CN110898357A - Foot-shaped investigation fire-extinguishing rescue robot system and method - Google Patents
Foot-shaped investigation fire-extinguishing rescue robot system and method Download PDFInfo
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- CN110898357A CN110898357A CN201911010983.6A CN201911010983A CN110898357A CN 110898357 A CN110898357 A CN 110898357A CN 201911010983 A CN201911010983 A CN 201911010983A CN 110898357 A CN110898357 A CN 110898357A
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- A—HUMAN NECESSITIES
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- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C33/00—Hose accessories
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
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Abstract
The invention discloses a foot-shaped investigation fire-extinguishing rescue robot system and a method, the scheme comprises a foot-shaped mobile chassis, a fire-extinguishing rescue assembly and a background control system, wherein the fire-extinguishing rescue assembly and the background control system are arranged on the foot-shaped mobile chassis; the background control system acquires the field environment data and/or the field state data acquired by the fire-fighting and rescue assembly to form a fire-fighting and rescue instruction so as to control the moving state of the foot-shaped moving chassis and drive the fire-fighting and rescue assembly to carry out fire-fighting and/or rescue actions according to the moving state of the foot-shaped moving chassis. The scheme can be suitable for various dangerous accident sites, and can carry out real-time investigation and fire-extinguishing rescue on the sites; simultaneously, this scheme still has very big effective work scope, and the practicality is strong.
Description
Technical Field
The invention relates to a remote fire-extinguishing rescue technology, in particular to remote fire-extinguishing rescue equipment.
Background
In recent years, emergencies such as wars and terrorist attacks, natural disasters such as earthquakes and tsunamis, and potential nuclear, chemical, biological and explosive substances threaten the safety of human life and property.
The severity, diversity and complexity of various disasters have increased as they occur more often. 72 hours after the disaster is a gold rescue event, but under the influence of the unstructured environment of the disaster site, the fire rescue personnel are difficult to work quickly, efficiently and safely, and the rescue task gradually exceeds the capability range of the rescue personnel, so the fire rescue robot becomes an important development direction.
The fire-fighting rescue robot is one of special robots and plays a role in putting a great deal of weight in fire extinguishing and emergency rescue based on unique functions. The fire rescue robot can replace fire rescue workers to reach some dangerous accident sites (such as dangerous disaster accident sites of inflammable, explosive, toxic, anoxic and dense smoke) at the first time, not only can carry out fire extinguishing rescue on the dangerous accident sites at the first time, but also can avoid the dangerous accident sites from causing harm to the fire rescue workers.
The current robot platform generally adopts the track form, can adapt to multiple topography based on the characteristics of track, but the track structure also has a lot of not enoughly, and especially small-size robot platform is subject to the restriction of volume and weight, and the climbing ability of track hardly adapts to the barrier that exceeds a take the altitude, has restricted robot platform's application environment.
Moreover, the existing fire rescue robot needs to be connected with a fire hydrant or other background equipment in real time through a rescue pipeline during working, so that the effective working range of the existing fire rescue robot is limited, and the fire rescue performance of the fire rescue robot is seriously influenced.
Disclosure of Invention
Aiming at the problems of the existing fire-fighting rescue robot in a crawler belt form, the invention provides a foot-shaped detection fire-fighting rescue robot system with strong adaptability and practicability, and provides a fire-fighting rescue method according to the system scheme.
In order to achieve the purpose, the foot-shaped investigation fire-extinguishing rescue robot system comprises a foot-shaped movable chassis, a fire-extinguishing rescue assembly and a background control system, wherein the fire-extinguishing rescue assembly and the background control system are arranged on the foot-shaped movable chassis; the background control system acquires field environment data and/or field state data acquired by the fire-fighting and rescue assembly to form a fire-fighting and rescue instruction so as to control the moving state of the foot-shaped moving chassis and drive the fire-fighting and rescue assembly to carry out fire-fighting and/or rescue actions according to the moving state of the foot-shaped moving chassis.
Furthermore, the foot-shaped movable chassis comprises a chassis body, a plurality of supporting legs arranged at the bottom of the chassis body, and a control assembly arranged in the chassis body, wherein the control assembly is in data connection with the background control system and drives and controls the supporting state of each supporting leg in the supporting legs and the mutual matching state of each supporting leg.
Furthermore, the fire-fighting and rescue assembly comprises a support frame, a reel, a conveying hose, an environment detection assembly, a field state monitoring assembly and a fire-fighting assembly, wherein the reel is arranged on the support frame through a rotating shaft, and the environment detection assembly, the field state monitoring assembly and the fire-fighting assembly are respectively and correspondingly arranged on the support frame; the conveying hose is wound on the reel, one end of the conveying hose is connected with the background control system, and the other end of the conveying hose is connected with the environment detection assembly, the on-site state monitoring assembly and the fire extinguishing assembly which are arranged on the supporting frame.
Further, the conveying hose is a multi-core hose.
Furthermore, the whole conveying hose is wound on the reel, and the other end of the conveying hose penetrates through the rotating shaft of the reel.
Furthermore, the fire-fighting and rescue assembly also comprises a support mask, and the support mask is communicated with a rescue air pipe in the conveying hose.
Furthermore, the conveying hoses on different fire-fighting and rescue assemblies can be connected in series in sequence.
Furthermore, the background control system comprises a control assembly, an air source assembly and a fire extinguishing medium assembly, wherein the control assembly controls the moving state of the foot-shaped moving chassis, and acquires field environmental data and/or field state data in real time through the fire extinguishing and rescuing assembly, so that the moving state of the foot-shaped moving chassis is adjusted accordingly, and the air source assembly and/or the fire extinguishing medium are controlled to provide expiration oxygen and/or a fire extinguishing medium for the fire extinguishing and rescuing assembly.
Furthermore, the control assembly can plan a fire-extinguishing rescue path according to the acquired field state data, and marks the position needing fire-extinguishing rescue on the planned fire-extinguishing rescue path, so that a control instruction is formed, the foot-shaped movable chassis is controlled to move according to the planned fire-extinguishing rescue path, and the fire-extinguishing rescue assembly is controlled to perform fire-extinguishing and/or rescue actions when the foot-shaped movable chassis drives the fire-extinguishing rescue assembly to reach the preset fire-extinguishing rescue position.
In order to achieve the above object, the present invention provides a method for fire fighting and rescue, comprising:
the foot-shaped detection fire-fighting rescue robot is controlled to reach the site, and the on-site environmental data and/or on-site state data are/is acquired in real time and transmitted to the background control system;
and forming a fire extinguishing and rescuing instruction based on the acquired field environment data and/or field state data to control the moving state of the foot-shaped investigation fire extinguishing and rescuing robot, and simultaneously driving a fire extinguishing and rescuing component on the foot-shaped investigation fire extinguishing and rescuing robot to carry out fire extinguishing and/or rescuing actions according to the moving state of the foot-shaped investigation fire extinguishing and rescuing robot.
Further, the fire-fighting and rescue instruction is formed by a manual control background control system or automatically formed by a background control system.
Further, when backstage control system forms the rescue instruction of putting out a fire automatically, include:
firstly, planning a fire-fighting rescue path according to acquired field state data, and marking a position needing fire-fighting rescue on the planned fire-fighting rescue path;
then, forming a control instruction based on the fire-fighting and rescue path, and controlling the foot-shaped investigation fire-fighting and rescue robot to move according to the planned fire-fighting and rescue path;
when the foot-shaped investigation fire-fighting rescue robot moves to a corresponding fire-fighting rescue position, the fire-fighting rescue assembly on the foot-shaped investigation fire-fighting rescue robot is controlled to acquire a corresponding fire extinguishing agent to carry out fire-fighting action on a fire-fighting rescue area according to the acquired field environment data and state data.
The foot-shaped investigation fire-extinguishing rescue robot scheme provided by the invention can adapt to various dangerous accident sites, and can perform real-time investigation and fire-extinguishing rescue on the sites; simultaneously, this scheme still has very big effective work scope, and the practicality is strong.
Meanwhile, the foot-shaped investigation fire-fighting rescue robot scheme can automatically plan a fire-fighting rescue path according to on-site environmental data and state data (such as fire conditions, collapse conditions and the like), thereby realizing fire-fighting rescue and greatly improving the fire-fighting rescue efficiency.
Drawings
The invention is further described below in conjunction with the appended drawings and the detailed description.
FIG. 1 is a schematic structural diagram of a foot-shaped fire-fighting and rescue robot in an embodiment of the invention;
FIG. 2 is a schematic view of a combined structure of a delivery hose and a fire-fighting and rescue assembly in a foot-shaped investigation fire-fighting and rescue robot in an embodiment of the invention;
FIG. 3 is a diagram illustrating an exemplary configuration of a background control system according to an embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
In order to be suitable for various dangerous accident sites, the embodiment provides a reconnaissance fire-extinguishing rescue system scheme based on the legged robot.
Referring to fig. 1, a schematic structural diagram of a foot-shaped detection fire-fighting rescue robot given in the present example is shown.
The foot-shaped investigation fire-fighting rescue robot 100 can be matched with a background control system 200 to form an investigation fire-fighting rescue system.
The foot-shaped investigation fire-extinguishing rescue robot 100 can enter various dangerous accident sites based on a foot-shaped moving structure under the remote control of a platform control system, simultaneously obtains site environment data and/or site state data in real time, and carries out fire-extinguishing and/or rescue actions on the site;
and the station control system forms a fire-fighting and rescue instruction according to the field environment data and/or the field state data acquired by the foot-shaped fire-fighting and rescue robot 100 in real time so as to control the moving state of the foot-shaped fire-fighting and rescue robot 100 and carry out fire-fighting and/or rescue actions according to the moving state of the foot-shaped fire-fighting and rescue robot 100.
As can be seen, the foot-shaped detection fire-fighting rescue robot 100 is mainly structurally composed of a foot-shaped mobile chassis 110 and a fire-fighting rescue assembly 120 which are matched with each other.
Wherein, the foot-shaped movable chassis 110 is used as a movable bearing component of the whole foot-shaped investigation fire-fighting rescue robot 100 for bearing the fire-fighting rescue component 120.
The foot-shaped moving chassis 110 adopts a foot-shaped mechanism to realize the formation of simulated animals, thereby being suitable for different environments. By way of example, the present foot-shaped mobile chassis 110 mainly comprises a chassis body 111, a plurality of support legs 112 disposed at the bottom of the chassis body, and a control assembly (not shown in the figure) disposed in the chassis body.
The chassis body 111 constitutes a main structure of the foot-shaped mobile chassis 110 for carrying other components, and also constitutes a plane for placing the fire-fighting rescue assembly 120.
The specific structure of the chassis body 111 can be determined according to actual requirements, and is not described herein.
Since the foot-shaped detection fire-fighting rescue robot 100 needs to enter a dangerous accident site, and the foot-shaped mobile chassis 110 is used as a basic component of the foot-shaped detection fire-fighting rescue robot 100, in order to improve the stability and controllability of the foot-shaped mobile chassis 110, a corresponding protective layer can be arranged on the chassis body 111 to further protect the control component arranged in the chassis body 111, thereby improving the stability and reliability of the operation of the whole foot-shaped detection fire-fighting rescue robot 100.
The supporting legs 112 are disposed at the bottom of the chassis body 111 and are used for driving the chassis body 111 to move. By way of example, at least four support feet 112 are used in this example, and each support foot 112 may be a bionic joint structure or a bionic joint limb structure, and the specific structure is not limited herein.
Furthermore, how the at least four supporting legs 112 are distributed at the bottom of the chassis body 111 may be determined according to actual requirements, and is not limited herein.
The control component is arranged in the chassis body 111 and is used for controlling the motion state of all the supporting feet 112. The control component can control the motion state of each supporting foot and the mutual matching state among the supporting feet by itself or according to the received instruction, thereby realizing the control of the moving state of the whole foot-shaped moving chassis 110, such as the moving direction, the moving speed and the like; and simultaneously realizes the shape of the whole foot-shaped moving chassis 110, such as a chassis parallel state, an inclined angle and the like.
The control assembly is controlled by a background control system and can be in data communication connection with the background control system in a wired or wireless mode. In order to ensure the reliability of the operation of the whole system, a wired control mode is preferably adopted between the control component and the background control system in the embodiment.
On the basis, the control assembly preferably adopts a background control system to realize power supply in a wired mode, so that the dead weight of the whole foot-shaped fire-fighting and rescue robot 100 can be reduced (a large number of batteries need to be arranged), meanwhile, the foot-shaped fire-fighting and rescue robot 100 can work uninterruptedly, and the effective working time of the foot-shaped fire-fighting and rescue robot 100 is greatly prolonged.
Finally, it should be noted that the specific configuration of the control assembly in this example may be determined according to actual requirements, for example, the control assembly of the existing stable and reliable foot-shaped robot may be adopted, and is not limited and described herein.
Based on the foot-shaped investigation fire-extinguishing rescue robot 100, the fire-extinguishing rescue assembly 120 in the scheme is arranged on the foot-shaped investigation fire-extinguishing rescue robot 100 and enters various dangerous accident sites along with the foot-shaped investigation fire-extinguishing rescue robot 100 so as to acquire various data (such as environmental data, forehead video and/or audio data reflecting the site state) of the sites and transmit the data to a background control system; meanwhile, the fire extinguishing and/or rescuing actions on the dangerous accident site are controlled by the background control system in real time.
Due to the complexity of the hazardous accident site, wired control is preferred between the fire suppression and rescue assembly 120 and the background control system in this example to ensure reliability of data transmission and sustainability of fire suppression and/or rescue action control.
Accordingly, in order to increase the distance of wired remote control, the fire rescue assembly 120 in this example preferably adopts a reel structure to implement the arrangement of the control cable.
Referring to fig. 1 and 2, fire suppression rescue assembly 120 in the illustrated embodiment is mainly formed by a support frame 121, a reel 122, a delivery hose 123, an environment detection assembly 124, a field condition monitoring assembly 125, a fire suppression assembly 126, and a rescue mask 127 in cooperation with one another.
The support frame 121 constitutes a main framework of the whole fire-fighting rescue assembly and is used for bearing other components. For example, the support frame 121 is of a frame structure, and is entirely in an "H" shape, so that not only can the stability of the support frame 121 be ensured, but also the weight of the support frame 121 can be reduced, and the installation and fixation of other components are facilitated.
The upper portion of the support frame 121 thus constructed constitutes a mounting area for the reels 122, whereby the reels 122 are rotatably mounted on the support frame 121 via the corresponding shafts 128.
A reel 122 rotatably mounted in the supporting frame 121 is used to arrange the delivery hose 123 in a multi-layer winding manner. The specific structure scheme can be determined according to actual requirements, and is not described herein.
In addition, the lower part of the support frame 121 is used as a mounting part for fixedly connecting with the foot-shaped movable chassis 110 on the foot-shaped detection fire-fighting rescue robot 100.
This support frame 121 and foot shape move between the chassis 110 and can directly fix the setting, and this support frame 121 also can adopt corresponding rotation cloud platform to settle on foot shape moves the chassis 110 as required for support frame 121 can move chassis 110 for foot shape and rotate, the control of the rescue of being convenient for follow-up putting out a fire for the support frame 121.
The environment detection assembly 124 in the fire-fighting rescue assembly is arranged on the support frame 121 and used for detecting field environment data, such as data of detecting field environment temperature, humidity, harmful gas category, harmful gas concentration and the like.
By way of example, the environmental detection assembly 124 may be formed using a corresponding environmental detector, preferably a high temperature resistant environmental detector, to further improve the reliability of the overall system operation.
Corresponding protection devices can be arranged for the environment detection component 124 according to needs, and the specific configuration scheme can be determined according to actual requirements.
The field state monitoring component 125 in the fire-fighting rescue component is also arranged on the support frame 121 and is used for detecting field state data, such as real-time video data, image data, audio data and the like of a field.
By way of example, the field status monitoring component 125 may be formed by using a corresponding audio-video monitoring device, preferably an audio-video monitoring device that can withstand high temperature, thereby further improving the reliability of the operation of the whole system.
Corresponding protection devices can be set for the audio and video monitoring equipment according to needs, and the specific constitution scheme can be determined according to actual requirements.
The fire extinguishing component 126 in the fire extinguishing and rescue component is arranged on the support frame 121 and used for acquiring fire extinguishing medium to extinguish fire on site.
By way of example, the fire extinguishing assembly 126 is preferably a fire extinguishing spray gun, which can be directly fixed on the support frame 121 or arranged on the support frame 121 through a corresponding adjustable mechanism, which can be determined according to actual needs.
The rescue mask 127 of the fire fighting rescue assembly is mounted on the support frame 121 for providing fresh air to the person being rescued.
The specific configuration of the rescue mask 127 can be determined according to actual requirements, and is not described herein. Moreover, the scheme is arranged between the rescue mask 127 and the support frame 121, so that the rescue mask 127 is not easy to fall off in the moving process of the foot-shaped detection fire-extinguishing rescue robot 100, and is convenient to take off when in use.
The whole winding of delivery hose 123 in this fire-fighting rescue subassembly sets up on reel 122, and one end is connected with backstage control system, and the other end is connected with the environmental detection subassembly of setting at the support frame, and site conditions monitoring subassembly, subassembly and the rescue face guard of putting out a fire.
The delivery hose 123 thus provided is wound on the reel 122 when not in use, and the user releases the delivery hose by rotating the reel 122, thereby occupying no space, having a sufficient length, and being convenient to take up, store and use.
The conveying hose 123 can transmit signals between the background control system and the environment detection assembly and the field state monitoring assembly, that is, data signals detected by the environment detection assembly and the field state monitoring assembly are transmitted to the background control system in real time through the conveying hose.
The conveying hose 123 can perform signal transmission and current transmission between the background control system and the foot-shaped investigation fire-extinguishing rescue robot 100, that is, the background control system sends a control signal to the foot-shaped investigation fire-extinguishing rescue robot 100 through the conveying hose 123, controls the foot-shaped investigation fire-extinguishing rescue robot 100 to move, and provides a working power supply for the foot-shaped investigation fire-extinguishing rescue robot 100 through the conveying hose 123.
The delivery hose 123 can transmit fire extinguishing medium and air between the background control system and the fire extinguishing assembly and the rescue mask, that is, the background control system provides the fire extinguishing medium to the fire extinguishing assembly through the delivery hose 123 to perform fire extinguishing operation; fresh air is provided to the rescue mask 127 through delivery hose 123.
In the present embodiment, the delivery hose 123 has a multi-core delivery hose structure, that is, the delivery hose has a multi-cavity structure independent from each other, and includes at least a signal cavity 123a, a power supply cavity 123b, a fire extinguishing agent cavity 123c, and a ventilation cavity 123 d.
Wherein, corresponding data signal wire wears to be equipped with in the signal intracavity, wears to be equipped with corresponding power cord in the power intracavity, and the fire extinguishing agent chamber is direct to be regarded as the fire extinguishing agent pipe and is connected in corresponding fire extinguishing agent source, ventilates the chamber and directly inserts the air supply.
The conveying hose 123 with the structure can independently transmit data signals, power supply, fire extinguishing agent and air at the same time, and the data signals, the power supply, the fire extinguishing agent and the air are not influenced mutually, so that the stability and the reliability of the transmission process are ensured.
Furthermore, when the multi-chamber structure delivery hose 123 is installed, its connection front end (i.e. the connection end connected to the components of the fire-fighting and rescue assembly 120) is inserted into the rotation shaft 128 of the reel 122, preferably, the middle of the rotation shaft 128 is inserted into the rotation shaft 128, and simultaneously, the corresponding chambers in the connection front end of the delivery hose are separated and respectively extended out from the two ends of the rotation shaft 128, so as to be used for connecting the corresponding environment detection assembly, the site condition monitoring assembly, the fire-fighting assembly and the rescue mask.
Preferably, in this embodiment, the plurality of cavities in the front end of the connection hose in the rotating shaft 128 are divided into two groups, wherein the signal cavity 123a, the power supply cavity 123b and the ventilation cavity 123d form one group and penetrate out from one end of the rotating shaft 128, and the data signal wire in the signal cavity 123a can be connected with an environment detection component, a field state monitoring component and a control component in the foot-shaped fire-fighting rescue robot 100; the power line of the power cavity 123b can be connected with the power utilization component of the foot-shaped investigation fire-fighting rescue robot 100 to supply power to the power utilization component; the ventilation cavity 123d is connected with the rescue mask, and can provide fresh air for the rescue mask.
The fire suppressant cavities 123c in the forward end of the delivery hose connection are provided as a second group, which extend out from the neck end of the shaft 128 and are connected to the fire suppression assembly 126 for supplying fire suppressant.
Therefore, the fire extinguishing agents in the fire extinguishing agent cavity 123c can be prevented from influencing the signal cavity 123a, the power supply cavity 123b and the ventilation cavity 123d in a grouping mode, and the operation reliability of the whole system is guaranteed.
In view of the above arrangement of the delivery hose, the present example provides a further optimization to improve its utility.
Corresponding connecting pieces are respectively arranged on the cavities at the two ends of the conveying hose, so that each cavity at the two ends of the conveying hose is respectively connected with the assembly to be connected through the corresponding connecting piece. Therefore, the operation is convenient for actual operation and the later-stage replacement and maintenance are also convenient.
From this, can also realize can concatenating fast between the delivery hose 123 on two foot shape investigation fire-fighting rescue robot 100, can make and establish ties between a plurality of foot shape investigation fire-fighting rescue robot 100 like this to can prolong the working distance that foot shape investigation fire-fighting rescue robot 100 carried out investigation fire-fighting rescue greatly.
The specific configuration of the connector in this example may be determined according to actual requirements, as long as stable and reliable fast plugging can be achieved, and is not limited and described herein.
The background control system 200 in this example is mainly composed of three components, namely a control component 210, a gas source component 220 and a fire extinguishing agent component 230, and serves as a control center of the whole detection fire-fighting rescue system.
The air source assembly 220 in the background control system 200 is used to generate compressed fresh air or oxygen, and is communicated with the ventilation cavity 123d in the delivery hose 123, so as to input the fresh air or oxygen into the ventilation cavity 123d in the delivery hose 123 to be provided to the rescue mask.
The specific structure of the air source assembly 220 is determined according to actual requirements, and is not limited and described herein.
The fire extinguishing agent assembly 230 in the back-office control system 200 is used to provide the fire extinguishing agent required for fire rescue, where the fire extinguishing agent assembly 230 has a plurality of different fire extinguishing agents to cope with different dangerous accident sites. The fire extinguishing agent module 230 is connected to the fire extinguishing agent chamber 123c of the delivery hose 123, and can supply a selected fire extinguishing agent to the fire extinguishing agent chamber 123c of the delivery hose 123 to supply the fire extinguishing module at the front end.
The specific structure of the fire extinguishing agent assembly 230 is determined according to actual requirements, and is not limited and described herein.
The control component 210 in the background control system 200 is used for performing background control of the whole rescue system. The control module 210 is connected to the gas source module 220, the fire extinguishing agent module 230, and the signal chamber 123a and the power supply chamber 123b of the delivery hose 123.
The control assembly 210 controls the moving state of the foot-shaped moving chassis in the fire-fighting rescue robot 100 in a wired mode, and acquires the field environment data and/or the field state data in real time through the fire-fighting rescue assembly, so that the moving state of the foot-shaped moving chassis is adjusted for field rescue and investigation; and controlling the gas source assembly and/or the fire extinguishing agent assembly to provide expiratory oxygen and/or fire extinguishing agent to the fire suppression rescue assembly.
The control component 210 can process and display the environmental data and/or the field state data acquired in real time by the fire-fighting rescue component to provide real-time field data for operators or decision-makers, so as to form control instructions.
The control component 210 can be manually controlled by an operator when controlling the foot-shaped detection fire-fighting rescue robot 100 on the spot.
Furthermore, a detection fire-fighting rescue mathematical model is built in the control component 210, so that the control component 210 can automatically control the detection fire-fighting rescue based on the real-time acquired field data by the detection fire-fighting rescue mathematical model.
The investigation fire-fighting rescue mathematical model formed in the control component 210 performs training learning based on historical data or an established training database, wherein the training learning includes learning of site terrain state, learning of investigation path construction, learning of fire-fighting area determination, learning of air supply state determination, learning of fire-fighting operation and the like.
For example, when the control component 210 performs automatic control, after controlling the foot-shaped reconnaissance fire-fighting and rescue robot 100 to enter the site, a fire-fighting and rescue path is planned according to the obtained site state data, and a position needing fire-fighting and rescue is marked on the planned fire-fighting and rescue path, so as to form a control instruction, control the foot-shaped mobile chassis to move according to the planned fire-fighting and rescue path, and control the fire-fighting and rescue component to perform fire-fighting and/or rescue actions according to the site real-time environment data when the foot-shaped mobile chassis drives the fire-fighting and rescue component to reach a predetermined fire-fighting and rescue position.
The control assembly 210 in this example is primarily constructed of a corresponding controller and a reconnaissance fire rescue software system operating within the controller. The specific implementation scheme can be determined according to actual requirements, and the embodiment is not limited as long as the corresponding functions can be achieved.
When the reconnaissance fire-extinguishing rescue system based on the foot-shaped robot is used for reconnaissance fire-extinguishing rescue on a hazardous accident site, the foot-shaped reconnaissance fire-extinguishing rescue robot is controlled by a background control system of the system to achieve the site, and environmental data and/or site state data of the site are/is acquired in real time and transmitted to the background control system; the field state data is mainly high-definition video data reflecting the field state.
At the moment, the background control system preprocesses and displays the field environment data and/or the field state data acquired in real time, so that a controller or a rescue decision-making person can master the real-time state of the accident field and various environmental data in real time.
Under the condition, the foot-shaped detection fire-extinguishing rescue robot on the spot can be manually controlled by the background control system in real time to search and detect on the spot, when a fire area is found, the fire extinguishing agent component is controlled to provide corresponding fire extinguishing agent for the fire extinguishing component on the foot-shaped detection fire-extinguishing rescue robot, and then the fire extinguishing component is controlled to spray the fire extinguishing agent to the fire area to extinguish fire in real time; meanwhile, in the fire extinguishing process, the posture of the foot-shaped investigation fire-extinguishing rescue robot can be controlled in real time so as to adjust the angle and the direction of the fire extinguishing agent injection and achieve the optimal fire extinguishing effect.
In the process of on-site searching and investigation, when an injured person is found, the air source assembly is controlled to provide fresh air or oxygen for the mask on the foot-shaped investigation fire-extinguishing rescue robot, so that the use of the injured person is facilitated.
In the process of searching and detecting on site, the system can also realize voice communication with personnel on site through a background control system and a foot-shaped detection fire-extinguishing rescue robot on site.
Aiming at the investigation fire-extinguishing rescue process, the detection fire-extinguishing rescue robot can also automatically control the spot foot-shaped detection fire-extinguishing rescue robot by the background control system.
By way of example, the basic process of automatically completing the investigation and fire-fighting rescue by the investigation and fire-fighting rescue system is as follows:
firstly, the background control system acquires video data reflecting the field state in real time through the foot-shaped detection fire-fighting rescue robot.
And then planning and detecting a fire-fighting and rescue path according to the acquired video data reflecting the field state, and marking the position needing fire-fighting and rescue on the planned fire-fighting and rescue path, namely marking the position of the fire area on the planned fire-fighting and rescue path.
And then, forming a control command based on the fire-fighting and rescue path, and controlling the foot-shaped investigation fire-fighting and rescue robot to move on site according to the planned fire-fighting and rescue path.
Then, when the foot-shaped investigation fire-fighting rescue robot moves to a corresponding position to be rescued, according to the acquired field environment data and state data, the fire extinguishing agent assembly is controlled to provide a corresponding fire extinguishing agent for the fire extinguishing assembly on the foot-shaped investigation fire-fighting rescue robot, and then the fire extinguishing assembly is controlled to spray the fire extinguishing agent to a fire area to extinguish fire in real time; meanwhile, in the fire extinguishing process, the posture of the foot-shaped investigation fire-extinguishing rescue robot can be controlled in real time so as to adjust the angle and the direction of the fire extinguishing agent injection and achieve the optimal fire extinguishing effect.
Therefore, the fire-fighting and rescue work of the whole scene is complete based on the planned fire-fighting and rescue path.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (12)
1. The foot-shaped investigation fire-extinguishing rescue robot system is characterized by comprising a foot-shaped movable chassis, a fire-extinguishing rescue assembly and a background control system, wherein the fire-extinguishing rescue assembly and the background control system are arranged on the foot-shaped movable chassis; the background control system acquires field environment data and/or field state data acquired by the fire-fighting and rescue assembly to form a fire-fighting and rescue instruction so as to control the moving state of the foot-shaped moving chassis and drive the fire-fighting and rescue assembly to carry out fire-fighting and/or rescue actions according to the moving state of the foot-shaped moving chassis.
2. The foot-shaped investigation, fire-fighting and rescue robot system according to claim 1, wherein the foot-shaped mobile chassis comprises a chassis body, a plurality of supporting legs arranged at the bottom of the chassis body, and a control component arranged in the chassis body, wherein the control component is in data connection with a background control system and drives and controls the supporting state of each supporting leg in the plurality of supporting legs and the mutual matching state among the supporting legs.
3. The footform reconnaissance fire-fighting rescue robot system according to claim 1, wherein the fire-fighting rescue assembly comprises a support frame, a reel, a conveying hose, an environment detection assembly, a field state monitoring assembly and a fire-fighting assembly, the reel is arranged on the support frame through a rotating shaft, and the environment detection assembly, the field state monitoring assembly and the fire-fighting assembly are respectively and correspondingly arranged on the support frame; the conveying hose is wound on the reel, one end of the conveying hose is connected with the background control system, and the other end of the conveying hose is connected with the environment detection assembly, the on-site state monitoring assembly and the fire extinguishing assembly which are arranged on the supporting frame.
4. The foot-shaped reconnaissance fire-fighting rescue robot system according to claim 3, wherein the delivery hose is a multi-core hose.
5. The foot-shaped investigation fire-fighting rescue robot system according to claim 3, wherein the delivery hose is integrally wound on a reel, and the other end of the delivery hose is inserted into a rotating shaft of the reel.
6. The footform reconnaissance fire suppression rescue robot system of claim 3, further comprising a service mask in the fire suppression rescue assembly, the service mask in communication with a rescue air tube in the delivery hose.
7. The foot-shaped investigation fire-fighting and rescue robot system according to claim 3, wherein the conveying hoses on different fire-fighting and rescue assemblies can be connected in series.
8. The foot-shaped reconnaissance fire-fighting and rescue robot system according to claim 1, wherein the background control system comprises a control component, a gas source component and a fire-fighting medium component, the control component controls the moving state of the foot-shaped moving chassis, and the fire-fighting and rescue component acquires the field environmental data and/or the field state data in real time, so as to adjust the moving state of the foot-shaped moving chassis and control the gas source component and/or the fire-fighting medium to provide expiration oxygen and/or the fire-fighting medium for the fire-fighting and rescue component.
9. The foot-shaped investigation fire-fighting and rescue robot system according to claim 8, wherein the control component can plan a fire-fighting and rescue path according to the acquired field state data, and mark a position needing fire-fighting and rescue on the planned fire-fighting and rescue path, thereby forming a control command to control the foot-shaped mobile chassis to move according to the planned fire-fighting and rescue path, and simultaneously control the fire-fighting and rescue component to perform fire-fighting and/or rescue actions when the foot-shaped mobile chassis drives the fire-fighting and rescue component to reach a predetermined fire-fighting and rescue position.
10. A method of fire fighting a rescue, comprising:
the foot-shaped detection fire-fighting rescue robot is controlled to reach the site, and the on-site environmental data and/or on-site state data are/is acquired in real time and transmitted to the background control system;
and forming a fire extinguishing and rescuing instruction based on the acquired field environment data and/or field state data to control the moving state of the foot-shaped investigation fire extinguishing and rescuing robot, and simultaneously driving a fire extinguishing and rescuing component on the foot-shaped investigation fire extinguishing and rescuing robot to carry out fire extinguishing and/or rescuing actions according to the moving state of the foot-shaped investigation fire extinguishing and rescuing robot.
11. A method of fire fighting rescue according to claim 10, characterized in that the fire fighting rescue instructions are formed by a manually controlled back-office control system or automatically by a back-office control system.
12. The method for fire fighting and rescue according to claim 11, wherein the background control system when automatically generating the fire fighting and rescue instruction comprises:
firstly, planning a fire-fighting rescue path according to acquired field state data, and marking a position needing fire-fighting rescue on the planned fire-fighting rescue path;
then, forming a control instruction based on the fire-fighting and rescue path, and controlling the foot-shaped investigation fire-fighting and rescue robot to move according to the planned fire-fighting and rescue path;
when the foot-shaped investigation fire-fighting rescue robot moves to a corresponding fire-fighting rescue position, the fire-fighting rescue assembly on the foot-shaped investigation fire-fighting rescue robot is controlled to acquire a corresponding fire extinguishing agent to carry out fire-fighting action on a fire-fighting rescue area according to the acquired field environment data and state data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112874643A (en) * | 2021-01-27 | 2021-06-01 | 王迎宝 | Mine accident emergency rescue equipment |
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