,y2Parameter is according to live direct
Measurement obtains, z2Height also according to early period design or on-site rapid measurement；
3) known location arrangements reconnaissance robot and firefighting robot near opposite master station；
4) the second control module assigns scouting and fire extinguishing instruction, the first control mould in reconnaissance robot and firefighting robot
Block is responded, and third control module provides response also by third wireless communication module at this time；
5) mobile platform in the first control module control firefighting robot and reconnaissance robot advances, and compiles in the process
Code device real-time computer device people's left and right wheels deflection angle simultaneously feeds back to the second control module；
6) after firefighting robot and reconnaissance robot reach operating position, the first control module control of reconnaissance robot
Reconnaissance robot work: the first control module control driving parameter collection module works and returns site environment parameter, controls
Three-dimensional cloud platform rotation, so that binocular solid camera be driven to find fire source, after determining fire location, binocular solid camera passes through
The spatial position of first control module and the first wireless communication module by fire disaster target point with respect to reconnaissance robot returns；
7) while step 6) carries out, the second control module issues distance exam by the second wireless communication module and refers to
It enables, the third control module in assistant base station is responded by third wireless communication module at this time；In addition, the first nothing in each robot
Line communication module also issues response；
8) simultaneously, the first control module calculates the opposite starting point of firefighting robot and reconnaissance robot by encoder
Deflection angle is easy to get opposite between firefighting robot, reconnaissance robot, master station and assistant base station according to plane analytic method
Position；Then, the spatial relation according to fire source with respect to reconnaissance robot, to obtain firefighting robot with respect to mesh such as fire sources
The spatial relation of punctuate；
It 9), will be under instruction after the second control module calculating firefighting robot deflection angle and water cannon answer the data such as spray angle
Firefighting robot is reached, the first control module matching coding device in firefighting robot detects deflection angle parameter, driving fire extinguishing
Robot is directed at fire source, and then controlling water cannon adjust automatically component according to the second control module adjusts fire water monitor to suitable angular
Degree carries out fixed point ejecting extinguishing.
Further, in the step 2), as the placement parameter x to assistant base station2、y2When being inconvenient to measure, it can lead to
Cross following method to obtain: the second control module issues range determination instruction, third control module by the second wireless communication module
Response is carried out by third wireless communication module, to obtain the distance between master station and assistant base station information and with master station
Line with assistant base station is as the reference axis originated.
Further, for the step 6) in reconnaissance robot scouts fire source, the first control module also answers real-time detection
The angle that three-dimensional holder relatively rotates, so that the target points such as fire source obtained for binocular solid camera are moved up with respect to reconnaissance robot
The spatial relationship progress of moving platform is counter to push away compensation.
Further, in the step 7), after the first wireless communication module issues response in each robot, the second control mould
Block calculates the communication of signal of communication from master station arrival firefighting robot and the Scouting robotic human world by the second wireless communication module
Time, to extrapolate space length of the master station apart from firefighting robot and reconnaissance robot；Third control module passes through the
Three wireless communication modules calculate the communication time that signal of communication reaches firefighting robot and the Scouting robotic human world from assistant base station, from
And extrapolate space length of the assistant base station apart from firefighting robot and reconnaissance robot.
Further, the full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method further include reconnaissance robot and fire extinguishing
Robot space controls analyzing step:
1) it is L1 at a distance from firefighting robot that master station, which is measured to, and assistant base station is measured at a distance from firefighting robot
It is that radius work is justified using master station as the center of circle, L1 for L2, is that radius work is justified using assistant base station as the center of circle, L2, two circles meet at space A
And A ' point；
2) it is L3 that master station, which is measured to the space length of reconnaissance robot, and assistant base station is measured to and reconnaissance robot
Space length is L4, is that radius work is justified using master station as the center of circle, L3, is that radius work is justified using assistant base station as the center of circle, L4, two circles are handed over
In space B and B ' point；
3) after laying master station, assistant base station, reconnaissance robot and firefighting robot, according to the data of encoder return
The opposite position for laying master station, assistant base station in robot ambulation track is extrapolated, so that singular point A ' and B ' are excluded, thus
Reconnaissance robot and firefighting robot are obtained with respect to master station, the plan positional relationship of assistant base station；
4) what the reconnaissance robot and firefighting robot deflection angle and binocular solid camera that matching coding device returns obtained
Fire location information, to obtain the three-dimensional space of reconnaissance robot and firefighting robot with respect to master station, assistant base station and fire source
Between geometrical relationship, for subsequent spatial relationship calculate and fire extinguishing foundation is provided.
The invention has the following advantages:
1) plane positioning method is used, realizes that reconnaissance robot and firefighting robot position in real time, thus each machine of quick obtaining
Device people with respect to master station and assistant base station relative position, convenient for pushing away space orientation, control and management to robot is counter.
2) reconnaissance robot and firefighting robot coordinating operation are used, it is emerging in front acquisition fire source etc. by reconnaissance robot
The spatial position of interest point then carries out space coordinate transformation and realizes the accurate pointing fire-extinguishing of firefighting robot, in mesh such as identification fire sources
It is not influenced by barriers such as water cannon water flows when punctuate, greatly improves the recognition efficiency of the target points such as reconnaissance efficiency and fire source.
3) mechanism is compensated and calculated using encoder, realizes the substantially estimation to robot front-rear position and deflection angle meter
It calculates, robot can be obtained with lower cost and deflect orientation relatively, reduce robot complexity and cost, improve measurement efficiency
And system stability.
4) robot localization, scouting and the extinguishing method in the present invention are not influenced by any indoor or outdoors environment, are applied
Range is wider, by positioning, scouting and putting out a fire real-time, quickly, thus greatly reduction rescue time.
5) the achievable full-automatic identification, positioning and firefighting robot to danger sources such as disaster field fire sources of the present invention is automatic
Aiming function improves danger source disposal efficiency to improve site disposal speed, reduces personal damage and property loss.
Detailed description of the invention
Fig. 1 is the full-automatic coordinated investigation of fire-fighting robot of the present invention and extinguishing method schematic illustration.
Fig. 2 is firefighting robot schematic view of the front view of the present invention.
Fig. 3 is schematic perspective view inside firefighting robot of the present invention.
Fig. 4 is that the present invention scouts firefighting robot schematic view of the front view.
Fig. 5 is schematic perspective view inside reconnaissance robot of the present invention.
Fig. 6 is master station stereoscopic mechanism schematic diagram of the present invention.
Fig. 7 is assistant base station schematic perspective view of the present invention.
Specific embodiment
The following is specific embodiments of the present invention, is described further to technical solution of the present invention, but of the invention
Protection scope is not limited to these examples.It is all to be included in the present invention without departing substantially from the change of present inventive concept or equivalent substitute
Protection scope within.
The full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method, comprising the following steps:
1) master station 3 is placed, and its spatial position is defined as (0,0, z1), wherein z1Height can according to early period design or
On-site rapid measurement；
2) assistant base station 4 is placed, and its spatial position is defined as (x2,y2,z2), wherein x2,y2Parameter can be according to scene
Directly measurement obtains, z2Height equally can according to early period design or on-site rapid measurement；
3) known location arrangements reconnaissance robot 2 and firefighting robot 1 near opposite master station 3；
4) the second control module 31 assigns scouting and fire extinguishing instruction, the first control in reconnaissance robot 2 and firefighting robot 1
Molding block D is responded, and third control module 43 provides response also by third wireless communication module 41 at this time；
5) the first control module D controls the mobile platform A in firefighting robot 1 and reconnaissance robot 2 and advances, in this process
Middle encoder E real-time computer device people's left and right wheels deflection angle simultaneously feeds back to the second control module 31；
6) after firefighting robot 1 and reconnaissance robot 2 reach operating position, the first control module D of reconnaissance robot 2
Control reconnaissance robot 2 to work: the first control module D control driving parameter collection module 21 work simultaneously returns site environment parameter
It passes, controls three-dimensional holder 23 and rotate, so that binocular solid camera 22 is driven to find fire source, after determining fire location, binocular
Sky of the stereoscopic camera 22 by the first control module D and the first wireless communication module B by fire disaster target point with respect to reconnaissance robot 2
Between position return；
7) while step 6) carries out, the second control module 31 issues distance exam by the second wireless communication module 32
Instruction, the third control module 43 in assistant base station 4 is responded by third wireless communication module 41 at this time；In addition, each robot
In the first wireless communication module B also issue response, the second control module 31 calculates communication letter by the second wireless communication module 32
Number the communication time between firefighting robot 1 and reconnaissance robot 2 is reached from master station 3, to extrapolate master station 3 apart from fire extinguishing
The space length of robot 1 and reconnaissance robot 2；Third control module 43 calculates communication letter by third wireless communication module 41
Number the communication time between firefighting robot 1 and reconnaissance robot 2 is reached from assistant base station 4, to extrapolate 4 distance of assistant base station
The space length of firefighting robot 1 and reconnaissance robot 2；
8) simultaneously, the first control module D by encoder E calculate firefighting robot 1 and reconnaissance robot 2 it is opposite go out
Hair point deflection angle, is easy to get firefighting robot 1, reconnaissance robot 2, master station 3 and assistant base station 4 according to plane analytic method
Between relative position；Then, the spatial relation according to fire source with respect to reconnaissance robot 2, to obtain 1 phase of firefighting robot
To the spatial relation of the target points such as fire source；
9) after the second control module 31 calculating 1 deflection angle of firefighting robot and water cannon answer the data such as spray angle, will refer to
Firefighting robot 1 is reached under order, the first control module D matching coding device E in firefighting robot 1 detects deflection angle parameter,
Firefighting robot 1 is driven to be directed at fire source, then controlling water cannon adjust automatically component 12 according to the second control module 31 makes fire water
Big gun 11 adjusts to proper angle and carries out fixed point ejecting extinguishing.
Further, in reconnaissance robot 2 scouts fire source, the first control module D also answers real-time control monitoring three-dimensional
The angle that holder 23 relatively rotates, so that the target points such as fire source obtained for binocular solid camera 22 are with respect on reconnaissance robot 2
The spatial relationship progress of mobile platform A is counter to push away compensation.
Further, as the placement parameter x to above-mentioned assistant base station 42、y2When being inconvenient to measure, such as lower section can be passed through
Method obtains: the second control module 31 issues range determination instruction by the second wireless communication module 32, and third control module 43 is logical
It crosses third wireless communication module 41 and carries out response, to obtain the distance between master station 3 and assistant base station 4 information and with master control
Reference axis of the line of platform 3 and assistant base station 4 as starting.
Reconnaissance robot and firefighting robot space control analytic method are as follows:
The layout and dead reckoning schematic diagram of robot are as shown in Figure 1:
1) it is L1 at a distance from firefighting robot 1 that master station 3, which is measured to, and assistant base station 4 is measured to and firefighting robot 1
Distance be L2, using master station 3 be the center of circle, L1 as radius work justify, using assistant base station 4 be the center of circle, L2 as radius work justify, two circle meet at
Space A and A ' point；
2) it is L3 that master station 3, which is measured to the space length of reconnaissance robot 2, and assistant base station 4 is measured to and Scouting robotic
The space length of people 2 be L4, using master station 3 be the center of circle, L3 as radius work justify, using assistant base station 4 be the center of circle, L4 as radius make
Circle, two circles meet at space B and B ' point；
3) it after laying master station 3, assistant base station 4, reconnaissance robot 2 and firefighting robot 1, is returned according to encoder E
Data can extrapolate the opposite position for laying master station 3, assistant base station 4 in robot ambulation track, so as to by singular point A '
And B ' is excluded, to obtain reconnaissance robot and firefighting robot with respect to master station 3, the plan positional relationship of assistant base station 4；
4) reconnaissance robot 2 and 1 deflection angle of firefighting robot and binocular solid camera 22 that matching coding device E is returned obtain
The fire location information taken, to can get reconnaissance robot 2 and firefighting robot 1 with respect to master station 3, assistant base station 4 and fire
The three-dimensional space geometrical relationship in source, to provide foundation for the reckoning of subsequent spatial relationship and fire extinguishing.
Firefighting robot 1 and reconnaissance robot 2 are realized respectively to the accurate pointing fire-extinguishing of the target points such as fire source and scouting；It is main
It controls platform 3 mainly to realize instruction issuing and field data parsing, calculate robot location's coordinate, calculates firefighting robot fire water monitor
Spray angle；Assistant base station 4 is positioned to auxiliary space.
As shown in figure 3, firefighting robot 1 includes mobile platform A, the first wireless communication module B, the first communication antenna C, the
One control module D, encoder E, mobile platform A is crawler type, wheeled or other conventional mobile mechanisms, built-in power supply mechanism, drive
Dynamic device and electric machine structure, to drive firefighting robot 1 in ground moving.First wireless communication module B is mounted on fire extinguishing machine
Inside the mobile platform A of people 1, to realize firefighting robot 1 and reconnaissance robot 2, master station 3, lead between assistant base station 4
News；The Content of communciation not only includes to carry out instruction issuing, state return or parameter passback, further includes by the master arbitrarily to be communicated
Instruction is sent between body and obtains the time interval after response instruction, obtains the two intersubjective space lengths of communication.First communication
Antenna C is set on the case body of firefighting robot 1, and the bottom of the first communication antenna C and the first wireless communication module B connect
It connects, to realize signal modulation and demodulation, signal transmission and receive.First control module D is set to inside firefighting robot 1,
First control module D connection encoder E, first wireless communication module B etc., to realize to mobile platform in firefighting robot 1
A, the standby control of upper installing further includes that the first wireless communication module B of control sends and receivees parameter.Encoder E is respectively arranged at
In firefighting robot 1 on the machine shaft or wheel of mobile platform A, and encoder E is respectively mounted on each machine shaft or wheel,
To measure the distance of mobile platform A movement, to calculate that it moves bow to angle.
As shown in Fig. 2, firefighting robot 1 also includes at least fire water monitor 11, water cannon adjust automatically component 12, fire water monitor
11 are set to the top firefighting robot mobile platform A, and fire water monitor 11 is connect with rear fire main for putting out a fire.Water cannon
Adjust automatically component 12 is set on fire water monitor 11, posture changing is sprayed to fire water monitor 11 to realize, to make fire-fighting
Water cannon 11 carries out horizontal, vertical angle adjustment, and the spray patterns such as can be sprayed water, be sprayed convert, and realizes final water flow or water mist
Spray the real-time change of track.Water cannon adjust automatically component 12 connects the first control module D of firefighting robot 1 and is controlled by it
System.Fire water monitor 11, water cannon adjust automatically component 12 detailed construction can be found in one kind application No. is 201811138551.9
The structure of fire water monitor system 200 in full landform fire-fighting robot and working method.
As shown in figure 5, reconnaissance robot 2 includes mobile platform A, the first wireless communication module B, the first communication antenna C, the
One control module D, encoder E, mobile platform A is crawler type, wheeled or other conventional mobile mechanisms, built-in power supply mechanism, drive
Dynamic device and electric machine structure, to drive reconnaissance robot 2 in ground moving.First wireless communication module B is mounted on Scouting robotic
Inside the mobile platform A of people 2, to realize reconnaissance robot 2 and firefighting robot 1, master station 3, lead between assistant base station 4
News；The Content of communciation not only includes to carry out instruction issuing, state return or parameter passback, further includes by the master arbitrarily to be communicated
Instruction is sent between body and obtains the time interval after response instruction, obtains the two intersubjective space lengths of communication.First communication
Antenna C is set on the case body of reconnaissance robot 2, and the bottom of the first communication antenna C and the first wireless communication module B connect
It connects, to realize signal modulation and demodulation, signal transmission and receive.First control module D is set to inside reconnaissance robot 2,
First control module D connection encoder E, first wireless communication module B etc., to realize to mobile platform in reconnaissance robot 2
A, the standby control of upper installing further includes that the first wireless communication module B of control sends and receivees parameter.Encoder E is respectively arranged at
In reconnaissance robot 2 on the machine shaft or wheel of mobile platform A, and encoder E is respectively mounted on each machine shaft or wheel,
To measure the distance of mobile platform A movement, to calculate that it moves bow to angle.
As shown in figure 4, reconnaissance robot 2 also includes at least parameter collection module 21, binocular solid camera 22, three-dimensional holder
23.Parameter collection module 21 is set to 2 top of reconnaissance robot, it can be achieved that joining to the front mobile platform A or surrounding disaster field
Number is scouted and is returned in real time, and wherein parameter collection module 21 also connect with the first control module D and is controlled by it effect.It is double
Mesh stereoscopic camera 22 is set on three-dimensional holder 23, is positioned using binocular stereo imaging principle to the objects ahead space of points, and will
Target point is returned with respect to the spatial positional information of binocular solid camera 22.Wherein binocular solid camera 22 also with the first control module
D is connected and is controlled by it effect.Three-dimensional holder 23 is set to 2 top of reconnaissance robot, and binocular solid camera 22 can be driven to realize
The three-dimensional rotation of itself opposite reconnaissance robot 2, to make 22 observable of binocular solid camera and acquire target in any space
The image or video flowing of point.Three-dimensional holder 23 is also connect with the first control module D.
As shown in fig. 6, master station 3 is station structure, it is internally provided with conventional electron mechanism, it is defeated that outside is provided with control
Enter mechanism and indication mechanism etc. to intervene for staff's control, check site environment parameter and analysis decision.Master station 3 includes the
Two control modules 31, the second wireless communication module 32, the second communication antenna 33, the second control module 31, the second wireless telecommunications mould
Block 32 is all set in inside master station 3, the second control module 31 to instruction issuing, data parsing, to calculate each robot opposite
Spatial position etc., the second control module 31 connect the second wireless communication module 32, and the second wireless communication module 32 is mainly realized logical
The functions such as news, such as communicated with third wireless communication module 41, the first wireless communication module B, and measure between different communication modules
Time-consuming, calculate and communicate intersubjective distance.Second communication antenna 33 is set to outside master station 3, and the second communication antenna 33 connects
The second wireless communication module 32 is connect, to realize that signal sends and receives.
As shown in fig. 7, assistant base station 4 includes third wireless communication module 41, third communication antenna 42, third control module
43；Assistant base station 4 is mainly used for that fire-fighting robot 1 and 2 positioning action of reconnaissance robot, assistant base station 4 is assisted to be set to master control
On one side, assistant base station 4 measures platform 3 in advance with respect to the spatial relation of master station 3.Third wireless communication module 41 and third control
Molding block 43 is set to inside assistant base station 4, is received to signal data, transmission and analytical Calculation, third control module 43 connect
It connects third wireless communication module 41 and realizes control action, third wireless communication module 41 connects third communication antenna 42 and realizes signal
It sends and receives.
Other the necessary structures for the fire-fighting robot 1 and reconnaissance robot 2 being not described in detail in the present invention belong to existing
Technology can refer to the robot architecture in the patent application that applicant proposed before the applying date of the invention.
The present invention is not limited to the above-described embodiments, anyone should learn that the structure made under the inspiration of the present invention becomes
Change, the technical schemes that are same or similar to the present invention are fallen within the scope of protection of the present invention.
Technology not described in detail in the present invention, shape, construction portion are well-known technique.
Claims (5)
1. a kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method, which comprises the following steps:
1) master station is placed, and its spatial position is defined as (0,0, z1), wherein z1Height is quick according to design early period or scene
Measurement；
2) assistant base station is placed, and its spatial position is defined as (x2,y2,z2), wherein x2,y2Parameter is directly measured according to scene
It obtains, z2Height also according to early period design or on-site rapid measurement；
3) known location arrangements reconnaissance robot and firefighting robot near opposite master station；
4) the second control module of master station assigns scouting and fire extinguishing instruction, the first control in reconnaissance robot and firefighting robot
Molding block is responded, and the third control module in assistant base station provides response also by third wireless communication module at this time；
5) the first control module controls the advance of the mobile platform in firefighting robot and reconnaissance robot respectively, goes out in the process
Encoder in fiery robot and reconnaissance robot real-time computer device people left and right wheels deflection angle and feeds back to the second control respectively
Molding block；
6) after firefighting robot and reconnaissance robot reach operating position, the first control module of reconnaissance robot, which controls, is scouted
Robot work: the parameter collection module work of the first control module control driving reconnaissance robot simultaneously returns site environment parameter
It passes, controls the three-dimensional cloud platform rotation of reconnaissance robot, to drive binocular solid camera to find fire source, when determining fire location
Afterwards, binocular solid camera is opposite by fire disaster target point by the first control module of reconnaissance robot and the first wireless communication module
The spatial position of reconnaissance robot returns；
7) while step 6) carries out, the second control module issues distance exam instruction by the second wireless communication module, this
When assistant base station in third control module responded by third wireless communication module；In addition, the first channel radio in each robot
News module also issues response；
8) simultaneously, the first control module is deflected by the opposite starting point that encoder calculates firefighting robot and reconnaissance robot
Angle is easy to get the opposite position between firefighting robot, reconnaissance robot, master station and assistant base station according to plane analytic method
It sets；Then, the spatial relation according to fire source with respect to reconnaissance robot, to obtain firefighting robot with respect to fire disaster target point
Spatial relation；
9) after the second control module calculating firefighting robot deflection angle and water cannon answer the data such as spray angle, extremely by instruction issuing
Firefighting robot, the first control module matching coding device in firefighting robot detect deflection angle parameter, drive fire extinguishing machine
People be aligned fire source, then according to the second control module control water cannon adjust automatically component make fire water monitor adjust to proper angle into
Row fixed point ejecting extinguishing.
2. the full-automatic coordinated investigation of fire-fighting robot as described in claim 1 and extinguishing operation method, which is characterized in that described
In step 2), as the placement parameter x to assistant base station2、y2It when being inconvenient to measure, obtains by the following method: the second control
Module issues range determination instruction by the second wireless communication module, and third control module is carried out by third wireless communication module
Response, to obtain the distance between master station and assistant base station information and using the line of master station and assistant base station as starting
Reference axis.
3. the full-automatic coordinated investigation of fire-fighting robot as described in claim 1 and extinguishing operation method, which is characterized in that described
For step 6) in reconnaissance robot scouts fire source, the first control module also answers the angle of real-time detection three-dimensional holder relative rotation
Degree, to be carried out instead for the fire disaster target point that binocular solid camera obtains with respect to the spatial relationship of mobile platform on reconnaissance robot
Push away compensation.
4. the full-automatic coordinated investigation of fire-fighting robot as described in claim 1 and extinguishing operation method, which is characterized in that described
In step 7), after the first wireless communication module issues response in each robot, the second control module passes through the second wireless telecommunications mould
Block calculates the communication time that signal of communication reaches firefighting robot and the Scouting robotic human world from master station, to extrapolate master station
Space length apart from firefighting robot and reconnaissance robot；Third control module calculates communication by third wireless communication module
Signal reaches the communication time of firefighting robot and the Scouting robotic human world from assistant base station, goes out to extrapolate assistant base station distance
The space length of fiery robot and reconnaissance robot.
5. the full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method, feature as described in claim 1-4 is any exist
In, further include reconnaissance robot and firefighting robot space control analyzing step:
1) it is L1 that master station, which is measured at a distance from firefighting robot, and assistant base station is measured to is at a distance from firefighting robot
L2, using master station as the center of circle, L1 be radius work justify, using assistant base station as the center of circle, L2 be radius work justify, two circle meet at space A and
A ' point；
2) it is L3 that master station, which is measured to the space length of reconnaissance robot, and assistant base station is measured to the space with reconnaissance robot
Distance is L4, is that radius work is justified using master station as the center of circle, L3, is that radius work is justified using assistant base station as the center of circle, L4, two circles meet at sky
Between B and B ' point；
3) it after laying master station, assistant base station, reconnaissance robot and firefighting robot, is calculated according to the data that encoder returns
The opposite position for laying master station, assistant base station in robot ambulation track out, to singular point A ' and B ' be excluded, to obtain
Reconnaissance robot and firefighting robot are with respect to master station, the plan positional relationship of assistant base station；
4) matching coding device returns reconnaissance robot and firefighting robot deflection angle and the fire source that binocular solid camera obtains
Location information, so that it is several with respect to the three-dimensional space of master station, assistant base station and fire source to obtain reconnaissance robot and firefighting robot
What relationship calculates for subsequent spatial relationship and fire extinguishing provides foundation.
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