CN110201333B - Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot - Google Patents
Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot Download PDFInfo
- Publication number
- CN110201333B CN110201333B CN201910485386.2A CN201910485386A CN110201333B CN 110201333 B CN110201333 B CN 110201333B CN 201910485386 A CN201910485386 A CN 201910485386A CN 110201333 B CN110201333 B CN 110201333B
- Authority
- CN
- China
- Prior art keywords
- robot
- fire
- reconnaissance
- base station
- extinguishing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- 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
-
- 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]
Abstract
The invention relates to a full-automatic cooperative reconnaissance and fire extinguishing operation method for a fire-fighting robot. And an encoder compensation and calculation mechanism is adopted to realize approximate estimation and deflection angle calculation of the front and rear positions of the robot. Adopt reconnaissance robot and fire-fighting robot cooperation operation, acquire the spatial position of points of interest such as sources of a fire in the front through reconnaissance robot, then carry out space coordinate transformation and realize that the accurate fixed point of fire-fighting robot puts out a fire. The invention can realize the full-automatic identification and positioning of dangerous sources such as fire sources in disaster sites and the automatic aiming function of the fire extinguishing robot, thereby improving the site disposal speed, improving the disposal efficiency of the dangerous sources and reducing the personnel damage and the property loss.
Description
Technical Field
The invention belongs to the field of fire-fighting robots, and particularly relates to a full-automatic cooperative reconnaissance and fire-extinguishing operation method for a fire-fighting robot.
Background
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. At present, most of robots carrying fire water monitor need to rely on remote operation of background fire fighters to realize adjustment of three-dimensional angles of the water monitor, so that a parabola for controlling the water monitor to shoot water falls on a firing point. However, the field environment is severe, dense smoke is generated, and the fire fighters are likely to have the problem of being unable to aim due to the influence of the visual field or the environment; even if fire fighters find and locate the ignition point, the fire fighting monitor needs to be remotely controlled to shoot water and locate, and the middle needs longer debugging and locating time, which is very unfavorable for the critical severe environment and the emergency scene.
The fire water monitor angle control method for adjusting the relative position of a fire point and a jet flow drop point based on a machine vision technology is a method capable of realizing accurate fire extinguishing, but is mainly used for a suspension type fire water monitor, and a vision camera and the fire water monitor of the suspension type fire water monitor are required to be installed at the high position of a building, so that a fire area is completely arranged under the visual field of the fire water monitor and the camera. The vision system and the fire water monitor of the existing intelligent fire-fighting robot are basically installed on the body of the robot, so that the robot is difficult to obtain enough visual field, realize accurate positioning of a fire source and a jet flow drop point and realize automatic accurate fire extinguishing. Therefore, how to realize the rapid positioning, searching, reconnaissance and fire extinguishing of the fire source in the high-risk environment is the key for determining whether the casualties and property loss of the disaster site can be reduced.
The current scheme that the robot that puts out a fire to the disaster scene seeks or fixes a position the fire disaster mainly falls into two kinds:
1) unmanned aerial vehicle high-altitude assistance detection method
Under this mode, fire-fighting robot need fly unmanned aerial vehicle to the overhead survey height of flame before the work, later with unmanned aerial vehicle self GPS positional information send to fire-fighting robot to confirm that unmanned aerial vehicle puts down the relative robot spatial position relation of flame, and then spray and put out a fire. There is typically an invention patent publication "accurate fire extinguishing system based on unmanned aerial vehicle and intelligent fire-fighting robot" with patent number 201721688135.7.
2) Robot body binocular vision positioning method
Through installing binocular vision equipment on fire-fighting robot, realize the detection to flame space position to control water cannon and put out a fire to fix a point. There is typically an intelligent fire-fighting robot disclosed in patent No. 201520997745. X. The method also uses the included angles detected by the thermal imaging camera at different positions of the fire source to indirectly calculate the position of the fire source, such as the fire scene fire source positioning method, positioning system and fire-fighting robot disclosed in the patent with the application number of 201610089608.5.
At present, the fire-fighting robot has the disadvantages in the field fire source positioning mode:
1) for the high-altitude assistance detection method of the unmanned aerial vehicle, the following main problems exist: firstly, the unmanned aerial vehicle needs to fly above the flame, which is extremely harmful to the equipment in practice; secondly, the positioning accuracy of the unmanned aerial vehicle depends on the positioning accuracy of the GPS, the traditional GPS cannot meet the requirement, and the cost of the system is too high due to the high price of the differential GPS; and thirdly, when the room is on fire, the GPS positioning system cannot work, and the method is invalid.
2) To the scheme of installation binocular vision equipment on the robot, because fire-fighting robot body height is lower, when launching the water column, shelter from the sight in the place ahead and lead to binocular vision positioning inefficacy easily.
Disclosure of Invention
The invention aims to provide a full-automatic cooperative reconnaissance and fire extinguishing operation method for a fire-fighting robot, which solves the problems of rapid identification of fire sources and other dangerous sources in severe disaster sites, rapid positioning of the robot and accurate spraying fire extinguishing by using a fire monitor.
The technical scheme adopted by the invention for solving the technical problems is as follows: a full-automatic cooperative reconnaissance and fire extinguishing operation method for a fire-fighting robot comprises the following steps:
1) the console is placed and its spatial position is defined as (0,0, z)1) Wherein z is1The height can be designed according to the earlier stage or quickly measured on site;
2) placing the auxiliary base station and defining the space position as (x)2,y2,z2) Wherein x is2,y2The parameters are obtained from direct in situ measurements, z2The height of the sensor is also designed in advance or rapidly measured on site;
3) arranging the reconnaissance robot and the fire-fighting robot from known positions relative to the vicinity of the master control station;
4) the second control module issues a reconnaissance and fire extinguishing instruction, the reconnaissance robot and the first control module in the fire extinguishing robot respond, and the third control module also gives a response through the third wireless communication module;
5) the first control module controls the fire-extinguishing robot and the mobile platform in the reconnaissance robot to move forward, and the encoder calculates the deflection angle of the left wheel and the right wheel of the robot in real time and feeds the deflection angle back to the second control module in the process;
6) after the fire extinguishing robot and the reconnaissance robot reach the working position, a first control module of the reconnaissance robot controls the reconnaissance robot to work: the first control module controls the driving parameter acquisition module to work and returns the field environment parameters to control the three-dimensional holder to rotate so as to drive the binocular stereo camera to search for the fire source, and after the position of the fire source is determined, the binocular stereo camera returns the spatial position of a fire source target point relative to the reconnaissance robot through the first control module and the first wireless communication module;
7) when the step 6) is carried out, the second control module sends a distance measuring and calculating instruction through the second wireless communication module, and at the moment, a third control module in the auxiliary base station responds through the third wireless communication module; in addition, the first wireless communication module in each robot also sends a response;
8) meanwhile, the first control module calculates the relative departure point deflection angle of the fire-extinguishing robot and the reconnaissance robot through the encoder, and easily obtains the relative positions among the fire-extinguishing robot, the reconnaissance robot, the main control console and the auxiliary base station according to a plane analysis method; then, according to the spatial position relation of the fire source relative to the reconnaissance robot, the spatial position relation of the fire-extinguishing robot relative to target points such as the fire source is obtained;
9) after second control module calculates fire-fighting robot deflection angle and water cannon and should spray data such as angle, with the instruction assign to fire-fighting robot, first control module cooperation encoder among the fire-fighting robot detects deflection angle parameter, drive fire-fighting robot aims at the flame source, then makes the fire-fighting water cannon adjust to suitable angle according to second control module control water cannon automatic adjustment subassembly and carries out the fixed point and spray the fire extinguishing.
Further, in the step 2), when the auxiliary base station is placed with the location parameter x2、y2When measurement is inconvenient, the measurement can be obtained by the following method: the second control module sends a distance measuring instruction through the second wireless communication module, and the third control module responds through the third wireless communication module, so that distance information between the main control station and the auxiliary base station is obtained, and a connecting line of the main control station and the auxiliary base station is used as a starting coordinate axis.
Further, in the step 6), during the reconnaissance of the reconnaissance robot on the fire source, the first control module should detect the relative rotation angle of the three-dimensional holder in real time, so as to perform the back-thrust compensation on the spatial relationship between the target points, such as the fire source and the like, acquired by the binocular stereo camera and the moving platform on the reconnaissance robot.
Further, in the step 7), after the first wireless communication module in each robot sends a response, the second control module calculates communication time of the communication signal from the main control console to the fire extinguishing robot and the reconnaissance robot through the second wireless communication module, so as to calculate the spatial distance between the main control console and the fire extinguishing robot and the spatial distance between the main control console and the reconnaissance robot; and the third control module calculates the communication time of the communication signal from the auxiliary base station to the fire-extinguishing robot and the reconnaissance robot through the third wireless communication module, so as to calculate the space distance between the auxiliary base station and the fire-extinguishing robot and the reconnaissance robot.
Further, the full-automatic cooperative reconnaissance and fire extinguishing operation method of the fire-fighting robot further comprises the following steps of:
1) the distance between the main control station and the fire-extinguishing robot is measured to be L1, the distance between the auxiliary base station and the fire-extinguishing robot is measured to be L2, the main control station is used as the center of a circle, L1 is used as the radius of the circle, the auxiliary base station is used as the center of a circle, L2 is used as the radius of the circle, and the two circles intersect at the points A and A';
2) the main control console measures that the space distance between the main control console and the scout robot is L3, the auxiliary base station measures that the space distance between the auxiliary base station and the scout robot is L4, a circle is made by taking the main control console as the center of a circle and taking L3 as the radius, a circle is made by taking the auxiliary base station as the center of a circle and taking L4 as the radius, and the two circles intersect at the points B and B' in the space;
3) after the main control platform, the auxiliary base station, the reconnaissance robot and the fire-extinguishing robot are distributed, the positions of the walking track of the robot relative to the distribution main control platform and the auxiliary base station are calculated according to data returned by the encoder, so that singular points A 'and B' are eliminated, and the plane position relationship of the reconnaissance robot and the fire-extinguishing robot relative to the main control platform and the auxiliary base station is obtained;
4) the deflection angles of the reconnaissance robot and the fire-fighting robot returned by the encoders are matched with the fire source position information acquired by the binocular stereo camera, so that the three-dimensional space geometric relationship between the reconnaissance robot and the fire-fighting robot relative to the main control console, the auxiliary base station and the fire source is obtained, and a basis is provided for calculating and extinguishing subsequent space relationship.
The invention has the following beneficial effects:
1) the reconnaissance robot and the fire-extinguishing robot are positioned in real time by adopting a plane positioning method, so that the relative positions of the robots relative to the main control console and the auxiliary base station are quickly obtained, and the robots are conveniently positioned, controlled and managed in a reverse thrust space.
2) Adopt reconnaissance robot and fire-fighting robot cooperation operation, acquire the spatial position of points of interest such as burning things which may cause a fire disaster in the front through reconnaissance robot, then carry out the space coordinate transform and realize that the accurate fixed point of fire-fighting robot is put out a fire, do not receive barriers such as water cannon rivers when discerning target points such as burning things which may cause a fire disaster to influence, improve reconnaissance efficiency and the recognition efficiency of target points such as burning things which may cause a fire disaster greatly.
3) The approximate estimation and deflection angle calculation of the front and rear positions of the robot are realized by adopting an encoder compensation and calculation mechanism, the relative deflection azimuth of the robot can be obtained at lower cost, the complexity and cost of the robot are reduced, and the measurement efficiency and the system stability are improved.
4) The robot positioning, reconnaissance and fire extinguishing method is not influenced by any indoor or outdoor environment, has wider application range, and greatly shortens the rescue preparation time by quickly positioning, reconnaissance and fire extinguishing in real time.
5) The invention can realize the full-automatic identification and positioning of dangerous sources such as fire sources in disaster sites and the automatic aiming function of the fire extinguishing robot, thereby improving the site disposal speed, improving the disposal efficiency of the dangerous sources and reducing the personnel damage and the property loss.
Drawings
FIG. 1 is a schematic diagram of the principle of the fully automatic cooperative detection and fire extinguishing method of the fire-fighting robot of the present invention.
Fig. 2 is a schematic structural view of the fire-extinguishing robot in front view.
Fig. 3 is a schematic view of the internal three-dimensional structure of the fire-fighting robot of the invention.
Fig. 4 is a schematic structural view of a main view of the reconnaissance fire-extinguishing robot.
Fig. 5 is a schematic view of the internal three-dimensional structure of the reconnaissance robot of the present invention.
FIG. 6 is a perspective view of the console of the present invention.
Fig. 7 is a schematic perspective view of an assisting base station according to the present invention.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the scope of the present invention is not limited to these examples. All changes, modifications and equivalents that do not depart from the spirit of the invention are intended to be included within the scope thereof.
The full-automatic cooperative reconnaissance and fire extinguishing operation method for the fire-fighting robot comprises the following steps of:
1) the console 3 is placed and its spatial position is defined as (0,0, z)1) Wherein z is1The height can be designed according to the earlier stage or quickly measured on site;
2) the subsidiary base station 4 is placed and its spatial position is defined as (x)2,y2,z2) Whereinx2,y2The parameters can be obtained from direct field measurements, z2The height of the device can be designed in advance or quickly measured on site;
3) arranging the scout robot 2 and the fire-fighting robot 1 from known positions relative to the vicinity of the main console 3;
4) the second control module 31 issues a scouting and fire extinguishing instruction, the scouting robot 2 responds to the first control module D in the fire extinguishing robot 1, and the third control module 43 also gives a response through the third wireless communication module 41;
5) the first control module D controls the fire-extinguishing robot 1 and the movable platform A in the reconnaissance robot 2 to move forward, and the encoder E calculates the deflection angles of the left wheel and the right wheel of the robot in real time and feeds the deflection angles back to the second control module 31 in the process;
6) after the fire-extinguishing robot 1 and the reconnaissance robot 2 reach the working position, the first control module D of the reconnaissance robot 2 controls the reconnaissance robot 2 to work: the first control module D controls the driving parameter acquisition module 21 to work and returns the field environment parameters, and controls the three-dimensional pan-tilt 23 to rotate, so as to drive the binocular stereo camera 22 to search for a fire source, and after the position of the fire source is determined, the binocular stereo camera 22 returns the spatial position of a fire source target point relative to the reconnaissance robot 2 through the first control module D and the first wireless communication module B;
7) while the step 6) is performed, the second control module 31 sends a distance measurement instruction through the second wireless communication module 32, and at this time, the third control module 43 in the assisting base station 4 responds through the third wireless communication module 41; in addition, the first wireless communication module B in each robot also sends a response, and the second control module 31 calculates the communication time of the communication signal from the main control station 3 to the fire-extinguishing robot 1 and the reconnaissance robot 2 through the second wireless communication module 32, so as to calculate the spatial distance from the main control station 3 to the fire-extinguishing robot 1 and the reconnaissance robot 2; the third control module 43 calculates the communication time between the communication signal from the auxiliary base station 4 to the fire-fighting robot 1 and the reconnaissance robot 2 through the third wireless communication module 41, so as to calculate the spatial distance between the auxiliary base station 4 and the fire-fighting robot 1 and the reconnaissance robot 2;
8) meanwhile, the first control module D calculates the relative departure point deflection angles of the fire-extinguishing robot 1 and the reconnaissance robot 2 through the encoder E, and easily obtains the relative positions among the fire-extinguishing robot 1, the reconnaissance robot 2, the main control console 3 and the auxiliary base station 4 according to a plane analysis method; then, according to the spatial position relationship of the fire source relative to the reconnaissance robot 2, the spatial position relationship of the fire-extinguishing robot 1 relative to target points such as the fire source is obtained;
9) second control module 31 calculates 1 deflection angle of fire-fighting robot and water cannon and should spray data such as angle after, with the instruction assign to fire-fighting robot 1, first control module D cooperation encoder E among the fire-fighting robot 1 detects the deflection angle parameter, drive fire-fighting robot 1 aims at the flame source, then makes 11 adjustments of fire-fighting water cannon to suitable angle carry out the fixed point and spray extinguishing according to second control module 31 control water cannon automatic adjustment subassembly 12.
Further, in the process of reconnaissance of the reconnaissance robot 2 on the fire source, the first control module D should also control and monitor the relative rotation angle of the three-dimensional pan-tilt 23 in real time, so as to perform back-thrust compensation on the spatial relationship between target points such as the fire source acquired by the binocular stereo camera 22 and the like with respect to the moving platform a on the reconnaissance robot 2.
Further, when the auxiliary base station 4 is disposed with the position parameter x2、y2When measurement is inconvenient, the measurement can be obtained by the following method: the second control module 31 sends a distance measurement command through the second wireless communication module 32, and the third control module 43 responds through the third wireless communication module 41, so as to obtain distance information between the main console 3 and the auxiliary base station 4 and use a connection line between the main console 3 and the auxiliary base station 4 as a starting coordinate axis.
The space control analysis method of the reconnaissance robot and the fire-extinguishing robot comprises the following steps:
the layout and position estimation schematic diagram of the robot is shown in fig. 1:
1) the distance between the main control console 3 and the fire-extinguishing robot 1 is measured to be L1, the distance between the auxiliary base station 4 and the fire-extinguishing robot 1 is measured to be L2, a circle is made by taking the main control console 3 as the center of a circle and taking L1 as the radius, a circle is made by taking the auxiliary base station 4 as the center of a circle and taking L2 as the radius, and the two circles intersect at the points A and A';
2) the main control station 3 measures that the space distance between the main control station 3 and the reconnaissance robot 2 is L3, the auxiliary base station 4 measures that the space distance between the auxiliary base station 4 and the reconnaissance robot 2 is L4, a circle is made by taking the main control station 3 as the center of a circle and taking L3 as the radius, a circle is made by taking the auxiliary base station 4 as the center of a circle and taking L4 as the radius, and the two circles intersect at the points B and B';
3) after the main control station 3, the auxiliary base station 4, the reconnaissance robot 2 and the fire-extinguishing robot 1 are distributed, the positions of the walking tracks of the robots relative to the main control station 3 and the auxiliary base station 4 can be calculated according to data returned by the encoder E, so that singular points A 'and B' can be eliminated, and the plane position relationship of the reconnaissance robot and the fire-extinguishing robot relative to the main control station 3 and the auxiliary base station 4 is obtained;
4) the deflection angles of the reconnaissance robot 2 and the fire-extinguishing robot 1 returned by the encoder E and the fire source position information acquired by the binocular stereo camera 22 are matched, so that the three-dimensional space geometric relationship between the reconnaissance robot 2 and the fire-extinguishing robot 1 relative to the main control console 3, the auxiliary base station 4 and the fire source can be acquired, and a basis is provided for subsequent space relationship calculation and fire extinguishing.
The fire-extinguishing robot 1 and the reconnaissance robot 2 respectively realize accurate fixed-point fire extinguishing and reconnaissance of target points such as a fire source; the main control console 3 mainly realizes instruction issuing, field data analysis and robot position coordinate calculation, and calculates the fire fighting water monitor jet angle of the fire fighting robot; the assisting base station 4 is used to assist spatial positioning.
As shown in fig. 3, the fire-fighting robot 1 includes a mobile platform a, a first wireless communication module B, a first communication antenna C, a first control module D, and an encoder E, where the mobile platform a is a crawler-type, wheel-type, or other conventional mobile mechanism, and has a built-in power supply mechanism, driver, and motor structure for driving the fire-fighting robot 1 to move on the ground. The first wireless communication module B is arranged inside the mobile platform A of the fire-fighting robot 1 and is used for realizing communication between the fire-fighting robot 1 and the reconnaissance robot 2, the main control console 3 and the auxiliary base station 4; the communication content comprises command issuing, state returning or parameter returning, and also comprises the step of acquiring the spatial distance between two communication main bodies through the time interval after the command is sent and the response command is acquired between any main bodies to be communicated. The first communication antenna C is arranged on a shell body of the fire-fighting robot 1, and the bottom of the first communication antenna C is connected with the first wireless communication module B to realize signal modulation and demodulation, signal sending and receiving. First control module D sets up in fire-fighting robot 1 inside, and first control module D connects encoder E, first wireless communication module B etc. for realize the control to moving platform A, the facial make-up equipment in fire-fighting robot 1, still receive and send the parameter including controlling first wireless communication module B. The encoders E are respectively arranged on motor rotating shafts or wheels of the moving platform A in the fire-extinguishing robot 1, and each motor rotating shaft or wheel is provided with the encoder E for measuring the moving distance of the moving platform A so as to calculate the moving heading angle of the moving platform A.
As shown in fig. 2, the fire-fighting robot 1 further comprises at least a fire monitor 11 and a monitor automatic adjustment assembly 12, the fire monitor 11 is disposed on the upper portion of the fire-fighting robot moving platform a, and the fire monitor 11 is connected with a rear fire-fighting pipeline for fire extinguishing. The automatic water monitor adjusting component 12 is arranged on the fire water monitor 11 and used for realizing the transformation of the spraying posture of the fire water monitor 11, so that the fire water monitor 11 can be adjusted horizontally and vertically, the transformation of spraying forms such as water spraying and mist spraying can be carried out, and the real-time change of the final water flow or water mist spraying track is realized. The automatic water cannon adjustment assembly 12 is connected to and controlled by a first control module D of the fire-fighting robot 1. The detailed structure of the fire monitor 11 and the automatic fire monitor adjustment assembly 12 can be seen from the structure of the all-terrain fire-fighting robot and the fire monitor system 200 in the working method, which are disclosed in application No. 201811138551.9.
As shown in fig. 5, the reconnaissance robot 2 includes a mobile platform a, a first wireless communication module B, a first communication antenna C, a first control module D, and an encoder E, where the mobile platform a is a crawler-type, wheel-type, or other conventional mobile mechanism, and has a built-in power supply mechanism, driver, and motor structure for driving the reconnaissance robot 2 to move on the ground. The first wireless communication module B is arranged in the mobile platform A of the reconnaissance robot 2 and is used for realizing communication between the reconnaissance robot 2 and the fire-extinguishing robot 1, the main control console 3 and the auxiliary base station 4; the communication content comprises command issuing, state returning or parameter returning, and also comprises the step of acquiring the spatial distance between two communication main bodies through the time interval after the command is sent and the response command is acquired between any main bodies to be communicated. The first communication antenna C is arranged on the shell of the reconnaissance robot 2, and the bottom of the first communication antenna C is connected with the first wireless communication module B to realize signal modulation and demodulation, signal sending and receiving. The first control module D is arranged inside the reconnaissance robot 2 and is connected with the encoder E, the first wireless communication module B and the like so as to control the mobile platform A and the loading equipment in the reconnaissance robot 2 and further control the first wireless communication module B to receive and send parameters. The encoders E are respectively arranged on motor rotating shafts or wheels of the moving platform A in the reconnaissance robot 2, and each motor rotating shaft or wheel is provided with the encoder E for measuring the moving distance of the moving platform A so as to calculate the moving heading angle of the moving platform A.
As shown in fig. 4, the reconnaissance robot 2 further includes at least a parameter acquisition module 21, a binocular stereo camera 22, and a three-dimensional pan-tilt 23. The parameter acquisition module 21 is arranged above the reconnaissance robot 2, and can reconnaissance and return the disaster site parameters in front of or around the mobile platform A in real time, wherein the parameter acquisition module 21 is also connected with the first control module D and controlled by the first control module D. The binocular stereo camera 22 is arranged on the three-dimensional pan-tilt 23, and uses the binocular stereo imaging principle to spatially locate a front target point and return spatial position information of the target point relative to the binocular stereo camera 22. Wherein the binocular stereo camera 22 is also connected to and controlled by the first control module D. The three-dimensional pan/tilt head 23 is disposed above the reconnaissance robot 2, and can drive the binocular stereo camera 22 to realize three-dimensional rotation of the binocular stereo camera 22 relative to the reconnaissance robot 2, so that the binocular stereo camera 22 can observe and collect images or video streams of target points in any space. The three-dimensional pan-tilt 23 is also connected with the first control module D.
As shown in fig. 6, the main console 3 is an operation console structure, and has a conventional power supply mechanism inside, and a control input mechanism and a display mechanism outside for the control intervention of the working personnel, the viewing of the field environment parameters, and the analysis and decision making. The console 3 includes a second control module 31, a second wireless communication module 32, and a second communication antenna 33, the second control module 31 and the second wireless communication module 32 are both disposed inside the console 3, the second control module 31 is used for command issuing, data analysis, and calculation of relative spatial positions of the robots, etc., the second control module 31 is connected to the second wireless communication module 32, and the second wireless communication module 32 mainly realizes communication functions, such as communication with the third wireless communication module 41 and the first wireless communication module B, and measures time consumed between different communication modules and calculates distances between communication subjects. The second communication antenna 33 is disposed outside the console 3, and the second communication antenna 33 is connected to the second wireless communication module 32 for transmitting and receiving signals.
As shown in fig. 7, the assisting base station 4 includes a third wireless communication module 41, a third communication antenna 42, and a third control module 43; the auxiliary base station 4 is mainly used for assisting the positioning of the fire-fighting robot 1 and the reconnaissance robot 2, the auxiliary base station 4 is arranged beside the main control console 3, and the spatial position relation of the auxiliary base station 4 relative to the main control console 3 is measured in advance. The third wireless communication module 41 and the third control module 43 are disposed inside the assisting base station 4 and used for receiving, sending, analyzing and calculating signal data, the third control module 43 is connected to the third wireless communication module 41 to realize control, and the third wireless communication module 41 is connected to the third communication antenna 42 to realize signal sending and receiving.
Other necessary structures of the fire-fighting robot 1 and the reconnaissance robot 2, which are not described in detail in the present invention, are known in the art, and reference may be made to the robot structure in the patent application filed by the applicant before the filing date of the present application.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (5)
1. A full-automatic cooperative reconnaissance and fire extinguishing operation method for a fire-fighting robot is characterized by comprising the following steps:
1) the console is placed and its spatial position is defined as (0,0, z)1) Wherein z is1Root of high altitudeDesigning according to the early stage or quickly measuring on the spot;
2) placing the auxiliary base station and defining the space position as (x)2,y2,z2) Wherein x is2,y2The parameters are obtained from direct in situ measurements, z2The height of the sensor is also designed in advance or rapidly measured on site;
3) arranging the reconnaissance robot and the fire-fighting robot from known positions relative to the vicinity of the master control station;
4) the second control module of the main control console issues reconnaissance and fire extinguishing instructions, the reconnaissance robot responds to the first control module in the fire extinguishing robot, and the third control module in the auxiliary base station also gives a response through the third wireless communication module;
5) the first control module respectively controls the moving platforms in the fire-fighting robot and the reconnaissance robot to move forward, and encoders in the fire-fighting robot and the reconnaissance robot respectively calculate the deflection angles of left and right wheels of the robot in real time and feed the deflection angles back to the second control module in the process;
6) after the fire extinguishing robot and the reconnaissance robot reach the working position, a first control module of the reconnaissance robot controls the reconnaissance robot to work: the first control module controls and drives a parameter acquisition module of the reconnaissance robot to work and return field environment parameters, and controls a three-dimensional holder of the reconnaissance robot to rotate, so that a binocular stereo camera is driven to search for a fire source, and after the position of the fire source is determined, the binocular stereo camera returns the spatial position of a fire source target point relative to the reconnaissance robot through the first control module and the first wireless communication module of the reconnaissance robot;
7) when the step 6) is carried out, the second control module sends a distance measuring and calculating instruction through the second wireless communication module, and at the moment, a third control module in the auxiliary base station responds through the third wireless communication module; in addition, the first wireless communication module in each robot also sends a response, and the second control module calculates the communication time of the communication signals from the main control station to the fire extinguishing robot and the reconnaissance robot through the second wireless communication module, so that the space distance between the main control station and the fire extinguishing robot and the space distance between the main control station and the reconnaissance robot are calculated; the third control module calculates the communication time of the communication signals from the auxiliary base station to the fire-extinguishing robot and the reconnaissance robot through the third wireless communication module, so that the space distance between the auxiliary base station and the fire-extinguishing robot and the spatial distance between the auxiliary base station and the reconnaissance robot are calculated;
8) meanwhile, the first control module calculates the relative departure point deflection angle of the fire-extinguishing robot and the reconnaissance robot through the encoder, and easily obtains the relative positions among the fire-extinguishing robot, the reconnaissance robot, the main control console and the auxiliary base station according to a plane analysis method; then, according to the spatial position relationship of the fire source relative to the reconnaissance robot, the spatial position relationship of the fire-extinguishing robot relative to the fire source target point is obtained;
9) after second control module calculates fire-fighting robot deflection angle and water cannon and should spray angle data, assign the instruction and reach fire-fighting robot, first control module cooperation encoder among the fire-fighting robot detects deflection angle parameter, and drive fire-fighting robot aims at the flame source, then makes the fire-fighting water cannon adjust to suitable angle and carry out the fixed point and spray the fire extinguishing according to second control module control water cannon automatic adjustment subassembly.
2. The fire-fighting robot fully-automatic cooperative reconnaissance and fire-fighting operation method according to claim 1, wherein in the step 2), when the parameter x of the deployment position of the auxiliary base station is set2、y2When measurement is inconvenient, the measurement is obtained by the following method: the second control module sends a distance measuring instruction through the second wireless communication module, and the third control module responds through the third wireless communication module, so that distance information between the main control station and the auxiliary base station is obtained, and a connecting line of the main control station and the auxiliary base station is used as a starting coordinate axis.
3. The fire-fighting robot fully-automatic cooperative reconnaissance and fire-extinguishing operation method according to claim 1, wherein in the reconnaissance robot reconnaissance of the fire source in step 6), the first control module is further configured to detect the relative rotation angle of the three-dimensional pan-tilt in real time, so as to perform back-thrust compensation on the spatial relationship between the fire source target point acquired by the binocular stereo camera and the moving platform on the reconnaissance robot.
4. The fire-fighting robot fully-automatic cooperative reconnaissance and fire-extinguishing operation method according to claim 1, wherein in the step 7), after the first wireless communication module in each robot sends out a response, the second control module calculates the communication time between the communication signal from the main control console to the fire-fighting robot and the reconnaissance robot through the second wireless communication module, so as to calculate the spatial distance between the main control console and the fire-fighting robot and the reconnaissance robot; and the third control module calculates the communication time of the communication signal from the auxiliary base station to the fire-extinguishing robot and the reconnaissance robot through the third wireless communication module, so as to calculate the space distance between the auxiliary base station and the fire-extinguishing robot and the reconnaissance robot.
5. The fully automatic cooperative reconnaissance and fire extinguishing operation method of a fire fighting robot as defined in any one of claims 1 to 4, further comprising a reconnaissance robot and fire fighting robot space control analysis step of:
1) the distance between the main control station and the fire-extinguishing robot is measured to be L1, the distance between the auxiliary base station and the fire-extinguishing robot is measured to be L2, the main control station is used as the center of a circle, L1 is used as the radius of the circle, the auxiliary base station is used as the center of a circle, L2 is used as the radius of the circle, and the two circles intersect at the points A and A';
2) the main control console measures that the space distance between the main control console and the scout robot is L3, the auxiliary base station measures that the space distance between the auxiliary base station and the scout robot is L4, a circle is made by taking the main control console as the center of a circle and taking L3 as the radius, a circle is made by taking the auxiliary base station as the center of a circle and taking L4 as the radius, and the two circles intersect at the points B and B' in the space;
3) after the main control platform, the auxiliary base station, the reconnaissance robot and the fire-extinguishing robot are distributed, the positions of the walking track of the robot relative to the distribution main control platform and the auxiliary base station are calculated according to data returned by the encoder, so that singular points A 'and B' are eliminated, and the plane position relationship of the reconnaissance robot and the fire-extinguishing robot relative to the main control platform and the auxiliary base station is obtained;
4) the deflection angles of the reconnaissance robot and the fire-fighting robot returned by the encoders are matched with the fire source position information acquired by the binocular stereo camera, so that the three-dimensional space geometric relationship between the reconnaissance robot and the fire-fighting robot relative to the main control console, the auxiliary base station and the fire source is obtained, and a basis is provided for calculating and extinguishing subsequent space relationship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485386.2A CN110201333B (en) | 2019-06-05 | 2019-06-05 | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485386.2A CN110201333B (en) | 2019-06-05 | 2019-06-05 | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110201333A CN110201333A (en) | 2019-09-06 |
| CN110201333B true CN110201333B (en) | 2020-11-06 |
Family
ID=67791028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910485386.2A Active CN110201333B (en) | 2019-06-05 | 2019-06-05 | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110201333B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481865A (en) * | 2020-04-22 | 2020-08-04 | 中国科学院微小卫星创新研究院 | Fire-fighting robot system and using method thereof |
| CN112604212B (en) * | 2020-12-22 | 2022-03-04 | 重庆迪马工业有限责任公司 | Self-programmable and preset fire extinguishing and cooling system and method |
| CN115414621B (en) * | 2022-06-07 | 2023-03-17 | 浙江华消科技有限公司 | Intelligent control method and related device for fire water monitor |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0630468A (en) * | 1992-07-06 | 1994-02-04 | Clarion Co Ltd | Remote control system for robot |
| CN101902686A (en) * | 2009-05-26 | 2010-12-01 | 雷凌科技股份有限公司 | Method and device for improving positioning accuracy of wireless communication system by soft information |
| CN101924986A (en) * | 2009-06-10 | 2010-12-22 | 雷凌科技股份有限公司 | Positioning method for wireless communication system and related device thereof |
| CN102419598A (en) * | 2011-12-08 | 2012-04-18 | 南京航空航天大学 | Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles |
| CN104522926A (en) * | 2014-12-09 | 2015-04-22 | 河南师范大学 | Fire disaster rescue positioning helmet |
| CN104902564A (en) * | 2015-05-29 | 2015-09-09 | 东华大学 | High-robustness and high-precision triangle centroid location method |
| CN105954718A (en) * | 2016-02-18 | 2016-09-21 | 青岛克路德机器人有限公司 | Fire scene fire source positioning method and system and fire-fighting robot |
| CN107179524A (en) * | 2017-04-26 | 2017-09-19 | 消检通（深圳）科技有限公司 | Fire-fighting equipment localization method, device, system and computer-readable recording medium |
| CN107224692A (en) * | 2017-06-26 | 2017-10-03 | 福州大学 | The wheeled autonomous aiming extinguishing method of fire-fighting robot |
| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN207950388U (en) * | 2017-12-07 | 2018-10-12 | 南京航空航天大学 | Precise fire extinguishing system based on unmanned plane and intelligent fire robot |
| CN109165703A (en) * | 2018-08-14 | 2019-01-08 | 中国地质大学（武汉） | A kind of fire extinguisher positioning system based on UWB |
| CN109191762A (en) * | 2018-10-18 | 2019-01-11 | 深圳市靓工创新应用科技有限公司 | Detect system, method and the readable storage medium storing program for executing of Plain fire |
| CN109254588A (en) * | 2018-10-17 | 2019-01-22 | 北京航空航天大学 | A kind of unmanned plane cluster coordinated investigation method based on cross and variation dove group's optimization |
| CN109275097A (en) * | 2018-11-16 | 2019-01-25 | 华东理工大学 | Indoor positioning and monitoring system based on UWB |
| CN109646853A (en) * | 2018-12-17 | 2019-04-19 | 华北科技学院 | A kind of autonomous fire fighting robot device and monitoring system |
-
2019
- 2019-06-05 CN CN201910485386.2A patent/CN110201333B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0630468A (en) * | 1992-07-06 | 1994-02-04 | Clarion Co Ltd | Remote control system for robot |
| CN101902686A (en) * | 2009-05-26 | 2010-12-01 | 雷凌科技股份有限公司 | Method and device for improving positioning accuracy of wireless communication system by soft information |
| CN101924986A (en) * | 2009-06-10 | 2010-12-22 | 雷凌科技股份有限公司 | Positioning method for wireless communication system and related device thereof |
| CN102419598A (en) * | 2011-12-08 | 2012-04-18 | 南京航空航天大学 | Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles |
| CN104522926A (en) * | 2014-12-09 | 2015-04-22 | 河南师范大学 | Fire disaster rescue positioning helmet |
| CN104902564A (en) * | 2015-05-29 | 2015-09-09 | 东华大学 | High-robustness and high-precision triangle centroid location method |
| CN105954718A (en) * | 2016-02-18 | 2016-09-21 | 青岛克路德机器人有限公司 | Fire scene fire source positioning method and system and fire-fighting robot |
| CN107179524A (en) * | 2017-04-26 | 2017-09-19 | 消检通（深圳）科技有限公司 | Fire-fighting equipment localization method, device, system and computer-readable recording medium |
| CN107224692A (en) * | 2017-06-26 | 2017-10-03 | 福州大学 | The wheeled autonomous aiming extinguishing method of fire-fighting robot |
| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN207950388U (en) * | 2017-12-07 | 2018-10-12 | 南京航空航天大学 | Precise fire extinguishing system based on unmanned plane and intelligent fire robot |
| CN109165703A (en) * | 2018-08-14 | 2019-01-08 | 中国地质大学（武汉） | A kind of fire extinguisher positioning system based on UWB |
| CN109254588A (en) * | 2018-10-17 | 2019-01-22 | 北京航空航天大学 | A kind of unmanned plane cluster coordinated investigation method based on cross and variation dove group's optimization |
| CN109191762A (en) * | 2018-10-18 | 2019-01-11 | 深圳市靓工创新应用科技有限公司 | Detect system, method and the readable storage medium storing program for executing of Plain fire |
| CN109275097A (en) * | 2018-11-16 | 2019-01-25 | 华东理工大学 | Indoor positioning and monitoring system based on UWB |
| CN109646853A (en) * | 2018-12-17 | 2019-04-19 | 华北科技学院 | A kind of autonomous fire fighting robot device and monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110201333A (en) | 2019-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110180112B (en) | Cooperative reconnaissance fire-extinguishing operation method for unmanned aerial vehicle and fire-fighting robot | |
| CN110201333B (en) | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot | |
| CN107899166B (en) | Accurate fire extinguishing system and method based on unmanned aerial vehicle and intelligent fire-fighting robot | |
| CN110180114B (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire-extinguishing method | |
| AU2012241780B2 (en) | System and method for controlling an unmanned air vehicle | |
| CN112774073B (en) | Unmanned aerial vehicle guided multi-machine cooperation fire extinguishing method and fire extinguishing system thereof | |
| CN110917529B (en) | Transformer substation fire-fighting robot and operation method thereof | |
| CN111617414A (en) | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method | |
| CN112619003B (en) | Multifunctional fire-fighting robot suitable for high altitude and operation method thereof | |
| CN110333735B (en) | System and method for realizing unmanned aerial vehicle water and land secondary positioning | |
| CN106933096B (en) | Self-following robot device and method for providing space positioning information for third party | |
| CN113730860A (en) | Autonomous fire extinguishing method of fire-fighting robot in unknown environment | |
| US20190244536A1 (en) | Intelligent tactical engagement trainer | |
| CN112863113A (en) | Intelligent fire-fighting system and method for automatic detector alarming and fire extinguishing and storage medium | |
| CN210228953U (en) | Unmanned aerial vehicle and fire-fighting robot reconnaissance fire extinguishing operation system | |
| CN111617415A (en) | Fully-autonomous fire-fighting robot operating system in complex environment and working method | |
| CN211527210U (en) | Robot target vehicle and robot target vehicle system | |
| CN104061910A (en) | Forest burning point positioning method based on GPS receiver and two cameras | |
| CN113805586A (en) | Autonomous fire-fighting special explosion-proof robot | |
| CN112675459A (en) | Autonomous detection positioning and accurate fire extinguishing robot system and use method | |
| KR101682797B1 (en) | Apparatus for tangible control of unmanned aerial vehicle and Method for control thereof | |
| CN210233006U (en) | Full-automatic cooperative reconnaissance and fire extinguishing system of fire-fighting robot | |
| CN104049267A (en) | Forest fire point positioning method based on GPS and microwave distance measurement | |
| CN105955307B (en) | Positioning method for water spray falling point of fire water monitor and fire-fighting robot | |
| CN110975194A (en) | Transformer substation fire-fighting robot auxiliary method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |